WO2020134198A1 - 一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统 - Google Patents

一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统 Download PDF

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WO2020134198A1
WO2020134198A1 PCT/CN2019/105988 CN2019105988W WO2020134198A1 WO 2020134198 A1 WO2020134198 A1 WO 2020134198A1 CN 2019105988 W CN2019105988 W CN 2019105988W WO 2020134198 A1 WO2020134198 A1 WO 2020134198A1
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turn
ccd camera
turn insulation
computer
distance
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PCT/CN2019/105988
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French (fr)
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文伟
沈光
宋云涛
吴维越
杜双松
卫靖
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中国科学院合肥物质科学研究院
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
    • H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
    • H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
    • H01F41/12—Insulating of windings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording

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  • the invention relates to the field of control systems for an automatic turn-to-turn insulation machine, in particular to a visual recognition system for automatic winding of turn-to-turn insulation of large superconducting magnets.
  • Thermonuclear fusion will provide inexhaustible clean energy for centuries, and the International Thermonuclear Fusion Experimental Reactor (ITER) plan will be completed within the next ten years.
  • the superconducting magnet provides the required magnetic field for the Tokmark device to achieve the purpose of controlling and confining the high temperature plasma.
  • Superconducting magnet interturn insulation is often made of multiple layers of glass ribbon and polyamide tape to meet the requirements of interturn insulation strength and radiation resistance; therefore, the stack of insulation tape must be accurately controlled during the interturn insulation wrapping process
  • the package distance and the misalignment distance provide the impregnation conditions for the subsequent vacuum pressure impregnation process.
  • the inter-turn insulation automatic winding visual recognition system can accurately identify and calculate the wrapping distance and misalignment distance of the wrapped insulation tape, and provide feedback signals, which is the key to achieving high-quality inter-turn insulation automatic wrapping.
  • the object of the present invention is to provide a visual recognition system for automatic winding of inter-turn insulation of large superconducting magnets, to solve the problems in the prior art, and to realize the overlapping and misalignment distances of the insulating tape after automatic winding Pattern recognition and calculation, while providing feedback signals to the control system of the superconducting magnet inter-turn insulation automatic wrapping machine.
  • a visual recognition system for automatic winding of inter-turn insulation of large superconducting magnets including a CCD camera mounted on an inter-turn insulation automatic wrapping machine of superconducting magnets, the CCD camera has its own light source and has a wireless communication function.
  • the CCD camera collects images of the inter-turn insulating tape that has been wrapped on the superconducting conductor at a certain frame rate during the process of automatically wrapping the inter-turn insulating tape on the superconducting conductor by the superconducting magnet inter-turn insulating wrapping machine.
  • the CCD camera is in communication with the computer, the image collected by the CCD camera is transferred to the computer, a software image recognition system is preset in the computer, and the software image recognition system performs pattern recognition processing on the image collected by the CCD camera ,
  • the computer will calculate the difference between the calculated overlapped distance and misalignment distance respectively with the preset theoretical data of the overlapped distance and the theoretical data of the offset distance to obtain the difference , And then the computer compares the absolute value of the difference between the overlapped distance and the absolute value of the difference between the offset distance and the preset threshold respectively, if any of the absolute value of the difference between the overlapped distance and the absolute value of the difference between the offset distance If the corresponding preset threshold is exceeded, the computer feeds back an early warning signal to the control system of the superconducting magnet inter-turn insulation automatic winding machine.
