CN112850376A - Automatic cable arrangement device and method based on image recognition - Google Patents
Automatic cable arrangement device and method based on image recognition Download PDFInfo
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- CN112850376A CN112850376A CN202011609582.5A CN202011609582A CN112850376A CN 112850376 A CN112850376 A CN 112850376A CN 202011609582 A CN202011609582 A CN 202011609582A CN 112850376 A CN112850376 A CN 112850376A
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- 238000001914 filtration Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000001172 regenerating effect Effects 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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Abstract
The invention relates to the technical field of cable arrangement, and discloses an automatic cable arrangement device and method based on image recognition, wherein the device comprises a driving mechanism, a main mounting frame, a camera, a cable arrangement mechanism and a control module; the main mounting frame is provided with a driving mechanism and a cable arrangement mechanism and is positioned on one side of the main cable storage disc; the cable arrangement mechanism is used for conducting reversing guide on the introduced umbilical cables and winding the umbilical cables on the main cable storage disc; the camera is used for collecting video data on the cable outlet of the cable arrangement mechanism and the main cable storage disc and transmitting the video data to the control module; the control module carries out image processing on the received video data to obtain control information and outputs the control information to the driving mechanism; and the driving mechanism drives the cable arrangement mechanism to move in parallel along the axial direction of the main cable storage disc according to the control information. According to the invention, the uniform arrangement of the cables can be automatically realized, the arrangement quality of the cables is greatly improved, the loss of the cables caused by uneven arrangement is avoided, and the service life of the cables is effectively prolonged.
Description
Technical Field
The invention relates to the technical field of underwater cabled Robot (ROV) cable protection and automatic retraction, in particular to an automatic cable arrangement device and method based on image recognition.
Background
When an underwater remote control Robot (ROV) works underwater, an umbilical cable needs to be wound and unwound in real time, particularly when regional search and rescue work is carried out, due to the fact that the working range is large, in order to avoid winding of the cable in a hanging mode, the winding and unwinding of the cable are more frequent, the frequent winding and unwinding can cause abrasion of the surface of the cable, and when the complex underwater environment is met, the abrasion is more serious.
The abrasion of the cable is caused by winding and friction with an underwater obstacle on one hand, and the uneven cable arrangement causes mutual extrusion and scraping between cables or cable storage trays in the cable reeling and unreeling process on the other hand. Therefore, starting from improving the cable arrangement quality, the cable arrangement device has very practical significance for reducing the friction of the cable and prolonging the service life of the cable.
The ROV umbilical cable is generally stored and retracted by adopting a cable winch, the cable arrangement performance design is not considered in the cable retracting process of most of the cable winches at present, and modes such as a main cable disc driving cable arrangement mechanism, constant speed ratio transmission, double-screw rod transmission reversing and the like are generally adopted. Due to the similar design, the cable arrangement state can not be dynamically sensed, when the cable winch is used for winding and unwinding the cable and the tension on the cable is suddenly changed, the cable is leaked and arranged in multiple rows, the cable is dragged and rubbed due to the fact that the cable angle of the cable outlet is too large, and the service life of the cable is greatly influenced. Therefore, when the condition is met, manual intervention is often needed, the cable arrangement state is corrected manually, and the system stops working when the condition is serious.
Disclosure of Invention
The invention aims to provide an automatic cable arrangement device and method based on image recognition, which aim to solve the technical problems in the prior art, do not need manual intervention, can automatically realize uniform arrangement of cables, greatly improve the arrangement quality of the cables, avoid the loss of the cables caused by uneven arrangement and effectively prolong the service life of the cables.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
the invention provides an automatic cable arrangement device based on image recognition, which comprises a driving mechanism, a main mounting frame, a camera, a cable arrangement mechanism and a control module, wherein the main mounting frame is arranged on the main mounting frame; the main mounting frame is provided with a driving mechanism and a cable arrangement mechanism and is positioned on one side of a main cable storage disc for winding umbilical cables;
the cable arrangement mechanism is used for conducting reversing guide on the introduced umbilical cables and winding the umbilical cables on the main cable storage disc; the camera is used for collecting video data on the cable outlet of the cable arrangement mechanism and the main cable storage disc and transmitting the video data to the control module; the control module carries out image processing on the received video data to obtain control information and outputs the control information to the driving mechanism; and the driving mechanism drives the cable arrangement mechanism to move in parallel along the axial direction of the main cable storage disc according to the control information.
