Control Method for Power Cord Fixed-Length Cutting Equipment

Abstract

The present application provides a control method for a power cord fixed-length cutting device. The method obtains a first image of the power cord to be cut within the cutting range interval through an image sensor, and the controller determines a first deformation degree of the power cord to be cut according to a preset power cord straightening model and the first image. When the first deformation degree is greater than a preset deformation degree threshold, the controller sends a straightening abnormality prompt message to the control panel. The straightening abnormality prompt message is used to prompt an adjustment of the tension adjustment mechanism in the power cord fixed-length cutting device, so as to realize a tension adjustment prompt for the tension adjustment mechanism for straightening the power cord in the power cord fixed-length cutting device according to the straightening state of the power cord to be cut within the cutting range interval, so as to prompt to adjust the tension of the tension adjustment mechanism to enable the power cord to meet the morphological requirements, thereby having better straightness and facilitating further wire stripping or assembly in subsequent processes.

Description

Technical Field

[0001] This application relates to automatic control technology, and particularly to a control method for a power cord fixed-length cutting device. Background Art

[0002] A wire fixed-length cutting device is an automated processing machine specialized for wire products such as electronic cables, power cords, and data cables. Its main function is to cut according to a preset precise length. Such devices integrate advanced electrical control technology, precise mechanical transmission structures, and high-precision measurement systems, and can efficiently and accurately complete a series of operations such as feeding of continuous wires, fixed-length measurement, and cutting.

[0003] Before the power cord is cut, it is usually in a coiled form and has a certain curvature in its original state. It is necessary to apply a pulling force to the power cord through the tension adjustment mechanism in the feeding device to straighten the power cord for subsequent cutting.

[0004] However, due to the different specifications of power cords, their wire diameters, insulation layer materials, and conductor materials have different physical properties, and different power cords require different pulling forces. If the pulling force is insufficient, it is easy to cause the power cord to be cut within the cutting area to be in a bent state, resulting in poor straightness of the power cord cut by the power cord fixed-length cutting device, thus affecting subsequent wire stripping and assembly processes. In addition, it should be noted that even for power cords of the same specification, due to the long-term operation of the tension adjustment mechanism, its tension will change and needs to be adjusted. Summary of the Invention

[0005] This application provides a control method for a power cord fixed-length cutting device to prompt the tension of the tension adjustment mechanism to be adjusted to a state that can make the power cord meet the morphological requirements, so as to have better straightness and facilitate further wire stripping or assembly in subsequent processes.

[0006] In a first aspect, this application provides a control method for a power cord fixed-length cutting device, which is applied to a power cord fixed-length cutting device. The power cord fixed-length cutting device includes a controller, an image sensor, and a control panel connected to the controller. The method includes:

[0007] At a first time node, obtain a first image of the power cord to be cut within the cutting range interval through the image sensor. The cutting range interval is the range interval corresponding to between a first positioning point and a second positioning point. The first positioning point is the cutting position corresponding to the cutting knife, and the distance between the first positioning point and the second positioning point corresponds to the preset cutting length.

[0008] The controller determines a first deformation degree of the power cord to be cut according to a preset power cord straightening model and the first image. The first deformation degree is used to characterize the curvature change of the power cord to be cut along a preset direction, and the preset direction is the vector direction from the first positioning point to the second positioning point;

[0009] If the first deformation degree is greater than a preset deformation degree threshold, the controller sends a straightening anomaly prompt message to the control panel. The straightening anomaly prompt message is used to prompt an adjustment of a tension adjusting mechanism in the power cord fixed-length cutting device.

[0010] Optionally, after the controller sends the straightening anomaly prompt message to the control panel, it further includes:

[0011] The control panel sends a continue running instruction to the controller in response to a straightening completion confirmation instruction;

[0012] The controller, in response to the continue running instruction, acquires a second image of the power cord to be cut within a cutting range interval through the image sensor at a second time node;

[0013] The controller determines a second deformation degree of the power cord to be cut according to the preset power cord straightening model and the second image;

[0014] If the second deformation degree is greater than the preset deformation degree threshold, the controller sends a tension increasing prompt message to the control panel. The tension increasing prompt message is used to prompt increasing the stretching tension of the tension adjusting mechanism in the power cord fixed-length cutting device on the power cord to be cut.

[0015] Optionally, after the controller determines the second deformation degree of the power cord to be cut according to the preset power cord straightening model and the second image, it further includes:

[0016] The controller determines straightening state feedback information according to the first deformation degree and the second deformation degree. Among them, if the second deformation degree is greater than or equal to the first deformation degree, the straightening state feedback information is first straightening state feedback information, and the first straightening state feedback information is used to prompt an inspection of the power cord coil in the power cord fixed-length cutting device; if the second deformation degree is less than the first deformation degree and greater than the preset deformation degree threshold, the straightening state feedback information is second straightening state feedback information, and the second straightening state feedback information is the tension increasing prompt message; if the second deformation degree is less than the preset deformation degree threshold, the straightening state feedback information is third straightening state feedback information, and the third straightening state feedback information is used to indicate that straightening is completed.

[0017] Optionally, the controller determines a first deformation degree of the power cord to be cut according to a preset power cord straightening model and the first image, including:

[0018] The controller performs grayscale conversion on the first image to obtain a first grayscale image;

[0019] The controller uses a contour detection algorithm to extract a contour from the first grayscale image to obtain a first power cord contour;

[0020] The controller determines a set of characteristic angles according to the angle between the vector directions determined between adjacent characteristic points in the set of characteristic points on the first power cord contour and the preset direction, and determines the first deformation degree according to the set of characteristic angles and a preset characteristic angle threshold.

[0021] Optionally, the first power cord contour includes a first side contour and a second side contour; correspondingly, the controller determines a set of characteristic angles according to the angle between the vector directions determined between adjacent characteristic points in the set of characteristic points on the first power cord contour and the preset direction, and determines the first deformation degree according to the set of characteristic angles and a preset characteristic angle threshold, including:

[0022] The controller generates a first set of characteristic points P = {p1, p2,..., p i ,..., p n} according to the first side contour in a preset coordinate system, and generates a second set of characteristic points Q = {q1, q2,..., q i ,..., q n} according to the second side contour, where the coordinate corresponding to the i-th characteristic point p i in the preset coordinate system is The coordinate corresponding to the i-th characteristic point q i in the second set of characteristic points Q in the preset coordinate system is Where

[0023] The controller determines a set of central characteristic points M = {m1, m2,..., m i ,..., m n} corresponding to the central contour feature line of the first power cord contour according to the first set of characteristic points P = {p1, p2,..., p i ,..., p n} corresponding to the first side contour and the second set of characteristic points Q = {q1, q2,..., q i ,..., q n}, where the central feature point set \(M = \{m_1, m_2, \ldots, m\) i , \ldots, m n} and the \(i\)-th feature point \(m i corresponds to the coordinate in the preset coordinate system, where

[0024] The controller determines the central feature point vector direction set according to the central feature point set \(M = \{m_1, m_2, \ldots, m\) i , \ldots, m n} corresponding to the central contour feature line where the \(i\)-th central feature point direction eigenvalue in the central feature point curvature change value set is the vector direction between the central feature point \(m i and the central feature point \(m i-1 ;

[0025] The controller determines the feature angle set \(T = \{t_1, t_2, \ldots, t\) and the unit vector corresponding to the preset direction where the \(i\)-th feature angle \(t i , \ldots, t n-1} in the feature angle set \(T\) is i the acute angle formed between and ;

[0026] The controller determines the first deformation degree according to the feature angle set \(T = \{t_1, t_2, \ldots, t\) i , \ldots, t n-1} and the preset feature angle threshold.