  • the CCD camera has an antenna, the computer is connected to a wireless router, and the image collected by the CCD camera is transmitted to the wireless router via the antenna, and then transmitted to the computer by the wireless router.
  • the image collected by the CCD camera is saved in the computer storage according to the video mode, so that the software image recognition system can perform the pattern recognition processing, and at the same time, it is also retained as an information source for traceability purposes.
  • the software image recognition system performs pattern recognition processing on pictures taken at a certain frame rate, calculates the overlapping distance and misalignment distance of the insulating tape in the image through a fixed resolution and a standard model, and calculates the results and theory The data is compared to calculate the difference, and then the absolute value of the difference is compared with the set threshold, and finally whether the alarm stop signal is fed back to the control system of the superconducting magnet inter-turn insulation automatic wrapping machine.
  • the invention works in an environment where the inter-turn insulation of a large superconducting magnet coil is automatically wrapped, is suitable for a superconducting physical device, and provides guidance for the quality of the inter-turn insulation wrapping of a superconducting magnet.
  • the invention has good application value in the field of fusion reactor and superconducting field.
  • the structure and principle of the present invention are simple, but the function is complex, which guarantees the quality of the automatic winding of the inter-turn insulation of the magnet coil; each function is undertaken by different units; the CCD camera with its own light source realizes the shooting of the image of the insulating tape after wrapping; The wireless router realizes wireless continuous communication of the image; the computer hardware and software image recognition system completes the storage of image information, pattern recognition processing and calculation, and decides whether to feed back the alarm signal according to the calculation result.
  • FIG. 1 is a schematic structural diagram of the present invention.
  • Fig. 2 is a standard model of visual recognition of the present invention.
  • a visual recognition system for automatic winding of large-scale superconducting magnet inter-turn insulation the CCD camera 3 with its own light source and antenna 2 is fixed to the superconducting magnet inter-turn insulation through a connecting plate Automatic wrapping machine 1.
  • the superconducting magnet interturn insulation automatic wrapping machine 1 is installed on the superconducting conductor 4 and wraps around the superconducting conductor 4 while walking according to the required wrapping distance and misalignment rate.
  • the parameters A and B shown in Figure 2 are the two key parameters that need to be controlled during the automatic winding of the inter-turn insulation: the overlap distance and the offset distance.
  • the overlapped distance refers to the distance between the same insulating tape intertwined
  • the offset distance refers to the distance between the starting points of the adjacent two layers of insulating tape.
  • the CCD camera 3 and the antenna 2 also follow the insulating wrapping reel, and at the same time, the CCD camera 3 follows a certain frame frequency Take photos of the inter-turn insulation tape that has been wrapped.
  • the captured pictures are wirelessly and continuously transmitted to the calculator memory through the antenna 2 and the router, and are saved as video files.
  • the software image recognition system extracts the picture information from the computer storage and performs pattern recognition processing, thereby calculating the wrapping distance A'and the misalignment distance B'of the wrapped inter-turn insulation. Subtract A'and A, B'and B and take the absolute value to get ⁇ A and ⁇ B. When ⁇ A or ⁇ B exceeds the set threshold, the calculator feeds back an alarm signal to the superconducting magnet inter-turn insulation automatic wrapping machine 1 automatically The control system causes the superconducting magnet inter-turn insulation automatic wrapping machine 1 to stop to facilitate the necessary manual intervention.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Manufacturing & Machinery (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

