JP2018176620A - Method for detecting state of fiber bundle wound around tank container - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a state of a fiber bundle wound around a tank container for a high-pressure tank.SOLUTION: A method for detecting a state of a fiber bundle wound around a tank container for a high-pressure tank includes: a step (a) of arranging a polarization camera toward the tank container, for a central axis of the polarization camera to be perpendicular to an axis of the tank container; a step (b) of obtaining a detectable angular range of the polarization camera, within which the polarization camera can detect an angle of the fiber bundle to a reference direction perpendicular to the central axis of the polarization camera, and in which an angle variation to be detected by the polarization camera to an angle variation of the fiber bundle is in a linear shape; a step (c) of setting a camera angle in a rotating direction with the central axis of the polarization camera as a center, so that a fiber angle to be set to the axis of the tank container for the fiber bundle wound around the tank container may fall into the detectable angular range; and a step (d) of capturing images of the fiber bundle wound around the tank container with the polarization camera, and then detecting the state of the fiber bundle wound therearound based on the captured polarization images.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a method of detecting the state of a fiber bundle wound around a tank container.

  Conventionally, a filament winding method (hereinafter, also simply referred to as “FW method”) has been adopted as a method for producing a high pressure tank for high pressure fluid. In the FW method, a fiber bundle in which a thermosetting resin is impregnated in advance is wound around a tank container as a mandrel and cured to form a fiber reinforced resin layer on the surface of the tank container.

  In Patent Document 1, in order to grasp the occurrence of fiber slippage of a fiber bundle in the process of manufacturing a high pressure tank by FW method, the fiber bundle before being wound around the surface of the tank container is photographed with an electronic camera such as a CCD camera. There is disclosed a technique for detecting the width of a fiber bundle based on a photographed image.

JP, 2009-291,981 A

  In Patent Document 1, an electronic camera such as a CCD camera used for photographing a fiber bundle picks up a simple change in reflected light intensity. Therefore, in the state of being wound around the tank container, the state of the fiber bundle can not be detected because the state such as the direction of the fiber bundle or the width of the fiber bundle (hereinafter simply referred to as "the state of the fiber bundle") can not be detected. Can not be detected. Therefore, in order to perform winding of the fiber bundle while detecting the state of the fiber bundle, for example, it has to be carried out while checking by visual observation etc., and the cycle time of manufacturing increases because the time of winding becomes longer. , Manufacturing costs will increase. For this reason, a technique for automatically detecting the state of the fiber bundle wound around the tank container is desired.

  The present invention has been made to solve at least a part of the above-mentioned problems, and can be realized as the following modes.

(1) According to one embodiment of the present invention, there is provided a method of detecting the state of a fiber bundle wound around a tank container for a high pressure tank. This detection method comprises the steps of: (a) arranging the polarization camera toward the tank container so that the central axis of the polarization camera is perpendicular to the axis of the tank container; and (b) the polarization camera A detection of the angle of the fiber bundle with respect to a reference direction perpendicular to the central axis of the polarization camera, wherein the change of the angle detected by the polarization camera with respect to the change of the fiber bundle angle is linear Determining the detectable angle range; (c) the center of the polarized camera such that the fiber angle set with respect to the axis of the tank container of the fiber bundle wound on the tank container falls within the detectable angle range Setting a camera angle in a rotational direction about an axis; and (d) photographing the fiber bundle wound around the tank container with the polarization camera and winding the polarization image from the photographed polarization image It comprises; step and performing was detected in the state of the fiber bundle.
According to the method of detecting the state of the fiber bundle of this aspect, it is possible to automatically detect the fiber bundle wound around the tank container from the polarization image which changes according to the direction of the fiber bundle. Also, set the camera angle in the rotational direction about the central axis of the polarized camera so that the fiber angle set with respect to the axis of the tank container of the fiber bundle wound around the tank container falls within the detectable angle range. Thus, it is possible to automatically detect the angle of the fiber bundle, the width of the fiber bundle, the position of the fiber bundle, and the like as the state of the fiber bundle wound around the tank container from the polarized image taken by the polarization camera.

  The invention can also be realized in various forms. For example, an apparatus for detecting the state of the fiber bundle wound around the tank container, a method and apparatus for winding the fiber bundle around the tank container, a method for manufacturing a high pressure tank, a manufacturing apparatus and the like can be realized.