Further, the driving mechanism comprises a servo motor and a screw rod, the screw rod is arranged on the main mounting frame, and the servo motor is arranged on one side of the main mounting frame and connected with the screw rod; the main installation frame is provided with a cable guide frame which is connected with a lead screw and can translate.
Furthermore, the driving mechanism further comprises a polished rod slide rail which is arranged on the main mounting frame and connected with the cable arrangement mechanism, and a polished rod of the polished rod slide rail is arranged in parallel with the screw rod.
Further, the cable arranging mechanism comprises a cable guide frame, a reversing wheel and a cable outlet guide wheel, the cable guide frame is connected with the screw rod and the polished rod slide rail, and the cable guide frame is provided with the reversing wheel for reversing the umbilical cable and the cable outlet guide wheel for guiding the umbilical cable.
Furthermore, the camera is arranged on one side of the cable guide frame and is positioned right opposite to the cable outlet guide wheel, and the lens of the camera is right opposite to the cable outlet of the cable outlet guide wheel and the main cable storage disc and moves in a translation mode along with the cable outlet guide wheel.
Furthermore, a nut matched with the polish rod slide rail is arranged on the cable guide frame, and a linear bearing is arranged between the cable guide frame and the lead screw.
Further, the control module comprises an image processing and control unit and a motor drive and controller, wherein the image processing and control unit receives video data collected by the camera, processes the video data and outputs a control signal to the motor drive and controller; and the motor drive and controller controls the servo motor to work according to the control information to drive the cable outlet guide wheel and the camera to move horizontally.
Furthermore, the main control module also comprises an emergency stop switch, and the emergency stop switch is pressed down and used for controlling the servo motor to stop working through the motor drive and controller in emergency; the device also comprises a travel switch used for detecting the reversing point of the reciprocating motion of the guide cable frame.
The invention also provides an automatic cable arrangement method based on image recognition, which comprises the following specific steps:
initializing and setting initial parameters;
the cable arranging device operates according to set parameters and receives control information sent by the cable winch controller;
the motor driving and controlling device drives the servo motor to work according to the control information to drive the guide cable frame, the cable outlet guide wheel on the guide cable frame and the camera to move;
the umbilical cable entering the cable winch from the outside is reversed by the reversing wheel, and the reversed umbilical cable is guided by the cable outlet guide wheel and is sequentially wound and distributed on the main cable storage disc;
the camera collects video data distributed by the umbilical cable in real time and feeds the collected video data back to the image processing and control unit;
and the image processing and control unit receives the video data, performs image processing to obtain new control information, and outputs the new control information to the motor drive and controller to control the work of the motor drive and controller again.
Further, the process of the image processing and control unit performing image processing includes:
extracting image frames from the video data at set time intervals;
preprocessing the image and processing the image by a filtering algorithm;
identifying the processed image to obtain umbilical cable information;
and judging according to the umbilical cable information, correcting the initial parameters when the umbilical cable information exceeds a judgment standard, regenerating control information and outputting the control information to the motor drive and controller.
Compared with the prior art, the invention has the beneficial effects that:
according to the automatic cable arrangement device provided by the invention, the video data of the umbilical cables are acquired through the camera, the video data are subjected to image processing through the control module, and the driving mechanism and the cable arrangement mechanism are controlled to work, so that the umbilical cables are automatically wound, unwound and arranged, the friction loss of the umbilical cables can be reduced, the service life of the umbilical cables is prolonged, manual intervention is not needed, the intelligent degree of ROV cable winding and unwinding equipment can be greatly improved, namely the manual dependence degree is reduced, the labor cost is reduced, the automatic cable arrangement device has a high popularization value, and the automatic cable arrangement device is simple in integral structure, reliable in function and easy to realize.
The automatic cable arrangement method provided by the invention utilizes an image recognition and processing algorithm as a main detection method, carries out image processing on video data acquired by a camera, recognizes cable information in the video data, judges the cable information, corrects control information of a motor drive and a controller, and adjusts the position of a cable outlet guide wheel, so as to adjust the arrangement condition of the umbilical cables.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort. Wherein:
fig. 1 is a schematic structural view of an automatic cable management apparatus based on image recognition according to the present invention.
