CN110689522A - System and method for measuring thickness of each layer of cable based on binocular machine vision - Google Patents
System and method for measuring thickness of each layer of cable based on binocular machine vision Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000012545 processing Methods 0.000 claims abstract description 36
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 238000010191 image analysis Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 7
- 239000010410 layer Substances 0.000 description 60
- 239000004020 conductor Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000011241 protective layer Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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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
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Abstract
The invention provides a system for measuring thickness of each layer of a cable based on binocular machine vision, which comprises a processor, a measuring subsystem, a binocular camera and a slide rail, wherein the processor is connected with the measuring subsystem; the sliding rail is used for mounting a cable to be tested; the binocular camera is arranged at one end of the sliding rail and used for shooting a cross-sectional image of the cable to be measured; the output port of the binocular camera is electrically connected with the input end of the measurement subsystem; the output end of the measurement subsystem is electrically connected with the input end of the processor; and the processor is used for calculating and outputting the thickness of each layer of the cable to be tested. According to the method for measuring the thickness of each layer of the cable based on the binocular machine vision, the cross-section picture of the cable is shot through the binocular camera, the image analysis and processing unit is used for carrying out circular curve fitting processing on the collected image, and finally the processor is used for calculating the thickness of each layer of the cable, so that the thickness of each layer of the cable is measured, the result obtained by measurement is high in precision, manpower and material resources are effectively saved, and the labor intensity of workers is greatly reduced.
Description
Technical Field
The invention relates to the technical field of cable cutting application, in particular to a system for measuring thickness of each layer of a cable based on binocular machine vision, and further relates to a method for measuring thickness of each layer of the cable based on the binocular machine vision.
Background
The existing power cable is composed of four parts, namely a wire core (conductor), an insulating layer, a shielding layer and a protective layer: the wire core is a conductive part of the power cable, is used for transmitting electric energy and is a main part of the power cable; the insulation layer electrically isolates the wire cores from the ground and the wire cores of different phases, ensures electric energy transmission and is an indispensable component in a power cable structure; power cables of 15KV and above generally have a conductor shield and an insulation shield. The protective layer functions to protect the power cable from external impurities and moisture, and to prevent external force from directly damaging the power cable.
At present, the stripping technology for each layer of the cable generally adopts a manual knife to strip a plurality of layers of a cable protection layer, a copper shielding layer, a semi-conducting layer, a cable main insulating layer and the like layer by layer according to experience feeling, the cut thickness is easily influenced by subjective emotion of people, the process is complex and is easy to make mistakes, and the problems of low accuracy, time consumption and labor consumption exist.
Disclosure of Invention
The invention provides a system for measuring the thickness of each layer of a cable based on binocular machine vision, aiming at overcoming the technical defects of low accuracy and time and labor waste of the existing method for peeling each layer of the cable by using a knife manually.
The invention also provides a method for measuring the thickness of each layer of the cable based on the vision of the binocular machine.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the system for measuring the thickness of each layer of the cable based on binocular machine vision comprises a processor, a measuring subsystem, a binocular camera and a slide rail; wherein:
the sliding rail is used for mounting a cable to be tested;
the binocular camera is arranged at one end of the sliding rail and used for shooting a cross-sectional image of the cable to be measured;
the output port of the binocular camera is electrically connected with the input end of the measurement subsystem;
the output end of the measurement subsystem is electrically connected with the input end of the processor;
and the processor is used for calculating and outputting the thickness of each layer of the cable to be tested.
Wherein the system further comprises a controller and a cutting motor; wherein:
the input end of the controller is electrically connected with the output end of the processor;
the output end of the controller is electrically connected with the cutting motor;
the cutting motor is used for vertically cutting the cable to be measured on the sliding rail.
The measurement subsystem comprises an image acquisition unit and an image analysis processing unit; wherein:
the input end of the image acquisition unit is electrically connected with the output port of the binocular camera;
the input end of the image analysis processing unit is electrically connected with the output end of the image acquisition unit;
the output end of the image analysis processing unit is electrically connected with the input end of the processor.
Wherein, the processor is a PC; the binocular camera adopts a binocular industrial camera.
Wherein, the controller adopts a PLC controller.
The method for measuring the thickness of each layer of the cable based on binocular machine vision comprises the following steps:
s1: a binocular camera acquires a cross-section image of a cable to be detected;
s2: the measuring subsystem processes the section image to obtain data information of each layer;
s3: and the processor calculates and outputs the thickness of each layer of the cable to be tested.