BRIEF DESCRIPTION OF THE DRAWINGS Explanatory drawing which shows schematic structure of FW apparatus as 1st Embodiment. Explanatory drawing which compares and shows a normal camera image and a polarization camera image. The flowchart which shows the process for confirming the detectable angle range in the polarization camera to utilize. The graph which shows an example of the relationship between a fiber angle and a detection angle. Explanatory drawing shown about the detectable angle range by the polarization camera in, when based on the axis line of a tank container. Explanatory drawing which shows the example of a setting of the camera angle corresponding to hoop winding. Explanatory drawing which shows the example of a setting of the camera angle corresponding to helical winding. Explanatory drawing which shows the example of a setting of the camera angle corresponding to both hoop winding and helical winding. Explanatory drawing shown about the detection method of the angle of a fiber bundle. Explanatory drawing shown about the detection method of the width | variety of a fiber bundle. Explanatory drawing which shows schematic structure of FW apparatus as 2nd Embodiment. Explanatory drawing shown about the detection method of a fiber end position.

A. First embodiment:
A1. Device configuration:
FIG. 1 is an explanatory view showing a schematic configuration of the FW device 100 according to the first embodiment. The FW device 100 includes a tank container 11 which is a mandrel of a high pressure tank 10 (hereinafter simply referred to as "tank 10"), a winding device 30 for winding the fiber bundle CF around the outer surface of the tank container 11, and a detection device 40. And. As the detection device 40, a method of detecting the state of the fiber bundle wound around the tank container according to an embodiment of the present invention is applied. In addition, in FIG. 1, the tank 10 containing the tank container 11, the winding apparatus 30, and the detection apparatus 40 are each represented typically. Further, in FIG. 1, the Z-axis is parallel to the vertical direction, and the X-axis and the Y-axis are parallel to the horizontal direction and perpendicular to each other.

  The tank 10 is used to store high pressure fluid such as high pressure hydrogen gas. The tank 10 includes a tank container 11 to which a base 12 is attached. The tank container 11 is a container made of resin having high gas barrier properties. The tank container 11 is made of, for example, a resin such as polyamide, ethylene vinyl alcohol copolymer, polyethylene or the like. The resin may be replaced with a metal such as an aluminum alloy.

  The tank container 11 has a substantially cylindrical body portion, and two convexly curved dome portions disposed across the body portion. In FIG. 1, the axis tx represents the central axis of the body, that is, the central axis of the tank container 11. The axis tx is parallel to the X axis.

  The base 12 is attached to the top of each of the two domes of the tank container 11. The mouthpieces 12 are attached to both ends of the tank container 11 in the longitudinal direction (direction along the axis tx). The base 12 is attached such that the central axis of the base 12 and the axis tx of the tank container 11 coincide with each other. One of the mouthpieces 12 communicates with the inside of the tank container 11 and a pipe for supplying hydrogen gas is connected.

  The rotary shaft 21 of the support device (not shown) is attached to the two cap portions 12 so as to coincide with the axis tx of the tank container 11. The tank container 11 is rotated about the rotation axis 21, ie, the axis tx, by a rotating device (not shown). In addition, rotation of the tank container 11 is performed when the control apparatus 50 mentioned later controls a rotation apparatus.

  A reinforcing layer is formed on the outer surface of the tank container 11. The reinforcing layer has a structure in which the fiber bundle CF is wound around the outer surface of the tank container 11 by the winding device 30, and a plurality of layers (hereinafter referred to as "fiber bundle layer") made of the fiber bundle CF are stacked. The fiber bundle CF is configured by bundling carbon single fibers having a diameter of several micrometers (micrometers) or so. The directions of the single fibers in the fiber bundle CF are substantially parallel to one another. As a single fiber, polyacrylonitrile (PAN) carbon fiber is used. In addition, it may replace with polyacrylonitrile (PAN) type | system | group carbon fiber, and may use other arbitrary types of carbon fibers, such as rayon type | system | group carbon fiber and pitch type carbon fiber. Each single fiber is previously impregnated with a thermosetting resin. In the present embodiment, an epoxy resin is used as the thermosetting resin. Instead of the thermosetting resin, an ultraviolet curable resin may be impregnated. In addition to these resins, glass fibers and aramid fibers may be included for the purpose of reinforcing carbon fibers.