本发明公开了一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统，包括自带光源和天线的CCD摄像机，CCD摄像机安装在超导磁体匝间绝缘自动包绕机上，在匝间绝缘自动包绕的过程中按照一定的帧频对已经完成的匝间绝缘进行拍摄。所摄图片通过无线传输至计算机存储器。计算机软件图像识别系统对存储器图片进行模式识别处理，并根据模式识别处理结果判断是否反馈报警停机信号给超导磁体匝间绝缘自动包绕机控制系统。本发明的特点是集机械结构、无线通信、图像识别和自动控制于一体，满足大型超导磁体匝间绝缘自动包绕的视觉识别的特殊要求。

Description

一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统 技术领域
本发明涉及匝间绝缘自动包绕机控制系统领域，具体是一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统。
背景技术
热核聚变将为人类提供取之不尽的清洁能源，国际热核聚变试验堆(ITER)计划将在未来十年内建成。超导磁体为托克马克装置提供所需磁场，以达到控制和约束高温等离子体的目的。超导磁体匝间绝缘往往采用玻璃丝带和聚酰胺带多层叠包而成，以满足匝间绝缘强度和抗辐照要求；因此，在匝间绝缘包绕过程中必须精确的控制绝缘带的叠包距离和错位距离，为后续真空压力浸渍工序提供浸透条件。匝间绝缘自动包绕视觉识别系统能够对包绕完成的绝缘带叠包距离和错位距离进行精确识别和计算，并提供反馈信号，是实现高质量匝间绝缘自动包绕的关键。
发明内容
本发明的目的是提供一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统，以解决现有技术存在的问题，实现对自动包绕后的绝缘带叠包距离和错位距离进行模式识别和计算，同时提供反馈信号给超导磁体匝间绝缘自动包绕机控制系统。
为了达到上述目的，本发明所采用的技术方案为：
一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统，包括安装于超导磁体匝间绝缘自动包绕机上的CCD摄像机，该CCD摄像机自带光源并具备无线通讯功能，所述CCD摄像机在超导磁体匝间绝缘自动包绕机对超导导 体自动包绕匝间绝缘带过程中，按照一定的帧频采集超导导体上已经包绕完成的匝间绝缘带的图像，还包括具有无线通讯功能的计算机，所述CCD摄像机与计算机通讯连接，CCD摄像机采集的图像传送至计算机，计算机中预置软件图像识别系统，由软件图像识别系统对CCD摄像机采集的图像进行模式识别处理，以得到图像中匝间绝缘带的叠包距离和错位距离，计算机将计算得到的叠包距离和错位距离分别对应与预设的叠包距离理论数据、错位距离理论数据进行减法运算得到差值，然后计算机将叠包距离差值的绝对值、错位距离差值的绝对值分别与预设的阈值进行对应比较，若叠包距离差值的绝对值、错位距离差值的绝对值中任意一个超出对应的预设阈值，则计算机向超导磁体匝间绝缘自动包绕机的控制系统反馈预警信号。
所述CCD摄像机带有天线，计算机连接有无线路由器，CCD摄像机采集的图像经天线传送至无线路由器，并由无线路由器传送至计算机。
所述CCD摄像机采集的图像按照视频模式保存到计算机储存器，以供软件图像识别系统进行模式识别处理，同时也作为信息源留存以达到可追溯目的。
所述的软件图像识别系统对按照一定帧频拍摄的图片进行模式识别处理，通过固定的分辨率和标准模型对图像中的绝缘带的叠包距离和错位距离进行计算，并将计算结果和理论数据进行比对而计算出差值，再将该差值的绝对值与设定的阈值对比，最终判断是否反馈报警停机信号给超导磁体匝间绝缘自动包绕机的控制系统。
本发明工作在大型超导磁体线圈匝间绝缘自动包绕的环境下，适用于超导电物理装置，为超导磁体匝间绝缘包绕质量提供指导作用。本发明在聚变堆领域以及超导领域具有较好的应用价值。
事实上，只要是期望对磁体线圈匝间绝缘包绕质量进行视觉识别，都可 以参考本发明的技术方案，但凡是未脱离本发明的技术方案的内容，仅是依据本发明的技术实质对所述结构进行的简单修改，或是同等变化与修饰，均应属于本发明技术方案的范围之内。
本发明的优点是：
本发明的结构和原理简单，但功能复杂，保证了磁体线圈匝间绝缘的自动包绕质量；各功能由不同的单元承担；自带光源CCD摄像机实现包绕后绝缘带图像的拍摄；天线、无线路由器实现图像的无线连续通讯；计算机硬件和软件图像识别系统完成图像信息的存储、模式识别处理和计算，并根据计算结果决定是否反馈报警信号。
附图说明
图1为本发明的结构示意图。
图2是本发明的视觉识别标准模型。
具体实施方式
下面结合附图和实施例对本发明进一步说明。
如图1、图2所示，一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统中，自带光源和天线2的CCD摄像机3通过连接板固定在超导磁体匝间绝缘自动包绕机1上。超导磁体匝间绝缘自动包绕机1安装在超导导体4上，按照所需的叠包距离和错位率在超导导体4上边行走边包绕。图2所示的参数A和B分别为匝间绝缘自动包绕过程中需要控制的两个关键参数：叠包距离和错位距离。其中，叠包距离是指同一绝缘带相互缠绕的间距，错位距离是指相邻两层绝缘带起点的距离。
在超导磁体匝间绝缘自动包绕机1对超导导体4进行匝间绝缘包绕过程中，CCD摄像机3和天线2也跟随绝缘包绕带盘转动，同时CCD摄像机3按照一定的帧频对已经完成包绕的匝间绝缘带进行拍照。所拍摄的图片通过天线2和路由器无线连续传输至计算器储存器，并作为视频文件留存。
软件图像识别系统从计算机储存器提取图片信息进行模式识别处理，从而计算出已经完成包绕的匝间绝缘的叠包距离A’和和错位距离B’。将A’和A，B’和B进行减法处理并取绝对值得到ΔA和ΔB，当ΔA或ΔB超出设定阈值时，计算器反馈报警信号给超导磁体匝间绝缘自动包绕机1自动控制系统，促使超导磁体匝间绝缘自动包绕机1停机，以便于进行必要的人工干预。