[0027] Optionally, the controller determines the first deformation degree according to the feature angle set \(T = \{t_1, t_2, \ldots, t\) i , \ldots, t n-1} and the preset feature angle threshold, including:

[0028] The controller determines the feature angle calibration value set \(K = \{k_1, k_2, \ldots, k\) i , \ldots, k n-1} according to the feature angle set \(T = \{t_1, t_2, \ldots, t\) i , \ldots, k n-1} and the preset feature angle threshold; where if \(t i is less than the preset first feature angle threshold, then the feature angle calibration value set \(K = \{k_1, k_2, \ldots, k\) i , \ldots, kn-1 the i-th characteristic angle calibration value k in i is the first calibration value; if t i is greater than the preset first characteristic angle threshold and less than the preset second characteristic angle threshold, then the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1} the i-th characteristic angle calibration value k i is the second calibration value, and the second calibration value is greater than the first calibration value; if t i is greater than the preset second characteristic angle threshold, then the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1} the i-th characteristic angle calibration value k i is the third calibration value, and the third calibration value is greater than the second calibration value;

[0029] The controller uses formula 1 and determines the first deformation degree according to the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1}, where the formula 1 is:

[0030]

[0031] where v is the first deformation degree.

[0032] Optionally, after the controller determines the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1} according to the characteristic angle set T = {t1, t2, …, t i , …, t n-1} and the preset characteristic angle threshold, it further includes:

[0033] If the i-th characteristic angle calibration value k in the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1} is the second calibration value and / or the third calibration value, then the controller determines the vector direction according to the feature point p i in the first feature point set P = {p1, p2, …, p i , …, p n} and the feature point p i and i-1 and determines the vector direction according to the feature point q in the second feature point set Q = {q1, q2, …, q i , …, q n} the feature point q iWith the feature point q i-1 Determine the vector direction

[0034] If the vector direction Or the vector direction The unit vector corresponding to the preset direction The included angle between them is less than the preset first feature angle threshold, then set k i Configured as the first calibration value.

[0035] Optionally, when the controller determines the vector direction according to the first feature point set P = {p1, p2,..., p i ,..., p n} of the feature point p i And the feature point p i-1 Determine the vector direction And according to the second feature point set Q = {q1, q2,..., q i ,..., q n} of the feature point q i And the feature point q i-1 Determine the vector direction After that, it further includes:

[0036] The controller determines the first included angle α1 between the vector direction And the unit vector , determines the second included angle α2 between the vector direction And the unit vector , determines the third included angle α3 between the vector direction And the vector direction ;

[0037] If the controller determines that the third included angle α3 is the sum of the first included angle α1 and the second included angle α2, then determine that the feature point p i And the feature point q i Is a combination of deformed feature points;

[0038] If the controller determines that the number of combinations of deformed feature points determined according to the first feature point set P = {p1, p2,..., p i ,..., p n} and the second feature point set Q = {q1, q2,..., q i ,..., q n} is greater than the preset quantity threshold, then the controller sends a prompt message for reducing the tension to the control panel, and the prompt message for reducing the tension is used to prompt the tension adjusting mechanism in the power cord fixed-length cutting device to reduce the stretching tension on the power cord to be cut.

[0039] In a second aspect, the present application provides a power cord fixed-length cutting device, comprising: a controller, an image sensor connected to the controller, and a control panel;

[0040] At a first time node, a first image of the power cord to be cut within the cutting range interval is obtained through the image sensor. The cutting range interval is the range interval corresponding to between a first positioning point and a second positioning point. The first positioning point is the cutting position corresponding to the cutting knife, and the distance between the first positioning point and the second positioning point corresponds to a preset cutting length;

[0041] The controller determines a first deformation degree of the power cord to be cut according to a preset power cord straightening model and the first image. The first deformation degree is used to characterize the curvature change of the power cord to be cut along a preset direction. The preset direction is the vector direction from the first positioning point to the second positioning point;

[0042] If the first deformation degree is greater than a preset deformation degree threshold, the controller sends a straightening abnormality prompt message to the control panel. The straightening abnormality prompt message is used to prompt an adjustment to the tension adjustment mechanism in the power cord fixed-length cutting device.

[0043] Optionally, in response to a straightening completion confirmation instruction, the control panel sends a continue running instruction to the controller;

[0044] In response to the continue running instruction, at a second time node, the controller obtains a second image of the power cord to be cut within the cutting range interval through the image sensor;

[0045] The controller determines a second deformation degree of the power cord to be cut according to the preset power cord straightening model and the second image;

[0046] If the second deformation degree is greater than the preset deformation degree threshold, the controller sends a tension increase prompt message to the control panel. The tension increase prompt message is used to prompt an increase in the stretching tension of the power cord to be cut by the tension adjustment mechanism in the power cord fixed-length cutting device.

[0047] Optionally, the controller determines straightening state feedback information according to the first deformation degree and the second deformation degree; wherein, if the second deformation degree is greater than or equal to the first deformation degree, the straightening state feedback information is the first straightening state feedback information, and the first straightening state feedback information is used to prompt an inspection of the power cord coil in the power cord length trimming device; if the second deformation degree is less than the first deformation degree and greater than the preset deformation degree threshold, the straightening state feedback information is the second straightening state feedback information, and the second straightening state feedback information is a tension increasing prompt message; if the second deformation degree is less than the preset deformation degree threshold, the straightening state feedback information is the third straightening state feedback information, and the third straightening state feedback information is used to indicate that straightening is completed.

[0048] Optionally, the controller performs grayscale conversion on the first image to obtain a first grayscale image;

[0049] The controller uses a contour detection algorithm to extract the contour of the first grayscale image to obtain a first power cord contour;

[0050] The controller determines a set of feature angles according to the angle between the vector directions determined between adjacent feature points in the set of feature points on the first power cord contour and the preset direction, and determines the first deformation degree according to the set of feature angles and the preset feature angle threshold.

[0051] Optionally, the first power cord contour includes a first side contour and a second side contour; the controller generates a first set of feature points P = {p1, p2,..., p i ,…,p n} according to the first side contour in a preset coordinate system, and generates a second set of feature points Q = {q1, q2,..., q i ,…,q n} according to the second side contour, where the coordinate corresponding to the i-th feature point p i in the preset coordinate system is The coordinate corresponding to the i-th feature point q i in the second set of feature points Q in the preset coordinate system is where

[0052] The controller generates the first set of feature points P = {p1, p2,..., p i ,…,p n} corresponding to the first side contour and the second set of feature points Q = {q1, q2,..., q i,…,q n} Determine the set of central feature points M = {m1, m2, …, m i ,…, m n} corresponding to the central contour feature line of the first power line profile, where the i-th feature point m i ,…, m n} in the set of central feature points M = {m1, m2, …, m i} has coordinates corresponding to it in the preset coordinate system as where

[0053] The controller determines the set of central feature point vector directions i ,…, m n} according to the set of central feature points M = {m1, m2, …, m where the i-th central feature point direction eigenvalue in the set of central feature point curvature change values is the vector direction between the central feature point m i and the central feature point m i-1 ;

[0054] The controller determines the set of feature angles T = {t1, t2, …, t } according to the set of central feature point vector directions and the unit vector corresponding to the preset direction i ,…, t n-1}, where the i-th feature angle t i in the set of feature angles T is and the acute angle formed between them;

[0055] The controller determines the first deformation degree according to the set of feature angles T = {t1, t2, …, t i ,…, t n-1} and the preset feature angle threshold.