  The winding device 30 is electrically connected to a control device 50 described later, and executes a winding process of the fiber bundle CF around the tank container 11 in cooperation with the control device 50. When the winding device 30 receives a control signal instructing the start of winding from the control device 50, it controls the rotation of the tank container 11 and supplies the fiber bundle CF from the bobbin 32 to the tank container 11, Helical winding and hoop winding are performed to wind the fiber bundle CF around the tank container 11.

  The detection device 40 detects a state of winding of the fiber bundle CF wound around the tank container 11 (hereinafter, also simply referred to as “state of fiber bundle”). The state of the fiber bundle includes, for example, the angle of the wound fiber bundle (also referred to as “direction of fiber bundle”), the width of the fiber bundle, the position of the fiber bundle, and the like. The angle of the fiber bundle (hereinafter also referred to as "fiber angle"), the width of the fiber bundle (hereinafter referred to as "fiber width"), and the position of the fiber bundle (hereinafter referred to as "fiber position") will be described later. Do. The detection device 40 includes a polarization camera 42, an angle setting mechanism 44, and a control device 50.

  FIG. 2 is an explanatory view showing a normal camera image by an electronic camera such as a CCD camera and a polarization camera image by a polarization camera 42 in comparison. FIG. 2 shows an image of the fiber bundle CF which is helically wound around the tank container 11. A normal electronic camera captures a change in mere intensity of reflected light from a subject. For this reason, as shown in FIG. 2, it is not possible to detect a change in luminance according to the direction of the fiber bundle CF from the captured normal camera image. On the other hand, since the polarization camera 42 is a camera capable of acquiring polarization information of a subject, the polarization camera 42 can capture different polarization information as a polarization image according to the surface direction (angle) of the subject. . For this reason, as shown in FIG. 2, it is possible to detect a change in luminance according to the direction (angle) of the fiber bundle CF from the captured polarized camera image.

  The polarized camera 42 measures the center of the tank container 11 in the direction along the axis tx of the tank container 11 as shown in FIG. 1 in order to photograph the fiber bundle CF wound around the outer surface of the tank container 11 most efficiently. In position, it is arranged such that its central axis cz is perpendicular to the axis tx of the tank container 11 and points in the direction of the tank container 11. The central axis cz of the polarization camera 42 indicates a virtual ray (central ray) representative of a light beam from the subject to be received (corresponding to a so-called "optical axis of the optical system"). In the polarization camera 42, the camera angle in the rotational direction about the central axis cz of the polarization camera 42, that is, the angle to the axis tx of the tank container 11 in the reference direction cx perpendicular to the central axis cz of the polarization camera It is set and arranged to The reference direction cx indicates the reference direction (the direction of an angle of 0 degrees) of the surface direction (angle) of the subject detected by the polarization camera 42 as a different polarization state. The camera angle of the polarization camera 42 is set by the rotation mechanism of the angle setting mechanism 44. The rotation mechanism of the angle setting mechanism 44 has, for example, a servomotor, and can be controlled by the control device 50 to set the camera angle of the polarization camera 42.

  The control device 50 not only controls the detection device 40 but also controls the whole of the FW device 100 such as the winding device 30 and the rotation device of the tank container 11. In the present embodiment, the control device 50 is configured by a computer. The CPU of the control device 50 executes the control program stored in advance in the memory to execute the above-described winding process of the fiber bundle CF in cooperation with the winding device 30, and winding in cooperation with the detection device 40. The detection of the wound state (the state of the fiber bundle) of the fiber bundle CF is carried out.

A2. Camera angle setting:
In the detection device 40, in order to be able to detect the state of the fiber bundle such as the fiber angle, as described above, it is required to install the polarization camera 42 at a predetermined camera angle. The setting of the camera angle will be described below.

  FIG. 3 is a flowchart showing processing for confirming a detectable angle range in the polarization camera 42 to be used. The polarization camera used as the polarization camera 42 has an angle that can detect the angle (direction) of the subject (in this example, the wound fiber bundle CF) with respect to the reference direction cx, depending on the type of camera. There is a range of (hereinafter also referred to as "detectable angular range"). For this reason, it is required for the polarization camera used as the polarization camera 42 to grasp the detectable angle range in advance.

