CN114485434B - Installation detection method for guide rod of flexible three-dimensional weaving equipment based on multi-view distance measurement - Google Patents
Installation detection method for guide rod of flexible three-dimensional weaving equipment based on multi-view distance measurement Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/12—Computing arrangements based on biological models using genetic models
- G06N3/126—Evolutionary algorithms, e.g. genetic algorithms or genetic programming
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30124—Fabrics; Textile; Paper
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The invention discloses a method for installing and detecting a guide rod of flexible three-dimensional weaving equipment based on multi-view distance measurement, which comprises the following specific steps of: the mobile image acquisition system acquires images of the installation area of the guide rod and acquires a measurement distance through the acquired images of two adjacent frames; constructing a target function of a genetic optimization algorithm, classifying the obtained measuring distances, inputting the measuring distances into the genetic optimization algorithm for optimization, and outputting the installation height of the guide rod; if the installation height of the guide rod is within the allowable installation error range, indicating that the installation is correct if the installation height of the guide rod is within the allowable installation error range; otherwise, the installation is not successful; and repeating the process until the detection of the installation positions of all the guide rods in the guide rod area is completed. The method provided by the invention can be used for accurately monitoring the installation state of the guide rod in the three-dimensional weaving equipment assembling process.
Description
Technical Field
The invention belongs to the technical field of installation and detection of three-dimensional weaving guide rods, and particularly relates to a method for installing and detecting a guide rod of flexible three-dimensional weaving equipment based on multi-view distance measurement.
Background
The three-dimensional weaving composite material is a novel advanced composite material in the high technical field, fiber bundles are mutually staggered in the material to form a spatial interlocking net structure, an integral structure is formed, the three-dimensional weaving composite material has excellent impact toughness, fatigue resistance and ablation resistance, can be used for manufacturing high-temperature functional structural materials, and can also be used for parts such as beams, frames, ribs, shafts, rods and the like in structures such as wind driven generator blades and the like.
At present, the research on flexible three-dimensional weaving equipment is based on the installation of a guide rod monitored by human eyes, the task is heavy, the time consumption is long, the efficiency is low, the identification precision is limited, the method is difficult to ensure the accuracy of the successful installation of the guide rod, the subsequent prefabricated body generates deformation and fiber bundle damage in the weaving process, and finally the compact forming and mechanical properties of the composite material are difficult to ensure.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a flexible three-dimensional weaving equipment guide bar installation detection method based on multi-view distance measurement, which uses a machine to complete the fussy task by using an image processing method, improves the installation precision of the monitoring guide bar, reduces the burden of human eyes and saves the detection time.
In order to achieve the technical purpose, the invention adopts the following technical scheme: a method for installing and detecting a guide rod of flexible three-dimensional weaving equipment based on multi-view ranging specifically comprises the following steps:
(1) The mobile image acquisition system acquires images of the installation area of the guide rod and acquires a measurement distance through the acquired images of two adjacent frames;
(2) Constructing a target function of a genetic optimization algorithm, classifying the measuring distances obtained in the step (1), inputting the classified measuring distances into the genetic optimization algorithm for optimization, and outputting the installation height of a guide rod;
(3) If the installation height of the guide rod is within the allowable installation error range, indicating that the installation is correct if the installation height of the guide rod is within the allowable installation error range; otherwise, the installation is not successful;
(4) And (4) repeating the steps (1) to (3) until the detection of the installation positions of all the guide rods in the guide rod area is completed.
Furthermore, before the image acquisition system acquires the image of the installation area of the guide rod, the image acquisition system is calibrated at high precision.
Further, the image acquisition system in step (1) comprises: support arm, sharp module, many vision sensor, a support arm is connected respectively at the both ends of sharp module, and the support arm sets up on the template that flexible three-dimensional weaving was equipped, many vision sensor sets up in sharp module below, many vision sensor comprises a plurality of high accuracy industry cameras, and high accuracy industry camera evenly distributed is on the radius is R's circumference, the visual field of high accuracy industry camera is to guide bar installation region.
Further, the overlapping area of the observation fields of view between two adjacent high-precision industrial cameras is more than 60%.