Claims (4)

  1. 一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统，其特征在于：包括安装于超导磁体匝间绝缘自动包绕机上的CCD摄像机，所述CCD摄像机自带光源并具备无线通讯功能，所述CCD摄像机在超导磁体匝间绝缘自动包绕机对超导导体自动包绕匝间绝缘带过程中，按照一定的帧频采集超导导体上已经包绕完成的匝间绝缘带的图像，还包括具有无线通讯功能的计算机，所述CCD摄像机与计算机通讯连接，CCD摄像机采集的图像传送至计算机，计算机中预置软件图像识别系统，由软件图像识别系统对CCD摄像机采集的图像进行模式识别处理，从而得到图像中匝间绝缘带的叠包距离和错位距离，计算机将计算得到的叠包距离和错位距离分别对应与预设的叠包距离理论数据、错位距离理论数据进行减法运算得到差值，然后计算机将叠包距离差值的绝对值、错位距离差值的绝对值分别与预设的阈值进行对应比较，若叠包距离差值的绝对值、错位距离差值的绝对值中任意一个超出对应的预设阈值，则计算机向超导磁体匝间绝缘自动包绕机的控制系统反馈预警信号。
  2. 根据权利要求1所述的一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统，其特征在于：所述CCD摄像机设置有天线，计算机连接有无线路由器，CCD摄像机采集的图像经天线传送至无线路由器，并由无线路由器传送至计算机。
  3. 根据权利要求1所述的一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统，其特征在于：所述CCD摄像机采集的图像按照视频模式保存到计算机储存器，以供软件图像识别系统进行模式识别处理，同时也作为信息源留存以达到可追溯目的。
  4. 根据权利要求1所述的一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统，其特征在于：所述的软件图像识别系统对按照一定帧频拍摄的图片进行模式识别处理，通过固定的分辨率和标准模型对图像中的绝缘带的叠包距离和错位距离进行计算，并将计算结果和理论数据进行比对而计算出 差值，再将该差值的绝对值与设定的阈值对比，最终判断是否反馈报警停机信号给超导磁体匝间绝缘自动包绕机的控制系统。
PCT/CN2019/105988 2018-12-25 2019-09-16 一种用于大型超导磁体匝间绝缘自动包绕的视觉识别系统 WO2020134198A1 (zh)

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CN114334288B (zh) * 2021-12-27 2023-04-25 中国科学院合肥物质科学研究院 大型铠装Nb3Sn超导线圈匝间绝缘自动包绕系统
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