Fig. 2 is a partial left side view of the automatic cable management apparatus based on image recognition according to the present invention.
Fig. 3 is a flowchart of the automatic cable routing method based on image recognition according to the present invention.
Fig. 4 is a flowchart of an image processing procedure in the present invention.
The reference numerals are explained below: the system comprises a servo motor 1, a screw rod 2, a main mounting frame 3, a motor drive and controller 4, an emergency stop switch 5, an image processing and control unit 6, a reversing wheel 7, a cable guide frame 8, a camera 9, a cable outlet guide wheel 10, a travel switch 11 and a polished rod slide rail 12.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, e.g., the terms "length," "width," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., refer to an orientation or position based on that shown in the drawings, are for convenience of description only and are not to be construed as limiting of the present disclosure.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1 and 2, the present invention provides an automatic cable arrangement device based on image recognition, which includes a driving mechanism, a main mounting frame 3, a camera 9, a cable arrangement mechanism and a control module, and peripheral devices include a cable winch, an umbilical cable and a main cable storage tray. The main mounting frame 3 is provided with a driving mechanism and a cable arrangement mechanism and is positioned on one side of a main cable storage disc for winding umbilical cables.
The cable arrangement mechanism is used for conducting reversing and leading out on an introduced umbilical cable and winding the umbilical cable on the main cable storage disc; the camera 9 is used for collecting video data on a cable outlet of the cable arrangement mechanism and the main cable storage disc and transmitting the video data to the control module; the control module carries out image processing on the received video data to obtain control information and outputs the control information to the driving mechanism; and the driving mechanism drives the cable arrangement mechanism to move in parallel along the axial direction of the main cable storage disc according to the control information.
In the embodiment of the invention, based on an image recognition technology, the angle and the arrangement state of the cables at the cable outlet relative to the main cable storage disc are detected in real time in the cable winding/discharging process, the driving mechanism is controlled by the control module, the umbilical cables are ensured to be regularly arranged on the main cable storage disc by adjusting the feeding speed of the cable arrangement mechanism, the automatic winding and unwinding arrangement of the umbilical cables is realized, the extrusion and abrasion are avoided, and the service life of the umbilical cables is also prolonged.
Specifically, main installation frame 3 is located directly over main cable dish that stores up, makes things convenient for arrange cable mechanism and carry out the switching-over back of deriving the umbilical cable, crouches the winding and stores on main cable dish that stores up. The cable arrangement mechanism is driven by the driving mechanism and only reciprocates in parallel along the axial direction of the main cable storage disc.
Further, the driving mechanism comprises a servo motor 1 and a screw rod 2, the screw rod 2 is arranged on the main mounting frame 3, and the servo motor 1 is arranged on one side of the main mounting frame 3 and connected with the screw rod 2. And the main mounting frame 3 is provided with a cable guide frame 8 which is connected with the screw rod 2 and can translate. The speed of the screw rod 2 is accurately controlled by the servo motor 1 to finely adjust the position of the cable arrangement mechanism.
Further, the driving mechanism further comprises a polished rod slide rail 12, which is arranged on the main mounting frame 3 and is parallel to the screw rod 2. The polished rod slide rail 12 is connected with the cable arrangement mechanism and plays a role in guiding. Specifically, two polished rod slide rails 12 are arranged on two sides of the screw rod 2 in parallel for guiding, and can bear certain cable tension.
Further, the cable arrangement mechanism comprises a cable guide frame 8, a reversing wheel 7 and a cable outlet guide wheel 10, the cable guide frame 8 is connected with the screw rod 2 and the polished rod slide rail 12, the reversing wheel 7 and the cable outlet guide wheel 10 are arranged on the cable guide frame 8, the reversing wheel 7 is used for reversing the umbilical cables led in from the outside, and the cable outlet guide wheel 10 is used for guiding the umbilical cables to be arranged after being changed, so that the umbilical cables led out are wound on the main cable storage disc along the axial direction of the main cable storage disc.