Further, step (1) comprises the following sub-steps:
(1.1) moving the image acquisition system to move in the guide rod installation area, shooting the image frame of the guide rod installation target point on the guide rod installation area, calibrating the coordinates of the guide rod installation target point on the image frame, and calculating the parallax value of the guide rod installation target point on the adjacent image frame
Wherein X L And X r Abscissa, Y, respectively representing guide bar installation target points on adjacent image frames L And Y r Respectively representing the vertical coordinates of the installation target points of the guide rods on the adjacent image frames;
(1.2) according to the principle of similar triangles, there are
Calculating the distance d from the installation target point of the guide rod to the center of the ith high-precision industrial camera and the jth high-precision industrial camera ij Wherein B is ij The distance between the ith high-precision industrial camera and the jth high-precision industrial camera is represented, and f represents the focal length of the high-precision industrial camera;
(1.3) d determined according to step (1.2) ij Calculating the measured object distance between the ith high-precision industrial camera and the jth high-precision industrial camera
(1.4) repeating the steps (1.2) to (1.3) to obtain the measured object distance between the ith high-precision industrial camera and all the other high-precision industrial cameras, and calculating the measured distance between the ith high-precision industrial camera and all the other high-precision industrial cameras
Where n denotes the total number of high precision industrial cameras, θ ij A weight coefficient representing the measurement distance between the ith high-precision industrial camera and the jth high-precision industrial camera;
and (1.5) traversing each high-precision industrial camera to obtain the measuring distance between each high-precision industrial camera and all the other high-precision industrial cameras.
Further, the step (2) comprises the following sub-steps:
(2.1) classifying the measurement distances obtained in the step (1) by a partial least square method, and constructing an objective function f (x) = -x of a genetic optimization algorithm 2 +2 a x, wherein x is the measured distance and a is the average of the measured distances; setting population size and evolution algebra, and inputting the classified measuring distance into a genetic optimization algorithm for optimization;
(2.2) performing crossover and mutation operations to set the probability that each measured distance is selected
Wherein, f (d) i ) Representing an objective function value of the measured distances, crossing every two measured distances to generate a new measured distance, and setting the crossing probability Pc to be 0.7; for any two measuring distances, generating a random number α ∈ (0, 1), wherein the measuring distances after hybridization are y1= α x1+ (1- α) x2, y2= (1- α) x1+ α x2, respectively, wherein x1 and x2 are any two measuring distances, and y1 and y2 are measuring distances after hybridization, respectively; setting the variation probability Pm of the measurement distance to be 0.01, and if the measurement distance has variation, setting the measurement distance after variation to be y = d i +0.5 × l or y = d i -0.5 x L, wherein L is the difference between the maximum and minimum values in the measured distance;
and (2.3) inputting the measured distance, the hybridized measured distance and the mutated measured distance into a target function, calculating a target function value, repeating the step (2.2) until the genetic optimization algorithm reaches a set evolution algebra, and taking the maximum target function value as the installation height of the guide rod.
Further, the parameters of the genetic optimization algorithm in step (2.1) are set as follows: the population size is set to the total number of high-precision industrial cameras, and the evolution algebra is 200.
Compared with the prior art, the invention has the following beneficial effects: the flexible three-dimensional weaving equipment guide rod installation detection method based on multi-view distance measurement calculates the parallax value of a guide rod installation target point through adjacent image frames, obtains the measurement distance of a high-precision industrial camera according to a similar triangle principle and a weight coefficient, and has the characteristics of high precision and small error; the invention can effectively reduce the error of the measuring distance of the guide rod through the genetic optimization algorithm, and obtains the actual measuring distance through the global optimization of crossing and variation, thereby realizing the detection process with high accuracy, high efficiency and high calculation speed. The method for installing and detecting the guide rod of the flexible three-dimensional weaving equipment based on multi-view distance measurement reduces the interference of human subjectivity, improves the intelligent measurement level in the production flow of the prefabricated body, reduces the working strength of quality inspection personnel, realizes high-precision detection and real-time feedback, can effectively reduce the deformation and fiber bundle damage in the weaving process of the prefabricated body, and finally ensures the compact forming and mechanical properties of the composite material.