[0056] Optionally, the controller determines the set of feature angle calibration values K = {k1, k2, …, k i ,…, k n-1} according to the set of feature angles T = {t1, t2, …, t i ,…, k n-1}; where if t i is less than the preset first feature angle threshold, then the set of feature angle calibration values K = {k1, k2, …, k i ,…, k n-1the i-th characteristic angle calibration value k in {...} i is the first calibration value; if t i is greater than the preset first characteristic angle threshold and less than the preset second characteristic angle threshold, then the characteristic angle calibration value set K = {k1, k2,..., k i ,..., k n-1} the i-th characteristic angle calibration value k i is the second calibration value, and the second calibration value is greater than the first calibration value; if t i is greater than the preset second characteristic angle threshold, then the characteristic angle calibration value set K = {k1, k2,..., k i ,..., k n-1} the i-th characteristic angle calibration value k i is the third calibration value, and the third calibration value is greater than the second calibration value;

[0057] The controller uses formula 1 and determines the first deformation degree according to the characteristic angle calibration value set K = {k1, k2,..., k i ,..., k n-1}, where the formula 1 is:

[0058]

[0059] where v is the first deformation degree.

[0060] Optionally, if the i-th characteristic angle calibration value k in the characteristic angle calibration value set K = {k1, k2,..., k i ,..., k n-1} is the second calibration value and / or the third calibration value, then the controller determines the vector direction according to the feature point p in the first feature point set P = {p1, p2,..., p i i n ,..., p n} and the feature point p i and the feature point p i-1 and determines the vector direction and according to the feature point q in the second feature point set Q = {q1, q2,..., q i ,..., q n} and the feature point q i and the feature point q i-1 and determines the vector direction

[0061] If the vector direction or the vector direction and the unit vector corresponding to the preset direction the included angle between them is less than the preset first characteristic angle threshold, then k iconfigured as the first calibration value.

[0062] Optionally, the controller determines the vector direction and the unit vector to obtain a first included angle α1 therebetween, and determines the vector direction and the unit vector to obtain a second included angle α2 therebetween, and determines the vector direction and the vector direction to obtain a third included angle α3 therebetween;

[0063] If the controller determines that the third included angle α3 is the sum of the first included angle α1 and the second included angle α2, then it determines the feature point p i and the feature point q i as a combination of deformed feature points;

[0064] If the controller determines, according to the first set of feature points P = {p1, p2, …, p i , …, p n} and the second set of feature points Q = {q1, q2, …, q i , …, q n}, that the number of combinations of deformed feature points is greater than a preset number threshold, then the controller sends a prompt message for reducing the tension to the control panel, and the prompt message for reducing the tension is used to prompt the tension adjusting mechanism in the power cord fixed-length cutting device to reduce the stretching tension on the power cord to be cut.

[0065] In a third aspect, the present application provides an electronic device, including:

[0066] a processor; and,

[0067] a memory for storing executable instructions of the processor;

[0068] wherein, the processor is configured to execute any possible method described in the first aspect by executing the executable instructions.

[0069] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement any possible method described in the first aspect.

[0070] The control method for the power cord fixed-length cutting device provided by this application obtains the first image of the power cord to be cut within the cutting range interval through an image sensor, and the controller determines the first deformation degree of the power cord to be cut according to the preset power cord straightening model and the first image. When the first deformation degree is greater than the preset deformation degree threshold, the controller sends a straightening abnormality prompt message to the control panel. The straightening abnormality prompt message is used to prompt to adjust the tension adjusting mechanism in the power cord fixed-length cutting device, so as to realize the tension adjustment prompt for the tension adjusting mechanism used to straighten the power cord in the power cord fixed-length cutting device according to the straightening state of the power cord to be cut within the cutting range interval, so as to prompt to adjust the tension of the tension adjusting mechanism to make the power cord meet the morphological requirements, so as to have better straightness and facilitate further wire stripping or assembly in subsequent processes. Brief Description of the Drawings

[0071] The drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0072] Figure 1 is a schematic flowchart of the control method for the power cord fixed-length cutting device shown according to an exemplary embodiment of this application;

[0073] Figure 2 is a schematic flowchart of the control method for the power cord fixed-length cutting device shown according to another exemplary embodiment of this application;

[0074] Figure 3 is a schematic structural diagram of the power cord fixed-length cutting device shown according to an exemplary embodiment of this application;

[0075] Figure 4 is a schematic structural diagram of an electronic device shown according to an exemplary embodiment of this application.

[0076] Through the above drawings, the clear embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0077] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0078] Figure 1 This is a schematic flowchart of a method for controlling a power cord fixed-length cutting device according to an exemplary embodiment of the present application. As Figure 1 shown, the method provided in this embodiment includes:

[0079] S101. At a first time node, obtain a first image of the power cord to be cut within the cutting range interval through an image sensor.

[0080] The method for controlling a power cord fixed-length cutting device provided in this embodiment is applied to a power cord fixed-length cutting device. Optionally, the above-mentioned power cord fixed-length cutting device may specifically include a feeding system, a length measurement and control device, and a cutting execution mechanism. Among them, the feeding system may be an automatic wire feeding device, which continuously and evenly feeds the wire into the cutting area at a preset speed and direction through rollers or belts driven by a motor. The length measurement and control device is used to measure the length of the power cord. When the wire reaches the preset fixed length, a signal will be sent to the controller. In addition, for the length control of the power cord, it can also be achieved by setting fixed jigs. After the controller receives the signal, the cutting mechanism is started. Among them, the cutting mechanism can be pneumatic, hydraulic, or electric. For example, the solenoid valve can be controlled by a programmable logic controller to actuate, pushing the cylinder piston to quickly press down, driving the cutting blade to quickly cut off the power cord. After cutting the wire, the cut power cord may be collected in a designated container or directly conveyed to the next process for assembly according to the set program. In addition, optionally, the above-mentioned power cord fixed-length cutting device may further include a stripping device, which can accurately strip the insulating layers at both ends of the wire while cutting the wire, and this process is also completed by the cooperation of a precise mechanical structure and the controller. In addition, the power cord fixed-length cutting device in this embodiment may further include an image sensor and a control panel connected to the controller. Among them, the above-mentioned image sensor may be an industrial camera.

[0081] Specifically, at a first time node, obtain a first image of the power cord to be cut within the cutting range interval through an image sensor. The cutting range interval is the range interval corresponding to between a first positioning point and a second positioning point. The first positioning point is the cutting position corresponding to the cutting blade, and the distance between the first positioning point and the second positioning point corresponds to the preset cutting length.