Further, a nut matched with the polish rod slide rail 12 is arranged on the cable guide frame 8, and a linear bearing is arranged between the cable guide frame and the lead screw 2, so that the matching reliability of the cable guide frame and the lead screw is ensured. Through the effect of lead screw 2 and polished rod slide rail 12, guaranteed that the reliable translation can be carried out to chock 8.
In the embodiment of the invention, the screw rod 2 and the polished rod slide rail 12 are arranged and connected with the cable guide frame 8, the rotation of the servo motor 1 is converted into the linear motion of the cable guide frame 8 along the polished rod slide rail 12, the speed and the direction of the motion are determined by the rotating speed and the rotating direction of the servo motor 1, and the rotating speed and the transmission ratio of the servo motor 1 are determined by the working requirements of the whole cable take-up and pay-off system. The umbilical cables are reversed by the reversing wheel 7, the umbilical cables entering the cable winch from the outside are converted into the direction basically perpendicular to the main cable storage disc, and the umbilical cables are conveniently distributed on the main cable storage disc. The umbilical cables entering the main cable storage disc are arranged and guided by the cable outlet guide wheel 10, the position of the cable outlet guide wheel relative to the main cable storage disc directly determines the quality of cable arrangement, and the purpose of uniform arrangement of the umbilical cables is finally achieved by adjusting the position of the cable outlet guide wheel 10.
Furthermore, the camera 9 is disposed on one side of the cable guide frame 8 through a support, is located opposite to the cable outlet guide wheel 10, moves along with the cable outlet guide wheel 10, and has a lens facing the cable outlet of the cable outlet guide wheel 10 and the main cable storage disc for collecting video data of the cable outlet guide wheel 10 and the main cable storage disc.
Specifically, the video data collected by the camera 9 is transmitted to the control module through the USB/gigabit network interface, the control module receives and processes the video data, and the servo motor 1 is controlled to drive the cable guide frame 8 and the cable outlet guide wheel 10 to axially reciprocate in parallel along the main cable storage disc. The camera 9 may also adopt other video image acquisition devices to acquire video data, and detect the arrangement state of the umbilical cables by using images.
Further, the control module comprises an image processing and control unit 6 and a motor driving and controlling unit 4, wherein the image processing and control unit 6 receives the video data collected by the camera 9, processes the video data and outputs a control signal to the motor driving and controlling unit 4. And the motor driving and controlling device 4 controls the servo motor 1 to work according to the control information, and drives the cable outlet guide wheel 10 and the camera 9 to translate.
Furthermore, the control module further comprises an emergency stop switch 5, and the emergency stop switch 5 is manually pressed in emergency, and the servo motor 1 is controlled to stop working through the motor drive and controller 4, namely, the power supply is cut off to stop forcibly, so that the safety problem caused by faults in the operation process is avoided.
Furthermore, the control module further comprises a travel switch 11 for detecting a reversing point of the reciprocating motion of the guide cable frame 8, and simultaneously ensuring that the guide cable frame 8 does not exceed the operation range and the working reliability of the device. Specifically, travel switch 11 sets up on main installation frame 3, and with the position of chock 8 is corresponding, and it is convenient right the chock 8 position detects.
Specifically, the image processing and control unit 6, the motor driving and control unit 4 and the emergency stop switch 5 may be integrally integrated into one control cabinet and installed on the side of the cable winch, or may be installed on the side of the cable winch separately. Further, the motor drive and controller 4 may be integrated into the control box of the cable winch or integrated with the image processing and control unit 6. The emergency stop switch 5 is arranged at a conspicuous and easy-to-operate position, and the control cabinet can meet the functional requirements of water resistance, rain resistance, electromagnetic interference shielding and the like.
The working principle of the automatic cable arrangement device provided by the invention is as follows:
when the device starts to work, the cable winch controller sends a wire arrangement instruction to the motor drive and controller, and the motor drive and controller drives the wire arrangement mechanism to work according to the wire arrangement instruction. The guide frame 8 drives the cable outlet guide wheel 10 and the camera 9 to run along a certain direction and at a certain initial speed, and the speed is set by the cable winch according to the working condition. The camera 9 moves along with the cable outlet guide wheel 10 simultaneously to start to check the state of the cable outlet in real time, the camera 9 outputs collected video data to the image processing and control unit 6 for processing to obtain control information, and the motor drive and controller 4 controls the servo motor 1 to work according to the control information to drive the cable outlet guide wheel 10 and the camera 9 to move horizontally.