  First, fiber bundles CF different in fiber angle θf (0 degree to 180 degree) with respect to the reference direction cx are sequentially photographed by the polarization camera 42, and the detection angle θm obtained from the photographed image (polarization image) is acquired respectively (step S10) , S20). For example, angle information on each pixel of a captured image (polarization image) can be displayed as a histogram, a peak position of the histogram can be detected, and an angle corresponding to the peak position can be obtained as a detection angle θm.

  The detected angles θf corresponding to the determined fiber angles θf are plotted on a graph (step S30). Then, by referring to the plotted graph, the detectable angle range (minimum angle θmin to maximum angle θmax) of the polarization camera itself used as the polarization camera 42 is determined (step S40).

  FIG. 4 is a graph showing an example of the relationship between the fiber angle θf and the detection angle θm. In this example, the relationship between the fiber angle θf and the detection angle θm is such that the detection angle θm linearly changes to positive corresponding to a positive change of the fiber angle θf at 20 degrees ≦ θf ≦ 160 degrees. The detection angle θm linearly changes to negative corresponding to the negative change. On the other hand, in 0 ≦ θf <20 degrees and 160 degrees <θf ≦ 180 degrees, there is no linear change as in the range of 20 degrees ≦ θf ≦ 160 degrees. Therefore, the fiber angle θf can be detected as the detection angle θm when the fiber angle θf is in the range from θmin = 20 degrees to θmax = 160 degrees, but 0 ≦ θf <20 degrees and 160 degrees <θf ≦ 180 degrees. In this case, the fiber angle θf can not be detected as the detection angle θm. That is, the range of the fiber angle θf from θmin = 20 degrees to θmax = 160 degrees is a detectable angle range, and the range of 0 ≦ θf <20 degrees and the range of 160 degrees <θf ≦ 180 degrees become an impossible range. . Note that the above-mentioned linear change is not limited to a change following a perfect straight line, and allows, for example, a change including an error of about ± 1% to ± 10%.

  Then, as an angle pattern (hereinafter also referred to as “fiber pattern”) of the fiber bundle CF wound on the tank container 11 (FIG. 1) by helical winding and hoop winding, the fiber angle θfs corresponding to the fiber pattern set in advance is The camera angle to be installed is determined so as to fall within the detectable angle range of the polarization camera 42 (step S50 in FIG. 2). The fiber angle θ fs is an angle based on the axis tx of the tank container 11. The polarization camera 42 is set to the determined camera angle.

  FIG. 5 is an explanatory view showing a detectable angle range by the polarization camera 42 when the axis tx of the tank container 11 is used as a reference. FIG. 5 is a schematic view of the state in which the outer surface of the tank container 11 viewed from the polarization camera 42 side is treated as a plane. Further, in FIG. 5, the camera angle of the polarization camera 42 is set such that the reference direction cx of the polarization camera 42 is oriented at the angle θcx-tx of the reference direction cx of the polarization camera 42 with respect to the axis tx of the tank container 11 The case is shown. In the following, the angle θcx-tx of the reference direction cx of the polarization camera 42 with respect to the axis tx of the tank container 11 is also simply referred to as “camera angle θcx-tx”. In addition, the camera angle θcx-tx has a positive counterclockwise direction with reference to the axis tx. The detectable angle range by the polarization camera 42 in this setting state is (θcx−tx + θmin) to (θcx−tx + θmax). Here, θmin and θmax indicate the minimum angle and the maximum angle of the detectable angle range of the polarization camera 42 itself when using the reference direction cx as a reference, and in this example, θmin = 20 degrees, θmax = 160 degrees (FIG. 3). In this way, if the camera angle θcx-tx (the direction of the reference direction cx) of the polarization camera 42 is adjusted, the detectable angle range of the polarization camera 42 with reference to the axis tx of the tank container 11 can be adjusted. it can.