[0082] S102. The controller determines the first deformation degree of the power cord to be cut according to the preset power cord straightening model and the first image.

[0083] Optionally, the controller determines the first deformation degree of the power cord to be cut according to the preset power cord straightening model and the first image. The first deformation degree is used to characterize the curvature change of the power cord to be cut along the preset direction, and the preset direction is the vector direction from the first positioning point to the second positioning point.

[0084] Among them, for the controller to determine the first degree of deformation of the power cord to be cut according to the preset power cord straightening model and the first image, specifically, it can be that the controller performs grayscale conversion on the first image to obtain the first grayscale image. Then, the controller uses the contour detection algorithm to extract the contour of the first grayscale image to obtain the first power cord contour. Then, the controller determines the set of characteristic angles according to the included angle between the vector directions determined by adjacent characteristic points in the set of characteristic points on the first power cord contour and the preset direction, and determines the first degree of deformation according to the set of characteristic angles and the preset characteristic angle threshold.

[0085] S103. The controller sends a straightening abnormality prompt message to the control panel.

[0086] If the first degree of deformation is greater than the preset deformation threshold, the controller sends a straightening abnormality prompt message to the control panel. The straightening abnormality prompt message is used to prompt to adjust the tension adjusting mechanism in the power cord fixed-length cutting device. Among them, the above-mentioned tension adjusting mechanism can be the power cord feeding device in the feeding system. For example, it can be a pulley group. It should be noted that since the power cord is usually in a coiled form before cutting, it is necessary to apply a pulling force to the power cord through the tension adjusting mechanism in the feeding device to straighten the power cord, so that when cutting subsequently, the power cord is in a straightened state, thereby ensuring that the length of the cut power cord is more accurate and making the cut power cord have better straightness, which is convenient for further wire stripping or assembly in subsequent processes.

[0087] In this embodiment, the first image of the power cord to be cut within the cutting range interval is obtained through an image sensor, and the controller determines the first degree of deformation of the power cord to be cut according to the preset power cord straightening model and the first image. When the first degree of deformation is greater than the preset deformation threshold, the controller sends a straightening abnormality prompt message to the control panel. The straightening abnormality prompt message is used to prompt to adjust the tension adjusting mechanism in the power cord fixed-length cutting device, so as to realize the tension adjustment prompt for the tension adjusting mechanism used to straighten the power cord in the power cord fixed-length cutting device according to the straightening state of the power cord to be cut within the cutting range interval, so as to prompt to adjust the tension of the tension adjusting mechanism to a value that can make the power cord meet the morphological requirements, thereby having better straightness and being convenient for further wire stripping or assembly in subsequent processes.

[0088] Figure 2 It is a schematic flowchart of a method for controlling a power cord fixed-length cutting device according to another exemplary embodiment of the present application. As Figure 2 shown, the method for controlling a power cord fixed-length cutting device provided in this embodiment includes:

[0089] S201. At the first time node, the first image of the power cord to be cut within the cutting range interval is obtained through an image sensor.

[0090] The power cord fixed-length cutting device control method provided in this embodiment is applied to a power cord fixed-length cutting device. Optionally, the above-mentioned power cord fixed-length cutting device may specifically include a feeding system, a length measurement and control device, and a cutting execution mechanism. In addition, the power cord fixed-length cutting device in this embodiment may further include an image sensor and a control panel connected to the controller, wherein the above-mentioned image sensor may be an industrial camera.

[0091] Specifically, at the first time node, a first image of the power cord to be cut within the cutting range interval is obtained through the image sensor. The cutting range interval is the range interval corresponding to between the first positioning point and the second positioning point. The first positioning point is the cutting position corresponding to the cutting knife, and the distance between the first positioning point and the second positioning point corresponds to the preset cutting length.

[0092] S202. The controller determines the first deformation degree of the power cord to be cut according to the preset power cord straightening model and the first image.

[0093] In this step, the controller determines the first deformation degree of the power cord to be cut according to the preset power cord straightening model and the first image. The first deformation degree is used to characterize the curvature change of the power cord to be cut along the preset direction. The preset direction is the vector direction from the first positioning point to the second positioning point.

[0094] Specifically, it may be that the controller performs grayscale conversion on the first image to obtain the first grayscale image. Then, a contour detection algorithm is used to extract the contour of the first grayscale image to obtain the first power cord contour. Then, the set of feature angles is determined according to the included angle between the vector directions determined by adjacent feature points in the set of feature points on the first power cord contour and the preset direction, and the first deformation degree is determined according to the set of feature angles and the preset feature angle threshold. Among them, the above-mentioned contour detection algorithm may be based on the Canny algorithm. First, the image is smoothed by a Gaussian filter and the gradient intensity and direction are calculated. Then, non-maximum suppression is applied to eliminate false response points in the edge detection response, and the final edge position is determined by the double-threshold method. Optionally, it may also be based on the contour detection interface provided by the OpenCV library, so as to extract contour information based on a binary image, and at the same time, the contour hierarchy structure and contour attributes can also be obtained. In addition, it may also be based on the Sobel / Laplacian operator. These operators are used to calculate the first-order and second-order derivatives of the image to locate the edge position. Although they do not directly generate contours, they are often used as preprocessing steps before contour detection. Then, the target contour is found from the image through an energy optimization method to achieve contour detection. It should be noted that in this embodiment, the algorithms, related preprocessing, and postprocessing methods for implementing the above-mentioned contour detection are not specifically limited.

[0095] In a specific implementation, the above-mentioned first power line profile may include a first side profile and a second side profile. Correspondingly, the controller determines a set of characteristic angles based on the angle between the vector directions determined between adjacent characteristic points in the set of characteristic points on the first power line profile and a preset direction, and determines a first deformation degree based on the set of characteristic angles and a preset characteristic angle threshold. Specifically, it may include:

[0096] The controller generates a first set of characteristic points P = {p1, p2,..., p i ,..., p n} according to the first side profile, and generates a second set of characteristic points Q = {q1, q2,..., q i ,..., q n} according to the second side profile. Among them, the coordinates corresponding to the i-th characteristic point p i in the preset coordinate system are The coordinates corresponding to the i-th characteristic point q i in the second set of characteristic points Q in the preset coordinate system are ), where,

[0097] Then, the controller determines a set of central characteristic points M = {m1, m2,..., m i ,..., m n} corresponding to the central contour feature line of the first power line profile according to the first set of characteristic points P = {p1, p2,..., p i ,..., p n} corresponding to the first side profile and the second set of characteristic points Q = {q1, q2,..., q i ,..., q n} corresponding to the second side profile. Among them, the coordinates corresponding to the i-th characteristic point m i ,..., m n in the set of central characteristic points M = {m1, m2,..., m i in the preset coordinate system are Wherein,

[0098] The controller determines a set of central characteristic point vector directions based on the set of central characteristic points M = {m1, m2,..., m i ,..., m n} corresponding to the central contour feature line Among them, the i-th central characteristic point direction eigenvalue in the set of central characteristic point curvature change values is the vector direction between the central characteristic point m i and the central characteristic point m i-1 .