In the umbilical cable arrangement process, the angle between the cable at the cable outlet and the main cable storage disc is always in a basically vertical state, and each circle of umbilical cables on the same layer of the main cable storage disc are uniformly and orderly arranged and are stacked without gaps and extrusion. However, due to the dynamic discharge of the umbilical cables on the main cable tray, the angle of the cables entering/exiting the main cable tray may also change. When the angle change is too large, the distance between adjacent rings of umbilical cables on the main cable storage disc is changed, gaps are generated when the distance is too large, and the lower-layer umbilical cables can be clamped into the gaps and extruded; too small a pitch results in overlapping and winding of cables in the same layer, which are all in a non-uniform arrangement.
The image processing and control unit 6 adopts an image recognition and processing algorithm to recognize video data collected by the camera 9 in real time, can timely find the change condition and the arrangement state of the umbilical cable arrangement angle, converts the recognized result into a control instruction, controls the motor drive and controller 4 to drive the cable arrangement mechanism, and timely adjusts the positions of the cable guide frame 8 and the cable outlet guide wheel 10 to change the angle of the umbilical cable in/out of the main cable storage disc, thereby realizing the interval control of adjacent circles of umbilical cables and achieving the purpose of uniform arrangement.
Referring to fig. 3, the present invention further provides an automatic cable arrangement method based on image recognition, which includes the following steps:
step S1: and initializing and setting initial parameters.
Step S2: the cable arranging device operates according to the set initial parameters and receives control information sent by the cable winch controller. Wherein the control information comprises a bus command.
Step S3: and the motor driving and controlling device 4 drives the servo motor 1 to work according to the control information, and drives the cable guide frame 8 and the cable outlet guide wheel 10 and the camera 9 on the cable guide frame to move.
Step S4: the reversing wheel 7 reverses the umbilical cables entering the cable winch from the outside, and the cable outlet guide wheel 10 guides the reversed umbilical cables to be sequentially wound and distributed on the main cable storage disc.
Step S5: the video camera 9 collects video data of umbilical cable arrangement in real time and feeds the collected video data back to the image processing and control unit 6.
Step S6: the image processing and control unit 6 receives the video data, performs image processing to obtain new control information, outputs the new control information to the motor drive and controller 4, returns to step S2, and controls the operation of the motor drive and controller again.
Further, referring to fig. 4, the process of the image processing and control unit 6 performing image processing includes:
step S61: image frames are extracted from the video data at a set time interval, specifically, the set time interval is 50ms to 100 ms.
Step S62: the image is preprocessed and is processed by a filtering algorithm, so that interference can be eliminated, and the accuracy of image identification is improved. Specifically, the preprocessing includes segmentation and clipping, grayscale processing, and the like.
Step S63: and identifying the target (namely the umbilical cable) in the processed image to obtain umbilical cable information including information such as a cable outlet angle, a distribution state, appearance quality, and a distance between adjacent circles.
Step S64: and judging according to the umbilical cable information, correcting the initial parameters when the umbilical cable information exceeds a judgment standard, regenerating control information and outputting the control information to the motor driving and controlling device 4 so as to adjust the position of the cable outlet guide wheel 10 and adjust the arrangement condition of the cables.
Specifically, the judgment is carried out according to the obtained umbilical cable information and by combining with a set criterion, if the cable outlet angle or the arrangement state of the umbilical cable does not meet the requirement, namely the umbilical cable and the main cable storage disc are not in a vertical state, the set initial parameters are corrected, and the step S2 is returned; and if the requirement is met, the configuration device continues to work according to the initial parameters.
In the embodiment of the invention, the position change of the umbilical cable is fed back to the video data collected by the camera 9, and the feedback of control information is formed after image processing, namely the control information of the motor drive and the controller 4 is corrected, and the steps are executed in a circulating way to achieve accurate closed-loop control of the position of the cable outlet guide wheel 10, so that the arrangement condition of the umbilical cable is adjusted.