  FIG. 6 is an explanatory view showing a setting example of a camera angle corresponding to hoop winding. Similar to FIG. 5, FIG. 6 is a schematic view showing a state in which the outer surface of the tank container 11 viewed from the polarization camera 42 side is treated as a flat surface. The setting of the fiber angle θfs wound around the tank container 11 by hoop winding is 70 degrees (= (90-20) degrees) ≦ θfs ≦ 110 degrees (= (90 + 20) degrees) as an example. In this case, if the camera angle θcx-tx of the polarization camera 42 is 0 degrees, that is, the reference direction cx coincides with the axis tx in plan view, the minimum value (θcx-tx + θmin) of the detectable angle range is θmin = 20 degrees, and the maximum value (? Cx-tx +? Max) becomes? Max = 160 degrees. As a result, since the setting range (70 degrees ≦ θfs ≦ 110 degrees) of the fiber angle θfs is included in the detectable angle range (20 degrees to 160 degrees), the state of the fiber bundle CF wound around the tank container 11 by hoop winding ( The fiber angle etc. can be detected by the polarized image taken by the polarized camera 42, as will be described later.

  FIG. 7 is an explanatory view showing a setting example of a camera angle corresponding to helical winding. Similarly to FIG. 5, FIG. 7 also shows a schematic view in a state in which the outer surface of the tank container 11 viewed from the polarization camera 42 side is treated as a plane. The setting of the fiber angle θfs wound around the tank container 11 by the helical winding is, for example, −30 degrees ≦ θfs ≦ + 30 degrees. In this case, if the camera angle θcx-tx of the polarization camera 42 is −90 degrees, that is, the reference direction cx coincides with the −Y direction perpendicular to the axis tx in plan view, the minimum value of the detectable angle range (θcx −tx + θmin) is −70 degrees, and the maximum value (θcx−tx + θmax) is +70 degrees. As a result, the setting range (−30 degrees ≦ θfs ≦ + 30 degrees) of the fiber angle θfs falls within the detectable angle range (−70 degrees to +70 degrees), so that the fiber bundle CF wound around the tank container 11 by helical winding The state (fiber angle etc.) can be detected by the polarization image taken by the polarization camera 42 as described later.

  FIG. 8 is an explanatory view showing a setting example of camera angles corresponding to both hoop winding and helical winding. Similarly to FIG. 5, FIG. 8 also shows a schematic view of a state in which the outer surface of the tank container 11 viewed from the polarization camera 42 side is treated as a plane. Setting of the fiber angle θ fs wound around the tank container 11 by hoop winding is 70 degrees (= (90-20) degrees) ≦ θ fs 110 110 degrees (= (90 + 20) degrees) as an example (Fig. 6). The setting of the fiber angle θfs wound around the container 11 is, for example, −30 degrees ≦ θfs ≦ + 30 degrees (FIG. 7). That is, the setting range of the fiber angle θfs wound around the tank container 11 by hoop winding and helical winding is −30 degrees ≦ θfs ≦ 110 degrees as an example. In this case, assuming that the camera angle θcx-tx of the polarization camera 42 is −50 degrees, the minimum value (θcx−tx + θmin) of the detectable angle range is −30 degrees and the maximum value (θcx−tx + θmax) is +110 degrees It becomes. As a result, the setting range (−30 degrees ≦ θ fs ≦ + 110 degrees) of the fiber angle θfs is included in the detectable angle range (−30 degrees to +110 degrees), so that the fibers wound around the tank container 11 by hoop winding and helical winding The state of the bundle CF can be detected by the polarization image captured by the polarization camera 42 as described later.

A3. Detection of Fiber Bundle Status:
In the following description, as the state of the fiber bundle CF wound around the tank container 11, detection of the angle (fiber angle) of the fiber bundle and the width (fiber width) of the fiber bundle will be described. As the camera angle, as shown in FIG. 8, the camera angle (-30 degrees ≦ θfs ≦ 110 degrees) corresponding to the setting range (−30 degrees ≦ θfs ≦ 110 degrees) of the fiber angle θfs wound around the tank container 11 by hoop winding and helical winding. The setting of θcx−tx = −50 degrees will be described as an example.