[0099] The controller determines the set of central feature point vector directions and the unit vectors corresponding to the preset directions to determine the set of feature included angles \(T = \{t_1,t_2,\cdots,t i ,\cdots,t n-1 \}\), where the \(i\)-th feature included angle \(t i in the set of feature included angles \(T\) is the acute angle formed between . The controller determines the first deformation degree according to the set of feature included angles \(T = \{t_1,t_2,\cdots,t i ,\cdots,t n-1 \}\) and the preset feature included angle threshold.

[0100] After extracting the first power line contour and determining the first set of feature points of the first side contour and the second set of feature points of the second side contour, the set of central feature points corresponding to the central contour feature line of the first power line contour is further determined, so as to determine the set of central feature point vector directions through the set of central feature points, and then determine the first deformation degree of the power line to be cut according to the included angle between the vector directions in the set of central feature point vector directions and the preset direction. It can realize determining the shape change trend of the power line to be cut by using the direction change of the central contour feature line, and only need to perform corresponding vector change calculations on one central contour feature line, without performing two vector change calculations on the first side contour and the second side contour respectively, effectively reducing the iterative calculation amount.

[0101] In addition, for the above-mentioned controller to determine the first deformation degree according to the set of feature included angles \(T = \{t_1,t_2,\cdots,t i ,\cdots,t n-1 \}\) and the preset feature included angle threshold, it specifically may include:

[0102] The controller determines the set of feature included angle calibration values \(K = \{k_1,k_2,\cdots,k i ,\cdots,k n-1 \}\) according to the set of feature included angles \(T = \{t_1,t_2,\cdots,t i ,\cdots,k n-1 \}\) and the preset feature included angle threshold; where, if \(t i is less than the preset first feature included angle threshold, then the \(i\)-th feature included angle calibration value \(k i in the set of feature included angle calibration values \(K = \{k_1,k_2,\cdots,k n-1 \}\) is the first calibration value; if \(t i is greater than the preset first feature included angle threshold and less than the preset second feature included angle threshold, then the set of feature included angle calibration values \(K = \{k_1,k_2,\cdots,k i is greater than the preset first feature included angle threshold and less than the preset second feature included angle threshold, then the set of feature included angle calibration values \(K = \{k_1,k_2,\cdots,k i ,\cdots,kn-1 the i-th characteristic angle calibration value k in i is the second calibration value, and the second calibration value is greater than the first calibration value; if t i is greater than the preset second characteristic angle threshold, then the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1} the i-th characteristic angle calibration value k i is the third calibration value, and the third calibration value is greater than the second calibration value;

[0103] The controller uses formula 1 and determines the first deformation degree according to the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1}, where formula 1 is:

[0104]

[0105] where v is the first deformation degree.

[0106] After the controller determines the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1} according to the characteristic angle set T = {t1, t2, …, t i , …, k n-1} and the preset characteristic angle threshold. If the i-th characteristic angle calibration value k in the characteristic angle calibration value set K = {k1, k2, …, k i , …, k n-1} is i the second calibration value and / or the third calibration value, then the controller determines the vector direction according to the feature point p i , …, p n in the first feature point set P = {p1, p2, …, p i and the feature point p i-1 and determines the vector direction according to the feature point q i , …, q n in the second feature point set Q = {q1, q2, …, q i and the feature point q i-1 If the vector direction or the vector direction and the unit vector corresponding to the preset direction the included angle between them is less than the preset first characteristic angle threshold, then k i ​​Configured as the first calibration value. It should be noted that by selecting the larger characteristic angle calibration value from the set of characteristic angle calibration values, and then respectively checking the angle between the vector direction of the corresponding characteristic points of the characteristic angle calibration value on the first side profile and the second side profile and the preset direction. If the angle between the vector direction of the characteristic points on any side profile and the preset direction is less than the preset first characteristic angle threshold, it indicates that the actual position corresponding to the position of the characteristic points on the power line to be cut may have deformation in the radial direction of the power line. For example, there are defects on the side wall of the power line, and there is no deformation in the length direction of the power line. Through the above steps, it is possible to effectively avoid misjudgment of the deformation degree in the length direction of the power line caused by defects on the side wall of the power line. In addition, in the above steps, only the vector directions of the characteristic points corresponding to the larger characteristic angle calibration value in the set of characteristic angle calibration values are used for calculating the load on both sides, which can effectively reduce the calculation amount.

[0107] In addition, through the above steps, when it is determined that there are defects on the side wall of the power line and there is no deformation in the length direction of the power line, a corresponding status label can be configured for the power line to be cut. Thus, after cutting, the section of the power line to be cut can be cut off by controlling the blanking device or the conveying device and then conveyed to the manual inspection area for subsequent corresponding manual inspection, so as to ensure the quality of the cut power line.

[0108] S203. The controller sends a straightening abnormality prompt message to the control panel.

[0109] If the first deformation degree is greater than the preset deformation degree threshold, the controller sends a straightening abnormality prompt message to the control panel. The straightening abnormality prompt message is used to prompt to adjust the tension adjustment mechanism in the power line fixed-length cutting device.

[0110] Specifically, when the controller determines the vector direction i ,…,p n} in the first set of characteristic points P = {p1, p2, …, p i and the characteristic point p i-1 and determines the vector direction and according to the second set of characteristic points Q = {q1, q2, …, q i ,…,q n} in the characteristic point q i and the characteristic point q i-1 determines the vector direction After that, the controller can also determine the vector direction and the unit vector between the first angle α1, determine the vector direction and the unit vector between the second angle α2, and determine the vector direction The third included angle α3 with the vector direction If the controller determines that the third included angle α3 is the sum of the first included angle α1 and the second included angle α2, it determines the feature point p i and the feature point q i as a combination of deformed feature points. If the controller determines, according to the first set of feature points P = {p1, p2, …, p i , …, p n} and the second set of feature points Q = {q1, q2, …, q i , …, q n}, that the number of combinations of deformed feature points is greater than a preset number threshold, the controller sends a tension reduction prompt message to the control panel. The tension reduction prompt message is used to prompt the tension adjustment mechanism in the power cord fixed-length cutting device to reduce the stretching tension on the power cord to be cut. It should be noted that through the above method, the vector can be determined to be between the vector direction and the vector direction . This indicates that both sides of the power cord in this area are recessed inward. Among them, since the outside of the power cord is usually wrapped with a plastic insulating layer, if the power cord is stretched on both sides by excessive tension, it will cause deformation of the outer plastic insulating layer, showing a state where both sides are recessed inward along the radial direction of the power cord. Therefore, through the above method, it can be effectively determined that the tension applied by the current tension adjustment mechanism to the power cord is too large.

[0111] In addition, through the above steps, when it is determined that both sides are recessed inward along the radial direction of the power cord, a corresponding status label can be configured for the power cord to be cut. After cutting, the power cord to be cut in this section can be conveyed to the manual inspection area through the control of the blanking device or the conveying device, so as to perform corresponding manual inspection and verification later, thereby ensuring the pertinence and reliability of tension adjustment.

[0112] S204. In response to the continue running instruction, at the second time node, the controller acquires a second image of the power cord to be cut within the cutting range interval through an image sensor.