The cable arrangement device provided by the embodiment of the invention can be integrally designed with a cable winch, and can also be integrally installed on the cable winch after being independently integrated into a whole.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides an automatic cable arrangement device based on image recognition which characterized in that: the device comprises a driving mechanism, a main mounting frame, a camera, a cable arrangement mechanism and a control module; the main mounting frame is provided with a driving mechanism and a cable arrangement mechanism and is positioned on one side of a main cable storage disc for winding umbilical cables;
the cable arrangement mechanism is used for conducting reversing guide on the introduced umbilical cables and winding the umbilical cables on the main cable storage disc; the camera is used for collecting video data on the cable outlet of the cable arrangement mechanism and the main cable storage disc and transmitting the video data to the control module; the control module carries out image processing on the received video data to obtain control information and outputs the control information to the driving mechanism; and the driving mechanism drives the cable arrangement mechanism to move in parallel along the axial direction of the main cable storage disc according to the control information.
2. The automatic cable routing device based on image recognition according to claim 1, wherein: the driving mechanism comprises a servo motor and a screw rod, the screw rod is arranged on the main mounting frame, and the servo motor is arranged on one side of the main mounting frame and connected with the screw rod; the main installation frame is provided with a cable guide frame which is connected with a lead screw and can translate.
3. The automatic cable routing device based on image recognition according to claim 2, wherein: the driving mechanism further comprises a polished rod slide rail which is arranged on the main mounting frame and connected with the cable arrangement mechanism, and a polished rod of the driving mechanism is arranged in parallel with the screw rod.
4. The automatic cable routing device based on image recognition according to claim 3, wherein: the cable arrangement mechanism comprises a cable guide frame, a reversing wheel and a cable outlet guide wheel, the cable guide frame is connected with the lead screw and the polished rod slide rail, and the cable guide frame is provided with the reversing wheel for reversing the umbilical cable and the cable outlet guide wheel for guiding the cable arrangement.
5. The automatic cable routing device based on image recognition according to claim 4, wherein: the camera is arranged on one side of the cable guide frame and is positioned right opposite to the cable outlet guide wheel, and the lens of the camera is right opposite to the cable outlet of the cable outlet guide wheel and the main cable storage disc and moves in a translation mode along with the cable outlet guide wheel.
6. The automatic cable routing device based on image recognition according to claim 2, wherein: and a nut matched with the polished rod slide rail is arranged on the cable guide frame, and a linear bearing is arranged between the cable guide frame and the screw rod.
7. The automatic cable routing device based on image recognition according to claim 6, wherein: the control module comprises an image processing and control unit and a motor drive and controller, wherein the image processing and control unit receives video data acquired by the camera, processes the video data and outputs a control signal to the motor drive and controller; and the motor drive and controller controls the servo motor to work according to the control information to drive the cable outlet guide wheel and the camera to move horizontally.
8. The automatic cable routing device based on image recognition according to claim 7, wherein: the main control module also comprises an emergency stop switch which is used for pressing the emergency stop switch and controlling the servo motor to stop working through the motor drive and controller in emergency; the device also comprises a travel switch used for detecting the reversing point of the reciprocating motion of the guide cable frame.
9. A method for image recognition based automatic cable management apparatus according to any one of claims 1 to 8, wherein: the method comprises the following specific steps:
initializing and setting initial parameters;
the cable arranging device operates according to set parameters and receives control information sent by the cable winch controller;
the motor driving and controlling device drives the servo motor to work according to the control information to drive the guide cable frame, the cable outlet guide wheel on the guide cable frame and the camera to move;
the umbilical cable entering the cable winch from the outside is reversed by the reversing wheel, and the reversed umbilical cable is guided by the cable outlet guide wheel and is sequentially wound and distributed on the main cable storage disc;
the camera collects video data distributed by the umbilical cable in real time and feeds the collected video data back to the image processing and control unit;
and the image processing and control unit receives the video data, performs image processing to obtain new control information, and outputs the new control information to the motor drive and controller to control the work of the motor drive and controller again.
10. The automatic cable routing device based on image recognition according to claim 9, wherein: the process of the image processing and control unit for processing the image comprises the following steps:
extracting image frames from the video data at set time intervals;
preprocessing the image and processing the image by a filtering algorithm;
identifying the processed image to obtain umbilical cable information;
and judging according to the umbilical cable information, correcting the initial parameters when the umbilical cable information exceeds a judgment standard, regenerating control information and outputting the control information to the motor drive and controller.
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