(1) Detection of Angle of Fiber Bundle FIG. 9 is an explanatory view showing a method of detecting the angle of the fiber bundle. FIG. 9 shows an example of the fiber bundle CF (FIG. 7) wound around the tank container 11 by helical winding. As shown in the upper part of FIG. 9, in the polarization camera image captured by the polarization camera 42, the image portion Img1 of high brightness shows the portion of the fiber bundle CF of helical winding of θfs1 = + 30 degrees, and the image portion Img2 of low brightness Shows the portion of the helically wound fiber bundle CF of θ fs2 = −30 degrees. However, in order to make it easy to understand that the two types of fiber bundles CF by helical winding are symmetrical with respect to the axis tx of the tank container 11, this polarization camera image is an actual image taken by the polarization camera 42, It is shown in a state of being corrected by being rotated by a set camera angle (θcx−tx = −50 degrees). For this reason, the angles of the actual image portions Img1 and Img2 in the polarization camera image are larger by the size (| θcx-tx | = 50 degrees) of the camera angle θcx-tx than in the state shown in the figure.

  Then, as shown in the middle part of FIG. 9, the angle information on each pixel of the polarization camera image is displayed as a histogram, and the peak position of the histogram is detected, thereby setting the angle corresponding to the detected peak position as the detection angle θm. Ask. In the example of FIG. 9, since there are two types of directions of the fiber bundle CF by helical winding, the top two peak positions are detected. For example, an angle corresponding to the detected first peak position is determined as the first detection angle θm1, and an angle corresponding to the second peak position is determined as the second detection angle θm2. In the example shown in the figure, θm1 = 80 degrees and θm2 = 20 degrees.

  The fiber angle θfsm is determined by adding the camera angle θcx-tx to the determined detection angle θm. In the example of FIG. 9, the first fiber angle θfsm1 corresponding to the first image portion Img1 is detected as (θcx-tx + θm1) = + 30 degrees, and the second fiber angle θfsm2 corresponding to the second image portion Img2 is (θcx-tx + θm2 ) = -30 degrees are detected.

  Although illustration and description are omitted, also in the case of hoop winding, the fiber angle θfsm can be determined in the same procedure.

  As described above, the camera angle θ cx − is set so that the fiber angle θ fs set with respect to the axis tx of the tank container 11 of the fiber bundle CF wound around the tank container 11 falls within the detectable angle range of the polarization camera 42. tx is set, and the fiber bundle CF wound around the tank container 11 is photographed by the polarization camera 42. Thereby, the fiber angle can be detected as the state of the wound fiber bundle CF from the polarization image photographed by the polarization camera 42.

(2) Detection of Width of Fiber Bundle FIG. 10 is an explanatory view showing a method of detecting the width of the fiber bundle. FIG. 10 shows an example of the fiber bundle CF (FIG. 7) wound around the tank container 11 by helical winding, and the polarization camera image and the histogram are the same as the polarization camera image and the histogram of FIG. As described in FIG. 9, two types of detection angles θm1 and θm2 are detected based on the histogram, and corresponding fiber angles θfsm1 and θfsm2 are detected.

  An intermediate threshold value θth is set for two types of detection angles θm1 and θm2 detected from the histogram. For example, in the case of helical winding (θfs1 = + 30 degrees, θfs2 = −30 degrees), θth = [(θfs1 + θfs2) / 2− (θcx−tx)] = 50 degrees. In the case of the hoop winding (θfs1 = 110 degrees, θfs2 = 70 degrees), θth = [(θfs1 + θfs2) / 2− (θcx−tx)] = 140 degrees is set.

  Then, only the polarized camera image corresponding to the fiber bundle CF in the direction corresponding to the detection angle θm1 larger than the threshold θth or the detection angle θm2 smaller is extracted to create a binarized image as shown in the lower part of FIG. . The example of FIG. 10 shows an example in which only the polarized camera image in the direction corresponding to the detection angle θm1 is extracted. In addition, it is possible to use various image processing techniques, such as a small particle removal method, as a noise removal method in the case of setting it as a binarized image.

  Then, for the binarized image, the number of pixels in the direction perpendicular to the detection angle θm1 (fiber angle θfsm1) is counted, and the fiber width is obtained by multiplying the length per pixel (known) and the number of pixels. Find Wf.

  The fiber width Wf in the direction corresponding to the other detection angle θm2 (fiber angle θfsm2) can also be obtained by the same procedure. Also in the case of hoop winding, the fiber width Wf can be determined in the same manner.