[0113] In this step, the control panel sends a continue running instruction to the controller in response to the straightening completion confirmation instruction. In response to the continue running instruction, at the second time node, the controller acquires a second image of the power cord to be cut within the cutting range interval through an image sensor.

[0114] S205. The controller determines the second degree of deformation of the power cord to be cut according to a preset power cord straightening model and the second image.

[0115] It should be noted that the specific implementation of the controller to determine the second deformation degree of the power cord to be cut according to the preset power cord straightening model and the second image can refer to the specific description in S202, and will not be elaborated here.

[0116] S206. The controller sends a prompt message to increase the tension to the control panel.

[0117] If the second deformation degree is greater than the preset deformation degree threshold, the controller sends a prompt message to increase the tension to the control panel. The prompt message to increase the tension is used to prompt to increase the stretching tension of the power cord to be cut on the tension adjusting mechanism in the power cord fixed-length cutting device.

[0118] In addition, the controller determines the straightening state feedback information according to the first deformation degree and the second deformation degree. Among them, if the second deformation degree is greater than or equal to the first deformation degree, the straightening state feedback information is the first straightening state feedback information, and the first straightening state feedback information is used to prompt to check the power cord coil in the power cord fixed-length cutting device; if the second deformation degree is less than the first deformation degree and greater than the preset deformation degree threshold, the straightening state feedback information is the second straightening state feedback information, and the second straightening state feedback information is the prompt message to increase the tension; if the second deformation degree is less than the preset deformation degree threshold, the straightening state feedback information is the third straightening state feedback information, and the third straightening state feedback information is used to indicate that the straightening is completed.

[0119] Figure 3 It is a schematic structural diagram of a power cord fixed-length cutting device shown according to an exemplary embodiment of the present application. As Figure 3 shown, the power cord fixed-length cutting device 300 provided in this embodiment includes: a controller 310, an image sensor 320 connected to the controller 310, and a control panel 330;

[0120] At the first time node, the image sensor 320 obtains a first image of the power cord to be cut within the cutting range interval. The cutting range interval is the range interval corresponding to between the first positioning point and the second positioning point. The first positioning point is the cutting position corresponding to the cutting knife, and the distance between the first positioning point and the second positioning point corresponds to the preset cutting length;

[0121] The controller 310 determines the first deformation degree of the power cord to be cut according to the preset power cord straightening model and the first image. The first deformation degree is used to characterize the curvature change of the power cord to be cut along the preset direction. The preset direction is the vector direction from the first positioning point to the second positioning point;

[0122] If the first degree of deformation is greater than a preset deformation threshold, the controller 310 sends a straightening abnormality prompt message to the control panel 330, and the straightening abnormality prompt message is used to prompt an adjustment of the tension adjustment mechanism in the power cord fixed-length cutting device.

[0123] Optionally, in response to a straightening completion confirmation instruction, the control panel 330 sends a continue running instruction to the controller 310;

[0124] In response to the continue running instruction, at a second time node, the controller 310 acquires a second image of the power cord to be cut within the cutting range interval through the image sensor 320;

[0125] The controller 310 determines a second degree of deformation of the power cord to be cut according to the preset power cord straightening model and the second image;

[0126] If the second degree of deformation is greater than the preset deformation threshold, the controller 310 sends a tension increase prompt message to the control panel 330, and the tension increase prompt message is used to prompt an increase in the stretching tension of the power cord to be cut on the tension adjustment mechanism in the power cord fixed-length cutting device.

[0127] Optionally, the controller 310 determines straightening state feedback information according to the first degree of deformation and the second degree of deformation; wherein, if the second degree of deformation is greater than or equal to the first degree of deformation, the straightening state feedback information is first straightening state feedback information, and the first straightening state feedback information is used to prompt an inspection of the power cord coil in the power cord fixed-length cutting device; if the second degree of deformation is less than the first degree of deformation and greater than the preset deformation threshold, the straightening state feedback information is second straightening state feedback information, and the second straightening state feedback information is the tension increase prompt message; if the second degree of deformation is less than the preset deformation threshold, the straightening state feedback information is third straightening state feedback information, and the third straightening state feedback information is used to indicate that straightening is completed.

[0128] Optionally, the controller 310 performs gray conversion on the first image to obtain a first gray image;

[0129] The controller 310 uses a contour detection algorithm to perform contour extraction on the first gray image to obtain a first power cord contour;

[0130] The controller 310 determines a set of characteristic angles according to the angle between the vector directions determined between adjacent characteristic points in the set of characteristic points on the first power cord contour and the preset direction, and determines the first degree of deformation according to the set of characteristic angles and a preset characteristic angle threshold.

[0131] Optionally, the first power line profile includes a first side profile and a second side profile; the controller 310 generates a first feature point set P = {p1, p2, ..., p i ,…,p n}, generate a second feature point set Q = {q1, q2, ..., q i ,…,q n}, wherein the i-th feature point p in the first feature point set P i The corresponding coordinates in the preset coordinate system are The i-th feature point q in the second feature point set Q i The corresponding coordinates in the preset coordinate system are in,

[0132] The controller 310 generates a first feature point set P corresponding to the first side contour based on the first feature point set P={p1, p2, . . . , p i ,…,p n} and the second feature point set Q corresponding to the second side contour = {q1, q2, ..., q i ,…,q n}Determine the central feature point set M corresponding to the central contour feature line of the first power line contour = {m1, m2, ..., m i ,…,m n}, wherein the central feature point set M = {m1, m2, ..., m i ,…,m n The i-th feature point m in i The corresponding coordinates in the preset coordinate system are in,

[0133] The controller 310 generates a set of central feature points M={m1, m2, ..., m i ,…,m n}Determine the vector direction set of the central feature point Among them, the directional feature value of the i-th central feature point in the central feature point curvature change value set is is the central feature point m i With the central feature point m i-1 The vector direction between

[0134] The controller 310 generates a signal according to the central feature point vector direction set S= and the unit vector corresponding to the preset direction Determine the set of characteristic angles \(T = \{t_1, t_2, \ldots, t i , \ldots, t n-1 \}, where the \(i\)-th characteristic angle \(t i is and the acute angle formed between them;

[0135] The controller 310 determines the first deformation degree according to the set of characteristic angles \(T = \{t_1, t_2, \ldots, t i , \ldots, t n-1 \} and the preset characteristic angle threshold.

[0136] Optionally, the controller 310 determines the set of characteristic angle calibration values \(K = \{k_1, k_2, \ldots, k i , \ldots, k n-1 \} according to the set of characteristic angles \(T = \{t_1, t_2, \ldots, t i , \ldots, k n-1 \}; where, if \(t i is less than the preset first characteristic angle threshold, then the \(i\)-th characteristic angle calibration value \(k i , \ldots, k n-1 in the set of characteristic angle calibration values \(K = \{k_1, k_2, \ldots, k i is the first calibration value; if \(t i is greater than the preset first characteristic angle threshold and less than the preset second characteristic angle threshold, then the \(i\)-th characteristic angle calibration value \(k i , \ldots, k n-1 in the set of characteristic angle calibration values \(K = \{k_1, k_2, \ldots, k i is the second calibration value, and the second calibration value is greater than the first calibration value; if \(t i is greater than the preset second characteristic angle threshold, then the \(i\)-th characteristic angle calibration value \(k i , \ldots, k n-1 in the set of characteristic angle calibration values \(K = \{k_1, k_2, \ldots, k i is the third calibration value, and the third calibration value is greater than the second calibration value;

[0137] The controller 310 uses Equation 1 and determines the first deformation degree according to the set of characteristic angle calibration values \(K = \{k_1, k_2, \ldots, k i , \ldots, k n-1 \}, where Equation 1 is:

[0138]

[0139] Wherein, v is the first deformation degree.

[0140] Optionally, if the i-th characteristic angle calibration value k i ,…,k n-1} in the set K of characteristic angle calibration values is the second calibration value and / or the third calibration value, then the controller 310 determines the vector direction according to the characteristic point p i in the first set of characteristic points P = {p1, p2,…, p i ,…,p n} and the characteristic point p i and determines the vector direction according to the characteristic point q i-1 in the second set of characteristic points Q = {q1, q2,…, q i ,…,q n n} and the characteristic point q i and determines the vector direction according to the characteristic point q i-1 and determines the vector direction

[0141] If the vector direction or the vector direction and the unit vector corresponding to the preset direction the included angle between them is less than the preset first characteristic angle threshold, then k i is configured as the first calibration value.

[0142] Optionally, the controller 310 determines the first included angle α1 between the vector direction and the unit vector , determines the second included angle α2 between the vector direction and the unit vector , determines the third included angle α3 between the vector direction and the vector direction ;

[0143] If the controller 310 determines that the third included angle α3 is the sum of the first included angle α1 and the second included angle α2, then it is determined that the characteristic point p i and the characteristic point q i are a combination of deformed characteristic points;

[0144] If the controller 310 is based on the first set of characteristic points P = {p1, p2,…, p i ,…,p n} and the second set of characteristic points Q = {q1, q2,…, q i ,…,q nIf it is determined that the number of the combination of the deformation feature points is greater than a preset number threshold, the controller 310 sends a tension reduction prompt message to the control panel 330, and the tension reduction prompt message is used to prompt the tension adjusting mechanism in the power cord fixed-length cutting device to reduce the tensile tension on the power cord to be cut.

[0145] Figure 4 It is a schematic structural diagram of an electronic device shown according to an exemplary embodiment of the present application. As Figure 4 shown, an electronic device 400 provided in this embodiment includes: a processor 401 and a memory 402; wherein:

[0146] The memory 402 is used to store a computer program, and this memory can also be a flash (flash memory).

[0147] The processor 401 is used to execute the execution instructions stored in the memory to implement each step in the above method. For specific reference, please refer to the relevant descriptions in the foregoing method embodiments.

[0148] Optionally, the memory 402 can be either independent or integrated with the processor 401.

[0149] When the memory 402 is a device independent of the processor 401, the electronic device 400 may further include:

[0150] A bus 403 for connecting the memory 402 and the processor 401.

[0151] This embodiment also provides a readable storage medium. A computer program is stored in the readable storage medium. When at least one processor of the electronic device executes this computer program, the electronic device executes the methods provided by the above various embodiments.

[0152] This embodiment also provides a program product. The program product includes a computer program, and this computer program is stored in the readable storage medium. At least one processor of the electronic device can read this computer program from the readable storage medium, and the execution of this computer program by at least one processor enables the electronic device to implement the methods provided by the above various embodiments.

[0153] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily think of other implementation manners of the present application. The present application aims to cover any variations, uses or adaptations of the present application. These variations, uses or adaptations follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the claims.

[0154] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A control method for a power cord fixed-length cutting device, characterized in that, Applied to a power cord fixed-length cutting device, the power cord fixed-length cutting device includes a controller, an image sensor connected to the controller, and a control panel; the method includes: At a first time node, the image sensor is used to obtain a first image of the power cord to be cut within the cutting range interval, where the cutting range interval is the range interval corresponding to between a first positioning point and a second positioning point, the first positioning point is the cutting position corresponding to the cutting knife, and the distance between the first positioning point and the second positioning point corresponds to a preset cutting length; The controller determines a first deformation degree of the power cord to be cut according to a preset power cord straightening model and the first image, where the first deformation degree is used to characterize the curvature change of the power cord to be cut along a preset direction, and the preset direction is the vector direction from the first positioning point to the second positioning point; If the first deformation degree is greater than a preset deformation degree threshold, the controller sends a straightening anomaly prompt message to the control panel, and the straightening anomaly prompt message is used to prompt to adjust the tension adjusting mechanism in the power cord fixed-length cutting device; The control panel sends a continue running instruction to the controller in response to a straightening completion confirmation instruction; In response to the continue running instruction, the controller obtains a second image of the power cord to be cut within the cutting range interval at a second time node through the image sensor; The controller determines a second deformation degree of the power cord to be cut according to the preset power cord straightening model and the second image; If the second deformation degree is greater than the preset deformation degree threshold, the controller sends a tension increasing prompt message to the control panel, and the tension increasing prompt message is used to prompt to increase the stretching tension of the power cord to be cut on the tension adjusting mechanism in the power cord fixed-length cutting device; The controller determines straightening state feedback information according to the first deformation degree and the second deformation degree; among them, if the second deformation degree is greater than or equal to the first deformation degree, the straightening state feedback information is first straightening state feedback information, and the first straightening state feedback information is used to prompt to check the power cord coil in the power cord fixed-length cutting device; if the second deformation degree is less than the first deformation degree and greater than the preset deformation degree threshold, the straightening state feedback information is second straightening state feedback information, and the second straightening state feedback information is the tension increasing prompt message; if the second deformation degree is less than the preset deformation degree threshold, the straightening state feedback information is third straightening state feedback information, and the third straightening state feedback information is used to indicate that the straightening is completed.

2. The control method of the power cord fixed-length cutting device according to claim 1, wherein, The controller determines the first deformation degree of the power cord to be cut according to the preset power cord straightening model and the first image, including: The controller performs gray-scale conversion on the first image to obtain a first gray-scale image; The controller uses a contour detection algorithm to extract the contour of the first gray-scale image to obtain a first power cord contour; The controller determines a set of characteristic angles according to the angle between the vector direction determined between adjacent characteristic points in the set of characteristic points on the first power line profile and the preset direction, and determines the first degree of deformation according to the set of characteristic angles and a preset characteristic angle threshold.

3. The control method of the power cord fixed-length cutting device according to claim 2, characterized in that The first power line profile includes a first side profile and a second side profile; correspondingly, the controller determines a set of characteristic angles according to the angle between the vector direction determined between adjacent characteristic points in the set of characteristic points on the first power line profile and the preset direction, and determines the first degree of deformation according to the set of characteristic angles and a preset characteristic angle threshold, including: The controller generates a first set of feature points P = {p1, p2, …, p i , …, p n} according to the first side profile in a preset coordinate system, and generates a second set of feature points Q = {q1, q2, …, q i , …, q n} according to the second side profile. Among them, the coordinate corresponding to the i-th feature point p i in the first set of feature points P in the preset coordinate system is The coordinate corresponding to the i-th feature point q i in the second set of feature points Q in the preset coordinate system is Among them, The controller determines the first feature point set P corresponding to the first side contour according to the first feature point set P={p1, p2, ..., p i ,…,p n } and the second feature point set Q corresponding to the second side contour = {q1, q2, ..., q i ,…,q n } Determine the central feature point set M corresponding to the central contour feature line of the first power line contour = {m1, m2, ..., m i ,…,m n }, wherein the central feature point set M = {m1, m2, ..., m i ,…,m n The i-th feature point m in i The corresponding coordinates in the preset coordinate system are in, The controller determines a set of central feature point vector directions according to the set of central feature points M = {m1, m2, …, m i , …, m n} corresponding to the central contour feature line wherein, the i-th central feature point direction eigenvalue in the set of central feature point curvature change values is the vector direction between the central feature point m i and the central feature point m i-1 ; The controller determines the set of feature included angles T = {t1, t2, …, t …, t } according to the set of central feature point vector directions i and the unit vector corresponding to the preset direction n-1 . Wherein, the i-th feature included angle t i in the set of feature included angles T is the acute angle formed between and . The controller determines the first deformation degree according to the set of characteristic included angles T = {t1, t2, …, t i , …, t n-1} and the preset characteristic included angle threshold value.

4. The control method of the power cord fixed-length cutting device according to claim 3, wherein, The controller determines the first deformation degree according to the set of characteristic included angles T = {t1, t2, …, t i , …, t n-1} and the preset characteristic included angle threshold, including: The controller determines a set of characteristic angle calibration values K = {k1, k2, …, k i , …, k n-1} according to the set of characteristic angles T = {t1, t2, …, t i , …, t n-1} and the preset characteristic angle threshold; where, if t i is less than the preset first characteristic angle threshold, the i-th characteristic angle calibration value k i , …, k n-1 in the set of characteristic angle calibration values K = {k1, k2, …, k i} is the first calibration value; if t i is greater than the preset first characteristic angle threshold and less than the preset second characteristic angle threshold, the i-th characteristic angle calibration value k i , …, k n-1 in the set of characteristic angle calibration values K = {k1, k2, …, k i} is the second calibration value, and the second calibration value is greater than the first calibration value; if t i is greater than the preset second characteristic angle threshold, the i-th characteristic angle calibration value k i , …, k n-1 in the set of characteristic angle calibration values K = {k1, k2, …, k i} is the third calibration value, and the third calibration value is greater than the second calibration value; The controller uses Formula 1 and determines the first deformation degree according to the set of characteristic included angle calibration values K = {k1, k2, …, k i , …, k n-1}, where Formula 1 is: Wherein, v is the first degree of deformation.

5. The control method of the power cord fixed-length cutting device according to claim 4, wherein After the controller determines the characteristic angle calibration value set K = {k1, k2,..., k i ,..., k n-1} according to the characteristic angle set T = {t1, t2,..., t i ,..., t n-1} and the preset characteristic angle threshold, the following steps are further included: If the $i$-th characteristic angle calibration value $k_{i}$ in the set $K=\{k_{1},k_{2},\cdots,k_{n}\}$ of characteristic angle calibration values is the second calibration value and / or the third calibration value, then the controller determines the vector direction based on the feature point $p_{i}$ in the first feature point set $P = \{p_{1},p_{2},\cdots,p_{m}\}$ and the feature point $p_{j}$, and determines the vector direction based on the feature point $q_{i}$ in the second feature point set $Q=\{q_{1},q_{2},\cdots,q_{l}\}$ and the feature point $q_{j}$. i ,…,k n-1} and the $i$-th characteristic angle calibration value $k_{i}$ is the second calibration value and / or the third calibration value, then the controller determines the vector direction based on the feature point $p_{i}$ in the first feature point set $P=\{p_{1},p_{2},\cdots,p_{m}\}$ and the feature point $p_{j}$, and determines the vector direction based on the feature point $q_{i}$ in the second feature point set $Q = \{q_{1},q_{2},\cdots,q_{l}\}$ and the feature point $q_{j}$. i} is the second calibration value and / or the third calibration value, then the controller determines the vector direction based on the feature point $p_{i}$ in the first feature point set $P=\{p_{1},p_{2},\cdots,p_{m}\}$ and the feature point $p_{j}$, and determines the vector direction based on the feature point $q_{i}$ in the second feature point set $Q=\{q_{1},q_{2},\cdots,q_{l}\}$ and the feature point $q_{j}$. i ,…,p n} and determines the vector direction based on the feature point $p_{i}$ in the first feature point set $P=\{p_{1},p_{2},\cdots,p_{m}\}$ and the feature point $p_{j}$, and determines the vector direction based on the feature point $q_{i}$ in the second feature point set $Q=\{q_{1},q_{2},\cdots,q_{l}\}$ and the feature point $q_{j}$. i and the feature point $p_{j}$ to determine the vector direction, and determines the vector direction based on the feature point $q_{i}$ in the second feature point set $Q=\{q_{1},q_{2},\cdots,q_{l}\}$ and the feature point $q_{j}$. i-1 and determines the vector direction based on the feature point $q_{i}$ in the second feature point set $Q=\{q_{1},q_{2},\cdots,q_{l}\}$ and the feature point $q_{j}$. } and determines the vector direction based on the feature point $q_{i}$ in the second feature point set $Q=\{q_{1},q_{2},\cdots,q_{l}\}$ and the feature point $q_{j}$. i ,…,q n} and determines the vector direction based on the feature point $q_{i}$ in the second feature point set $Q=\{q_{1},q_{2},\cdots,q_{l}\}$ and the feature point $q_{j}$. i and the feature point $q_{j}$. i-1 to determine the vector direction. If the vector direction or the vector direction and the unit vector corresponding to the preset direction the included angle between them is less than the preset first characteristic angle threshold, then set k i configured as the first calibration value.

6. The control method of the power cord fixed-length cutting device according to claim 5, characterized in that, After the controller determines the vector direction based on the feature point p i in the first set of feature points P = {p1, p2,..., p n},..., p i and the feature point p i-1 and determines the vector direction based on the feature point q in the second set of feature points Q = {q1, q2,..., q i},..., q n},..., q i and the feature point q i-1 as follows: After that, it further includes: The controller determines the vector direction and the unit vector to obtain a first included angle α1 therebetween, and determines the vector direction and the unit vector to obtain a second included angle α2 therebetween, and determines the vector direction and the vector direction to obtain a third included angle α3 therebetween; If the controller determines that the third included angle α3 is the sum of the first included angle α1 and the second included angle α2, then the feature point p is determined i and the feature point q i are a combination of deformation feature points; If the controller determines that the number of the combined deformation feature points is greater than a preset number threshold according to the first set of feature points P = {p1, p2, …, p i , …, p n} and the second set of feature points Q = {q1, q2, …, q i , …, q n}, the controller sends a tension reduction prompt message to the control panel, and the tension reduction prompt message is used to prompt the tension adjustment mechanism in the power cord fixed-length cutting device to reduce the stretching tension on the power cord to be cut.

7. An electronic device, characterized in that, Including: A processor; And, A memory for storing executable instructions of the processor; Wherein, the processor is configured to execute the method according to any one of claims 1 to 6 by executing the executable instructions.

8. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 6.

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