In step S2, the image acquisition unit acquires a cross-sectional image of the cable to be measured acquired by the binocular camera and sends the cross-sectional image to the image analysis processing unit for processing, and the specific processing procedure is as follows:
s21: obtaining a corrected image by adopting a Bouguet limit correction algorithm;
s22: carrying out histogram equalization processing on the corrected image to enhance the image quality;
s23: carrying out noise reduction and filtering processing on the image;
s24: performing edge detection on the noise-reduced and filtered image by adopting a canny algorithm to obtain an image edge;
s25: and fitting the circular curve by adopting a hough algorithm so as to finish the analysis and processing of the cross-section image of the cable to be detected.
Wherein, the step S3 specifically includes the following steps:
s31: the processor acquires the processed section image;
s32: selecting a pixel point on the outermost circle obtained by fitting, and performing distance measurement operation with each other pixel point of the fitting circle to obtain the longest diameter L1;
s33: selecting another pixel point on the fitting circle on the outermost layer, and performing distance measurement operation with each other pixel point of the fitting circle to obtain the longest diameter L2;
s34: the intersection point of L1 and L2 is a circle center O, N radial rays are made from the circle center in all directions, each radial ray has an intersection point with each fitting circle of the cable section, and the length of each intersection point and the circle center O is calculated;
s35: if the cable has N layers, N radiuses are obtained, and the difference of the radiuses between two adjacent layers is the thickness of the layer, namely N values obtained by each layer;
s36: the interference of the maximum value and the minimum value of each layer is solved, the average value of all values of each layer is obtained, and the obtained average value is used as the thickness of the layer;
s37: and outputting the measurement result of each layer.
Wherein the method further comprises the steps of:
s4: the processor transmits the obtained thickness data of each layer of the cable to be tested to the controller;
s5: and according to the obtained thickness data of each layer, the controller drives the cutting motor to cut the cable to be measured.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
according to the system and the method for measuring the thickness of each layer of the cable based on the binocular machine vision, the cross-section picture of the cable is shot through a binocular camera, the collected image is subjected to circular curve fitting processing through an image analysis processing unit, and finally the thickness of each layer of material of the cable is calculated through a processor, so that the thickness of each layer of material is measured, and the precision of the result obtained through measurement is high; and the measurement process is completed by system intelligence, so that manpower and material resources are effectively saved, and the labor intensity of workers is greatly reduced.
Drawings
FIG. 1 is a schematic view of a structural connection of a system for measuring thickness of each layer of a cable based on binocular machine vision;
FIG. 2 is a schematic diagram of the connection of system modules for measuring the thickness of each layer of a cable based on binocular machine vision;
FIG. 3 is a schematic flow chart of a method for measuring thickness of each layer of a cable based on binocular machine vision;
FIG. 4 is a diagram illustrating the effect of processing an image by the image analysis processing unit;
FIG. 5 is a schematic view of an image described in example 2;
wherein: 1. a processor; 2. a measurement subsystem; 21. an image acquisition unit; 22. an image analysis processing unit; 3. a binocular camera; 4. a slide rail; 5. a cable to be tested; 6. a controller; 7. a cutting motor.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1 and 2, the system for measuring the thickness of each layer of a cable based on binocular machine vision comprises a processor 1, a measuring subsystem 2, a binocular camera 3 and a slide rail 4; wherein:
the sliding rail 4 is used for mounting a cable 5 to be tested;
the binocular camera 3 is arranged at one end of the slide rail 4 and used for shooting a cross-sectional image of the cable 5 to be measured;
the output port of the binocular camera 3 is electrically connected with the input end of the measurement subsystem 2;
the output end of the measurement subsystem 2 is electrically connected with the input end of the processor 1;
the processor 1 is used for calculating and outputting the thickness of each layer of the cable 5 to be measured.
In the specific implementation process, the binocular camera 3 is opposite to the slide rail 4 in the positive direction and is positioned on the same horizontal plane; the slide rails 4 are used for placing and fixing cables, and are fixed on the workbench.
More specifically, the system further comprises a controller 6 and a cutting motor 7; wherein:
the input end of the controller 6 is electrically connected with the output end of the processor 1;
the output end of the controller 6 is electrically connected with the cutting motor 7;
and the cutting motor 7 is used for vertically cutting the cable 5 to be measured on the sliding rail 4.
More specifically, the measurement subsystem 2 includes an image acquisition unit 21 and an image analysis processing unit 22; wherein:
the input end of the image acquisition unit 21 is electrically connected with the output port of the binocular camera 3;
the input end of the image analysis processing unit 22 is electrically connected with the output end of the image acquisition unit 21;
the output end of the image analysis processing unit 22 is electrically connected with the input end of the processor 1.
More specifically, the processor 1 is a PC; the binocular camera 3 adopts a binocular industrial camera.
More specifically, the controller 6 is a PLC controller.
Example 2
More specifically, on the basis of embodiment 1, as shown in fig. 3, the method for measuring the thickness of each layer of the cable based on binocular machine vision comprises the following steps:
s1: the binocular camera 3 acquires a cross-sectional image of the cable 5 to be measured;
s2: the measurement subsystem 2 processes the cross-section image to obtain data information of each layer;
s3: the processor 1 calculates and outputs the thickness of each layer of the cable 5 to be measured.
More specifically, as shown in fig. 4, in step S2, the image acquisition unit 21 acquires a cross-sectional image of the cable to be measured acquired by the binocular camera 3 and sends the cross-sectional image to the image analysis processing unit 22 for processing, where the specific processing procedure is as follows:
s21: obtaining a corrected image by adopting a Bouguet limit correction algorithm;
s22: carrying out histogram equalization processing on the corrected image to enhance the image quality;
s23: carrying out noise reduction and filtering processing on the image;
s24: performing edge detection on the noise-reduced and filtered image by adopting a canny algorithm to obtain an image edge;
s25: and fitting the circular curve by adopting a hough algorithm so as to finish the analysis and processing of the cross-section image of the cable to be detected.
More specifically, as shown in fig. 5, the step S3 specifically includes the following steps:
s31: the processor 1 acquires the processed section image;
s32: selecting a pixel point on the outermost circle obtained by fitting, and performing distance measurement operation with each other pixel point of the fitting circle to obtain the longest diameter L1;
s33: selecting another pixel point on the fitting circle on the outermost layer, and performing distance measurement operation with each other pixel point of the fitting circle to obtain the longest diameter L2;
s34: the intersection point of L1 and L2 is a circle center O, the circle center carries out 16 radial rays in all directions, each radial ray has an intersection point with each fitting circle of the cable section, and the length of each intersection point and the circle center O is calculated;
s35: if the cable has n layers, n radiuses are obtained, and the difference of the radiuses between two adjacent layers is the thickness of the layer, namely 16 values obtained by each layer;
s36: the interference of the maximum value and the minimum value of each layer is solved, the average value of all values of each layer is obtained, and the obtained average value is used as the thickness of the layer;
s37: and outputting the measurement result of each layer.
In the specific implementation process, the binocular camera 3 is used for shooting the cross section picture of the cable, the image analysis processing unit 22 is used for carrying out circular curve fitting processing on the collected image, and finally the processor 1 is used for calculating the thickness of each layer of material of the cable to complete the measurement of the thickness of each layer of material. Taking the cable with parameters ZR-YJLW031 × 630mm 264/110 kV as an example, the measured data of the thickness of each layer material is compared with the real data, and the results are shown in Table 1:
TABLE 1 comparison of measured data with actual data
According to the table, the result obtained by measurement is high in precision and accurate to millimeter level, the process level during cable cutting is improved, meanwhile, the structure is simple, automatic stripping of the cable can be completed by matching with other equipment, and the labor intensity of workers is greatly reduced.
Example 3
More specifically, the method further comprises the steps of:
s4: the processor 1 transmits the obtained thickness data of each layer of the cable 5 to be tested to the controller 6;
s5: and according to the obtained thickness data of each layer, the controller 6 drives the cutting motor 7 to cut the cable 5 to be measured.
In the specific implementation process, according to the thickness data of each layer obtained by the system and the method for measuring the thickness of each layer of the cable based on the binocular machine vision, the controller 6 intelligently realizes the cutting of the cable, the accuracy is high, and the labor intensity of workers is greatly reduced.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. System based on each layer thickness of binocular machine vision measurement cable, its characterized in that: the binocular video camera system comprises a processor (1), a measuring subsystem (2), a binocular video camera (3) and a slide rail (4); wherein:
the sliding rail (4) is used for mounting a cable (5) to be tested;
the binocular camera (3) is arranged at one end of the sliding rail (4) and is used for shooting a cross-sectional image of the cable (5) to be measured;
the output port of the binocular camera (3) is electrically connected with the input end of the measurement subsystem (2);
the output end of the measurement subsystem (2) is electrically connected with the input end of the processor (1);
the processor (1) is used for calculating and outputting the thickness of each layer of the cable (5) to be measured.
2. The binocular machine vision-based system for measuring thicknesses of layers of a cable according to claim 1, wherein: the cutting machine also comprises a controller (6) and a cutting motor (7); wherein:
the input end of the controller (6) is electrically connected with the output end of the processor (1);
the output end of the controller (6) is electrically connected with the cutting motor (7);
and the cutting motor (7) is used for vertically cutting the cable (5) to be measured on the sliding rail (4).
3. The binocular machine vision-based system for measuring thicknesses of layers of a cable according to claim 2, wherein: the measurement subsystem (2) comprises an image acquisition unit (21) and an image analysis processing unit (22); wherein:
the input end of the image acquisition unit (21) is electrically connected with the output port of the binocular camera (3);
the input end of the image analysis processing unit (22) is electrically connected with the output end of the image acquisition unit (21);
the output end of the image analysis processing unit (22) is electrically connected with the input end of the processor (1).
4. The binocular machine vision-based system for measuring thicknesses of layers of a cable according to claim 3, wherein: the processor (1) is a PC; the binocular camera (3) adopts a binocular industrial camera.
5. The binocular machine vision-based system for measuring thicknesses of layers of a cable according to claim 4, wherein: the controller (6) adopts a PLC controller.
6. The binocular machine vision-based method for measuring thicknesses of layers of a cable according to claim 5, comprising the steps of:
s1: the binocular camera (3) acquires a cross-section image of the cable (5) to be detected;
s2: the measuring subsystem (2) processes the cross-section image to obtain data information of each layer;
s3: the processor (1) calculates and outputs the thickness of each layer of the cable (5) to be measured.
7. The method for measuring thicknesses of layers of cables based on binocular machine vision according to claim 6, wherein in the step S2, the image acquisition unit (21) acquires the cross-sectional image of the cable (5) to be measured acquired by the binocular camera (3) and sends the cross-sectional image to the image analysis processing unit (22) for processing, and the specific processing procedure is as follows:
s21: obtaining a corrected image by adopting a Bouguet limit correction algorithm;
s22: carrying out histogram equalization processing on the corrected image to enhance the image quality;
s23: carrying out noise reduction and filtering processing on the image;
s24: performing edge detection on the noise-reduced and filtered image by adopting a canny algorithm to obtain an image edge;
s25: and fitting the circular curve by adopting a hough algorithm so as to finish the analysis and processing of the cross-section image of the cable (5) to be detected.
8. The method for measuring thicknesses of layers of a cable according to claim 7, wherein the step S3 specifically comprises the steps of:
s31: the processor (1) acquires the processed section image;
s32: selecting a pixel point on the outermost circle obtained by fitting, and performing distance measurement operation with each other pixel point of the fitting circle to obtain the longest diameter L1;
s33: selecting another pixel point on the fitting circle on the outermost layer, and performing distance measurement operation with each other pixel point of the fitting circle to obtain the longest diameter L2;
s34: the intersection point of L1 and L2 is a circle center O, N radial rays are made from the circle center in all directions, each radial ray has an intersection point with each fitting circle of the cable section, and the length of each intersection point and the circle center O is calculated;
s35: if the cable has N layers, N radiuses are obtained, and the difference of the radiuses between two adjacent layers is the thickness of the layer, namely N values obtained by each layer;
s36: the interference of the maximum value and the minimum value of each layer is solved, the average value of all values of each layer is obtained, and the obtained average value is used as the thickness of the layer;
s37: and outputting the measurement result of each layer.
9. The binocular machine vision-based method of measuring thicknesses of layers of a cable of claim 8, further comprising the steps of:
s4: the processor (1) transmits the thickness data of each layer of the cable (5) to be tested to the controller (6) according to the obtained thickness data;
s5: and according to the obtained thickness data of each layer, the controller (6) drives the cutting motor (7) to cut the cable (5) to be measured.
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