  As described above, the camera angle θ cx − is set so that the fiber angle θ fs set with respect to the axis tx of the tank container 11 of the fiber bundle CF wound around the tank container 11 falls within the detectable angle range of the polarization camera 42. tx is set, and the fiber bundle CF wound around the tank container 11 is photographed by the polarization camera 42. As a result, the fiber angle can be detected as the state of the wound fiber bundle CF from the polarized image captured by the polarization camera 42, and the fiber width of the fiber bundle CF at the detected fiber angle can be detected.

  The state of the fiber bundle such as the fiber angle and the fiber width detected as described above is output to various other control units in the control device 50 and used. For example, it is output to the control unit of the winding device 30, and is used to control the winding of the fiber bundle CF by the winding device 30. Moreover, it is output to the monitoring control part which monitors a manufacturing condition, and is utilized for monitoring whether manufacture is performed within the tolerance of design.

B. Second embodiment:
B1. Device configuration:
FIG. 11 is an explanatory view showing a schematic configuration of the FW device 100B according to the second embodiment. The FW device 100B is the same as the FW device 100 of the first embodiment except that the arrangement position of the detection device 40 is different. In FIG. 11, the winding device 30 is omitted.

  In the FW device 100B, the detection device 40 is at an end position (hereinafter also referred to as “fiber end position”) in a direction along the axis tx of the tank container 11 of the fiber bundle CF wound around the tank container 11 by hoop winding. , And the polarization camera 42 is disposed.

B2. Camera angle setting:
Even if the camera angle θcx-tx of the polarization camera 42 is set to the camera angle θcx-tx = 0 degree corresponding to the hoop winding as described in FIG. 6, the hoop winding and the helical as described in FIG. The camera angle θcx−tx = −50 degrees corresponding to both of the turns may be set. In this example, it is assumed that θcx−tx = −50 degrees.

B3. Fiber end position detection:
In the following description, detection of the fiber end position will be described as the state of the fiber bundle wound around the tank container 11.

  FIG. 12 is an explanatory view showing a method of detecting the fiber end position. Similarly to the polarization camera image shown in FIG. 9, the polarization camera image shown in the upper part of FIG. 12 is also set to the camera angle (θcx−tx = −50 degrees) of the actual image taken by the polarization camera 42 It is shown in a state of being corrected by rotating by a minute.

  As shown in the middle of FIG. 12, the angle information for each pixel of the polarized camera image is displayed as a histogram, and a range (120 of detection angles .theta.m corresponding to the fiber angle .theta.fs (70 degrees.ltoreq..theta.fs.ltoreq.110 degrees) in hoop winding Only the polarization camera image in the direction corresponding to (degrees to 160 degrees) is extracted, and a binarized image is created as shown in the lower part of FIG. In addition, it is possible to use various image processing techniques, such as a small particle removal method, as a noise removal method in the case of setting it as a binarized image.

  The fiber end position can be detected by detecting the boundary of the binarized image.

  In the present embodiment, as shown in FIG. 11, the configuration for detecting the fiber end position on the right end along the axis tx of the tank container 11 has been described as an example, but the detecting device is located at the fiber end position on the left end. By arranging 40, the fiber end position on the left end side may be detected. Also, the fiber end positions on both the right end side and the left end side may be detected.

  As described above, the camera angle θ cx − is set so that the fiber angle θ fs set with respect to the axis tx of the tank container 11 of the fiber bundle CF wound around the tank container 11 falls within the detectable angle range of the polarization camera 42. tx is set, and the fiber bundle CF wound around the tank container 11 is photographed by the polarization camera 42. As a result, it is possible to detect the fiber angle in hoop winding as the state of the wound fiber bundle CF from the polarized image taken by the polarization camera 42 and to detect the end position of the fiber bundle CF at the detected fiber angle. .

  The fiber end position detected as described above is also output to and used by various other control units in the control device 50, similarly to the fiber angle and the fiber width in the first embodiment.

C. Modification:
The present invention is not limited to the above embodiment and modifications, and can be carried out in various modes without departing from the scope of the invention. For example, the following modifications can be made.

C1. Modification 1:
In the above embodiment, the angle setting mechanism 44 has a rotation mechanism having a servomotor, and the servomotor is controlled by the control device 50 to adjust the camera angle θcx-tx of the polarization camera 42 as an example. explained. However, since the camera angle θcx-tx is basically not changed after the initial setting, it does not necessarily have to be automatically adjustable by the servomotor. Therefore, the angle setting mechanism 44 may be configured not to have a servomotor, to be manually rotatable, and to have a rotation mechanism that can be fixed at an adjusted angle.