Drawings
FIG. 1 is a schematic diagram of an image acquisition system according to the present invention;
FIG. 2 is a schematic view of the distribution of multi-vision sensors in the present invention;
FIG. 3 is a geometric schematic of the image ranging process of the present invention;
FIG. 4 is a flow chart of measuring distance based on a genetic optimization algorithm in the present invention;
FIG. 5 is a diagram showing the result of the detection of the installation of the guide rod in the method for detecting the installation of the guide rod in the flexible three-dimensional weaving equipment based on multi-view distance measurement.
Detailed Description
The technical scheme of the invention is clearly and completely described below with reference to the accompanying drawings. The same numbers in different drawings identify the same or similar elements unless otherwise indicated. The following embodiments do not represent all embodiments consistent with the present invention.
The invention discloses a method for installing and detecting a guide rod of flexible three-dimensional weaving equipment based on multi-view ranging, which specifically comprises the following steps:
(1) Before an image acquisition system acquires an image of a guide rod installation area, in order to determine the mutual relation between the three-dimensional geometric position of a certain point on the surface of a space object and the corresponding point in the image, a camera imaging geometric model must be established, the image acquisition system is calibrated at high precision, calibration parameters and a corrected image of the image acquisition system are obtained, the working accuracy of the image acquisition system is ensured, and the baseline distance of the image acquisition system is obtained. Then, the mobile image acquisition system acquires images of the installation area of the guide rod, and the measurement distance is acquired through the acquired images of two adjacent frames.
Fig. 1 is a schematic structural diagram of an image capturing system according to the present invention, the image capturing system includes: support arm 10, straight line module 20, many vision sensor 30, a support arm 10 is connected respectively at the both ends of straight line module 20, support arm 10 sets up on the template 60 that flexible three-dimensional weaving equipment, many vision sensor 30 sets up in straight line module 20 below, as figure 2, many vision sensor 30 comprises a plurality of high accuracy industrial camera 40, high accuracy industrial camera 40 evenly distributed is on the circumference that the radius is R, the guide bar installation zone 50 is aimed at in the field of vision of high accuracy industrial camera 40, the overlap region in the observation field of vision between two adjacent high accuracy industrial camera 40 is greater than 60%, thereby all have a common target point in the field of vision of assurance high accuracy industrial camera 40.
Specifically, step (1) includes the following substeps:
(1.1) moving the image acquisition system to move in the guide rod installation area, shooting the image frame of the guide rod installation target point on the guide rod installation area, calibrating the coordinates of the guide rod installation target point on the image frame, and calculating the coordinates of the guide rod installation target points on the adjacent image framesThe parallax value of the target point installed by the guide rod
Wherein, X L And X r Abscissa, Y, representing the mounting target point of the guide rod on adjacent image frames L And Y r Respectively representing the vertical coordinates of the installation target points of the guide rods on the adjacent image frames;
(1.2) As shown in FIG. 3, according to the principle of similar triangles, there are
Calculating the distance d from the installation target point of the guide rod to the center of the ith high-precision industrial camera and the center of the jth high-precision industrial camera ij Wherein B is ij The distance between the ith high-precision industrial camera and the jth high-precision industrial camera is represented, and f represents the focal length of the high-precision industrial camera; distance information is obtained by directly measuring the distance of a target point through calculating the parallax of adjacent image frames, and the accuracy is high;
(1.3) d determined according to step (1.2) ij Calculating the measured object distance between the ith high-precision industrial camera and the jth high-precision industrial camera
(1.4) repeating the steps (1.2) - (1.3) to obtain the measured object distances between the ith high-precision industrial camera and all the rest high-precision industrial cameras, and calculating the measured distances between the ith high-precision industrial camera and all the rest high-precision industrial cameras
Where n denotes the total number of high-precision industrial cameras, θ ij A weight coefficient representing the distance between the ith high-precision industrial camera and the jth high-precision industrial camera, when B ij The greater the accuracy, so for B ij The larger measurement distance corresponding to the two high-precision industrial cameras needs to be provided with larger weight so as to improve the calculation precision;
and (1.5) traversing each high-precision industrial camera to obtain the measuring distance between each high-precision industrial camera and all the other high-precision industrial cameras.
(2) Constructing a target function of a genetic optimization algorithm, classifying the measurement distances acquired in the step (1), inputting the classified measurement distances into the genetic optimization algorithm for optimization, and outputting the installation height of a guide rod; as shown in fig. 4, step (2) includes the following sub-steps:
(2.1) classifying the measuring distances obtained in the step (1) by a partial least square method to eliminate measuring distance data with larger errors and construct an objective function f (x) = -x of a genetic optimization algorithm 2 +2 a x, wherein x is the measured distance and a is the average of the measured distances; setting a population size and an evolution algebra, wherein the population size is set to the total number of the high-precision industrial cameras, the evolution algebra is 200, and inputting the classified measuring distances into a genetic optimization algorithm for optimization;
and (2.2) performing intersection and mutation operations, thereby generating more measured distance data and preventing the genetic optimization algorithm from entering local optimization. Setting the probability that each measured distance is selected
Wherein, f (d) i ) Representing an objective function value of the measured distances, crossing every two measured distances to generate a new measured distance, and setting the crossing probability Pc to be 0.7; for any two measuring distances, generating a random number α ∈ (0, 1), wherein the measuring distances after hybridization are y1= α x1+ (1- α) x2, y2= (1- α) x1+ α x2, respectively, wherein x1 and x2 are any two measuring distances, and y1 and y2 are measuring distances after hybridization, respectively; setting the variation probability Pm of the measurement distance to be 0.01, and if the measurement distance is varied, setting the measurement distance after variation to be y = d i +0.5 × l or y = d i -0.5 x L, wherein L is the difference between the maximum and minimum values in the measured distance;
and (2.3) inputting the measured distance, the hybridized measured distance and the mutated measured distance into a target function, calculating a target function value, repeating the step (2.2) until the genetic optimization algorithm reaches a set evolution algebra, and taking the maximum target function value as the installation height of the guide rod.
(3) If the installation height of the guide rod is within the allowable installation error range, indicating that the installation is correct if the installation height of the guide rod is within the allowable installation error range; otherwise, the installation is not successful;
(4) And (4) repeating the steps (1) to (3) until the detection of the installation positions of all the guide rods in the guide rod area is completed.
Fig. 5 is a diagram showing the result of detecting the installation condition of the guide rod by using the method of the present invention, wherein the guide rod which is not successfully installed is marked, and the guide rod which is not successfully installed can be visually seen by using the method of the present invention, so that the detection with high accuracy and high efficiency is realized.
The above is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, and any technical solutions that fall under the spirit of the present invention fall within the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (5)
1. A method for installing and detecting a guide rod of flexible three-dimensional weaving equipment based on multi-view ranging is characterized by comprising the following steps:
(1) The mobile image acquisition system acquires images of the installation area of the guide rod, and the measurement distance is acquired through the acquired images of two adjacent frames; the method specifically comprises the following substeps:
(1.1) moving the image acquisition system to move in the guide bar installation area, shooting the image frame of the guide bar installation target point on the guide bar installation area, calibrating the coordinate of the guide bar installation target point on the image frame, and calculating the parallax value of the guide bar installation target point on the adjacent image frame
Wherein, X L And X r Abscissa, Y, representing the mounting target point of the guide rod on adjacent image frames L And Y r Respectively representing the vertical coordinates of the installation target points of the guide rods on the adjacent image frames;
(1.2) according to the principle of similar triangles, have
Calculating the distance d from the installation target point of the guide rod to the center of the ith high-precision industrial camera and the center of the jth high-precision industrial camera ij Wherein, B ij The distance between the ith high-precision industrial camera and the jth high-precision industrial camera is represented, and f represents the focal length of the high-precision industrial camera;
(1.3) d determined according to step (1.2) ij Calculating the measured object distance between the ith high-precision industrial camera and the jth high-precision industrial camera
(1.4) repeating the steps (1.2) - (1.3) to obtain the measured object distances between the ith high-precision industrial camera and all the rest high-precision industrial cameras, and calculating the measured distances between the ith high-precision industrial camera and all the rest high-precision industrial cameras
Where n denotes the total number of high precision industrial cameras, θ ij A weight coefficient representing the measurement distance between the ith high-precision industrial camera and the jth high-precision industrial camera;
(1.5) traversing each high-precision industrial camera to obtain the measurement distance between each high-precision industrial camera and all the other high-precision industrial cameras;
(2) Constructing a target function of a genetic optimization algorithm, classifying the measuring distances obtained in the step (1), inputting the classified measuring distances into the genetic optimization algorithm for optimization, and outputting the installation height of a guide rod;
(3) If the installation height of the guide rod is within the allowable installation error range, indicating that the installation is correct if the installation height of the guide rod is within the allowable installation error range; otherwise, the installation is not successful;
(4) Repeating the steps (1) - (3) until the detection of the installation positions of all the guide rods in the guide rod area is completed;
the image acquisition system in the step (1) comprises: support arm (10), sharp module (20), many vision sensor (30), one support arm (10) is connected respectively at the both ends of sharp module (20), and support arm (10) set up on template (60) that flexible three-dimensional weaving was equipped, many vision sensor (30) set up in sharp module (20) below, many vision sensor (30) comprise a plurality of high accuracy industry camera (40), and high accuracy industry camera (40) evenly distributed is on the circumference that the radius is R, guide bar installation area (50) are aimed at in the field of vision of high accuracy industry camera (40).
2. The method for detecting the installation of the guide rod of the flexible three-dimensional weaving equipment based on the multi-view ranging as claimed in claim 1, wherein before the image acquisition system acquires the image of the installation area of the guide rod, the image acquisition system is calibrated at high precision.
3. The method for detecting the installation of the guide rod of the flexible three-dimensional weaving equipment based on the multi-view ranging as claimed in claim 2, wherein the overlapping area of the observation visual fields between two adjacent high-precision industrial cameras (40) is more than 60%.
4. The method for detecting the installation of the guide rod of the flexible three-dimensional weaving equipment based on the multi-view ranging as claimed in claim 1, wherein the step (2) comprises the following sub-steps:
(2.1) classifying the measurement distances obtained in the step (1) by a partial least square method, and constructing an objective function f (x) = -x of a genetic optimization algorithm 2 +2 a x, wherein x is the measured distance and a is the average of the measured distances; setting population size and evolution algebra, and inputting the classified measurement distances into a genetic optimization algorithm for optimization;
(2.2) performing crossover and mutation operations, setting the probability that each measured distance is selected
Wherein, f (d) i ) Objective function values representing measured distances, each measured distance being crossed pairwise to generate a new measurementDistance, setting the cross probability Pc to be 0.7; generating a random number alpha epsilon (0, 1) for any two measurement distances, wherein the measurement distances after hybridization are respectively y1= alpha x1+ (1-alpha) x2, y2= (1-alpha) x1+ alpha x2, x1 and x2 are respectively any two measurement distances, and y1 and y2 are respectively measurement distances after hybridization; setting the variation probability Pm of the measurement distance to be 0.01, and if the measurement distance has variation, setting the measurement distance after variation to be y = d i +0.5 × l or y = d i -0.5 x L, wherein L is the difference between the maximum and minimum values in the measured distance;
and (2.3) inputting the measured distance, the hybridized measured distance and the mutated measured distance into a target function, calculating a target function value, repeating the step (2.2) until the genetic optimization algorithm reaches a set evolution algebra, and taking the maximum target function value as the installation height of the guide rod.
5. The method for detecting the installation of the guide rod of the flexible three-dimensional weaving equipment based on the multi-view ranging as claimed in claim 4, wherein the parameters of the genetic optimization algorithm in the step (2.1) are set as follows: the population size is set to the total number of high-precision industrial cameras, and the evolution algebra is 200.
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| CN114485434A (en) | 2022-05-13 |
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