C2. Modification 2:
The first embodiment describes a configuration for detecting the angle (fiber angle) of the fiber bundle CF and the width (fiber width) of the fiber bundle CF as the state of the fiber bundle CF wound around the tank container 11, and the second embodiment The configuration has been described for detecting the end position (fiber end position) of the fiber bundle CF. However, in addition to the detection of the fiber angle and the fiber width in the first embodiment, the detection of the fiber end position in the second embodiment may be performed. In this case, a guide mechanism is provided to move the position of the detection device 40 along the direction of the axis tx of the tank container 11, and when detecting the fiber angle and the fiber width, at the center position in the direction of the axis tx. When the detection device 40 is disposed to detect the fiber end position, the detection device 40 may be disposed at an end position corresponding to the fiber end position in the axial line tx direction. Further, the detection device for detecting the fiber angle and the fiber width and the detection device for detecting the fiber end position may be arranged independently of each other.

C3. Modification 3:
In the above embodiment, the case where the camera angle θcx-tx of the polarization camera 42 is set to an angle capable of detecting both the helical wound and the hoop wound fiber angles has been described as an example. However, it is not limited to this. For example, the setting may be changed to a camera angle corresponding to each of helical winding and hoop winding. In this way, for example, even when the detectable angle range of the polarization camera used as the polarization camera 42 is narrower than the range in which both the hoop winding and the helical winding fiber angles can be detected simultaneously, the hoop winding and the helical winding are performed. Both fiber angles and fiber widths can be detected.

C4. Modification 4:
In the said embodiment, although the tank container 11 was a tank container for high pressure tanks for storing a high pressure fluid, this invention is not limited to this. It may be a tank container for a tank used for any other application as well as a tank for high pressure fluid storage. Even in such a configuration, the same effect as that of the present embodiment can be obtained.

  The present invention is not limited to the above-described embodiment and modifications, and can be realized in various configurations without departing from the scope of the invention. For example, the technical features in the embodiments corresponding to the technical features in the respective forms described in the section of the summary of the invention, and the technical features in the modified examples are for solving some or all of the problems described above, or Replacements or combinations can be made as appropriate to achieve part or all of the effects. Also, if the technical features are not described as essential in the present specification, they can be deleted as appropriate.

DESCRIPTION OF SYMBOLS 10 ... High pressure tank 11 ... Tank container 12 ... Base part 21 ... Rotation axis 30 ... Winding apparatus 32 ... Bobbin 40 ... Detection apparatus 42 ... Polarization camera 44 ... Angle setting mechanism 50 ... Control apparatus 100 ... FW apparatus 100B ... FW apparatus CF ... Fiber bundle Img1, Img2 ... image portion θf ... fiber angle θfs ... fiber angle θfs1, θfs2 ... fiber angle θfsm ... fiber angle θfsm1, θfsm2 ... fiber angle θm ... detection angle θm1, θm2 ... detection angle Wf ... fiber width cx ... reference direction θcx-tx: camera angle cz: central axis θmax: maximum angle θmin: minimum angle θth: threshold value tx: axis X, Y, Z: axis

Claims (1)

A method of detecting the state of a fiber bundle wound around a tank container for a high pressure tank, comprising:
(A) arranging the polarization camera toward the tank container so that the central axis of the polarization camera is perpendicular to the axis of the tank container;
(B) The polarization camera is capable of detecting the angle of the fiber bundle with respect to a reference direction perpendicular to the central axis of the polarization camera, and the angle of the angle detected by the polarization camera with respect to the change of the fiber bundle Determining a detectable angle range of the polarized camera whose change is linear;
(C) A camera rotating in a direction around the central axis of the polarized camera so that the fiber angle set with respect to the axis of the tank container of the fiber bundle wound around the tank container falls within the detectable angle range. Setting an angle,
(D) photographing the fiber bundle wound around the tank container with the polarization camera, and detecting the state of the wound fiber bundle from the photographed polarized image;
A method of detecting the state of a fiber bundle, comprising: