A cable detection system combining laser and vision

Abstract

A cable detection system combining laser and vision includes a processing module, a laser generating device, a cable installation rotating mechanism, a laser receiving device and a visual detection device. The cable installation rotating mechanism is used to place the cable and drive the cable to rotate. The laser generating device is located obliquely above the cable installation rotating mechanism. The visual detection device is located directly above the cable installation rotating mechanism. The laser receiving device is located at another obliquely above the cable installation rotating mechanism. The purpose of the present invention is to provide a cable detection system combining laser and vision, which can screen out suspected defect areas by laser, and then analyze and judge the suspected defect areas by vision, thereby greatly improving the detection efficiency of cable defects.

Description

Technical Field

[0001] The present invention relates to the technical field of cable detection, and in particular to a cable detection system combining laser and vision. Background Art

[0002] Defective cables may appear during the factory production process. For example, the plastic sheath may have poor plasticization, poor glue seams, lumps, stains, scratches, etc. If these defective products are not detected and put into industrial use, they may cause great safety hazards.

[0003] Currently, the detection of cable defects is mainly carried out through visual methods. However, for cables that are more than ten or twenty meters long, it is too inefficient to take pictures, analyze and obtain detection results of the cables in all directions through purely visual methods. Summary of the invention

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide a cable detection system that combines laser and vision, which screens out suspected defect areas by means of laser, and then analyzes and judges the suspected defect areas by vision, thereby greatly improving the detection efficiency of cable defects.

[0005] The present invention is achieved through the following technical solutions:

[0006] In the first aspect, the present invention discloses a cable detection system combining laser and vision, which includes a processing module, a laser generating device, a cable installation rotating mechanism, a laser receiving device and a visual detection device. The cable installation rotating mechanism is used to place the cable and drive the cable to rotate, the laser generating device is located obliquely above the cable installation rotating mechanism, the visual detection device is located directly above the cable installation rotating mechanism, and the laser receiving device is located at another obliquely above the cable installation rotating mechanism.

[0007] In combination with the first aspect, further, the laser generating device includes a plurality of laser heads arranged side by side and detachably connected to each other, and the laser receiving device includes laser sensors whose number corresponds one-to-one with the laser heads.

[0008] In combination with the first aspect, further, the cable detection system also includes a lateral moving mechanism, the laser generating device and the laser receiving device are respectively arranged at the output end of the lateral moving mechanism, and the driving direction of the lateral moving mechanism is parallel to the length direction of the cable.

[0009] In a second aspect, the present invention also discloses a cable detection method combining laser and vision, which comprises the following steps:

[0010] S100. Install the cable on the cable installation rotating mechanism and set the cable installation rotating mechanism to drive the cable to rotate. times, each time rotating the same angle, and the sum of these angles is 360°, where is a divisor of 360;

[0011] S200. According to the diameter of the cable and the angle between the laser emitted by the laser generating device and the cable, the reflection path of the laser after irradiating the cable is calculated, and the laser receiving device is moved to the intersection with the path;

[0012] S300. The laser generating device is started while the cable installation rotating mechanism drives the cable to rotate in the manner of step S100. Second, the processing module records The number of times the laser receiving device is not triggered and the number of angles corresponding to the number of times ;

[0013] S400. The processing module drives the cable installation rotating mechanism to drive the cables to rotate to corresponding angles in sequence according to the number set M, and starts the visual inspection device to perform visual inspection on the cables.

[0014] In combination with the second aspect, further, in step S300, the triggering condition of the laser sensor is determined by:

[0015]

[0016] in, is the reflected light intensity actually received by the laser sensor, The reflected light intensity threshold of the cable material under normal conditions. is the fluctuation range of reflected light intensity under normal circumstances, A value of 1 indicates that a defect is detected. A value of 0 indicates no defect.

[0017] In combination with the second aspect, further, in step S300, each time the cable installation rotating mechanism rotates once, the lateral movement mechanism drives the laser generating device and the laser receiving device to sweep once along the length direction of the cable, and the lateral movement mechanism is reset after each sweep. During each sweep, the processing module records the number of vectors that do not trigger the laser receiving device. , and the vector times Add to collection middle.

[0018] In combination with the second aspect, further, in step S400, the step of visually inspecting the cable by the visual inspection device includes:

[0019] S401. The visual inspection device takes a picture of the cable surface to obtain a partial image of the cable surface;

[0020] S402. The processing module preprocesses the local image;

[0021] S403. Using edge detection algorithm to locate defective areas of local image;

[0022] S404. Extracting features of the detected defective area;

[0023] S405. Evaluate the performance of the cable using a preset model and output the test results.

[0024] In combination with the second aspect, further, in step S402, the method for preprocessing the local image is:

[0025] Set original image , grayscale the original image, and the grayscale calculation formula is:

[0026]

[0027] in, For the original image at position The red channel pixel value, For the original image at position The green channel pixel value, For the original image at position The blue channel pixel value of

[0028] The grayscale image is denoised, and the denoising calculation formula is:

[0029]

[0030] in, The filtered image at position The pixel value of is the standard deviation of the Gaussian function, is the convolution operation.

[0031] In combination with the second aspect, further, in step S403, the calculation formula of the edge detection algorithm is:

[0032]

[0033] in, is the edge detection result image, is the low threshold, is the high threshold.

[0034] In combination with the second aspect, further, in step S404, the calculation formula for feature extraction is:

[0035]

[0036] in, is the area of ​​the defect region, are all pixel positions within the defect area;

[0037]

[0038] in, is the shape factor, is the axial length of the defect area.

[0039] In combination with the second aspect, further, in step S405, the evaluation formula of the cable performance is:

[0040]

[0041] in, is the evaluation score, is the weight coefficient of the area feature, is the weight coefficient of the shape factor, is the model bias term.

[0042] In a third aspect, the present invention further discloses an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the cable detection method as described above.

[0043] In a fourth aspect, the present invention further discloses a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the cable detection method as described above.

[0044] Beneficial effects of the present invention:

[0045] The cable detection system combining laser and vision of the present invention is provided with a processing module, a laser generating device, a cable installation rotating mechanism, a laser receiving device and a visual detection device. When in use, the surface defect area of ​​the cable is judged according to the reflection characteristics of the laser and the cable, the suspected defect area is screened out, and then the suspected defect area is analyzed and judged by vision, thereby greatly improving the detection efficiency of cable defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0047] Figure 1 It is a schematic diagram of the structure of the detection system of the present invention.

[0048] Figure 2 The present invention is a flow chart of the cable detection method.

[0049] Reference numerals

[0050] Laser generating device--1, cable installation rotating mechanism--2, laser receiving device--3, visual detection device--4, lateral moving mechanism--5. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] Defective cables may appear during the factory production process. For example, the plastic sheath may have poor plasticization, poor glue seams, lumps, stains, scratches, etc. If these defective products are not detected and put into industrial use, they may cause great safety hazards.

[0055] Currently, the detection of cable defects is mainly carried out through visual methods. However, for cables that are more than ten or twenty meters long, it is too inefficient to take pictures, analyze and obtain detection results of the cables in all directions through purely visual methods.

[0056] In order to solve the above problems, this embodiment discloses a cable detection system combining laser and vision, and its structure is as follows: Figure 1 As shown, the system includes a processing module, a laser generating device 1, a cable installation rotating mechanism 2, a laser receiving device 3 and a visual detection device 4. The cable installation rotating mechanism 2 is used to place the cable and drive the cable to rotate, the laser generating device 1 is located obliquely above the cable installation rotating mechanism 2, the visual detection device 4 is located directly above the cable installation rotating mechanism 2, and the laser receiving device 3 is located at another obliquely above the cable installation rotating mechanism 2.

[0057] In this embodiment, the cable installation rotating mechanism 2 is composed of at least a motor and an active roller, the active roller is coaxially connected to the output shaft of the motor, and the cable is inserted into the active roller and the motor is started to drive it to rotate.

[0058] Furthermore, the laser generating device 1 includes a plurality of laser heads arranged side by side and detachably connected to each other, and the laser receiving device 3 includes laser sensors whose number corresponds one-to-one with the laser heads.

[0059] In actual use, the normal part and the defective part of the cable have different reflection angles of the laser. When the same angle of laser is used to irradiate the two parts, there will be differences in the reflection paths of the laser. By placing the laser receiving device 3 on the path of the normal part irradiated by the laser, and setting the path of the normal part irradiated by the laser as the control group, the defective parts on the cable can be roughly screened out according to whether the laser receiving device 3 is triggered, thereby improving the detection efficiency for the accurate judgment of the next visual inspection.

[0060] Furthermore, the cable detection system further includes a transverse moving mechanism 5, the laser generating device 1 and the laser receiving device 3 are respectively arranged at the output end of the transverse moving mechanism 5, and the driving direction of the transverse moving mechanism 5 is parallel to the length direction of the cable. In this embodiment, the transverse moving mechanism 5 is preferably a linear motor, and by setting the transverse moving mechanism 5 to sweep the cable in the length direction, the screening efficiency of the cable defect area can be further improved.

[0061] Please refer to Figure 2 , which shows a cable detection method combining laser and vision provided by some embodiments of the present application, and the above system can be used to execute the method described in the previous embodiment. Figure 2 As shown, the method includes:

[0062] S100. Install the cable on the cable installation rotating mechanism 2, and set the cable installation rotating mechanism 2 to drive the cable to rotate. times, each time rotating the same angle, and the sum of these angles is 360°, where is a divisor of 360;

[0063] S200. According to the diameter of the cable and the angle between the laser emitted by the laser generating device 1 and the cable, the reflection path of the laser after irradiating the cable is calculated, and the laser receiving device 3 is moved to the intersection with the path;

[0064] S300. Start the laser generating device 1 while the cable installation rotating mechanism 2 drives the cable to rotate in accordance with step S100. Second, the processing module records The number of times the laser receiving device 3 is not triggered and the number of angles corresponding to the number of times ;

[0065] S400. The processing module drives the cable installation rotating mechanism 2 to drive the cables to rotate to corresponding angles in sequence according to the number set M, and starts the visual inspection device 4 to perform visual inspection on the cables.

[0066] Furthermore, in step S300, the triggering condition of the laser sensor is determined by:

[0067]

[0068] in, is the reflected light intensity actually received by the laser sensor, The reflected light intensity threshold of the cable material under normal conditions. is the fluctuation range of reflected light intensity under normal circumstances, A value of 1 indicates that a defect is detected. A value of 0 indicates no defect.

[0069] Further, in step S300, each time the cable installation rotating mechanism 2 rotates once, the lateral moving mechanism 5 drives the laser generating device 1 and the laser receiving device 3 to sweep once along the length direction of the cable, and the lateral moving mechanism 5 is reset after each sweep. During each sweep, the processing module records the number of vectors that do not trigger the laser receiving device 3. , and the vector times Add to collection middle.

[0070] Further, in step S400, the step of visually inspecting the cable by the visual inspection device 4 includes:

[0071] S401 visual inspection device 4 takes a picture of the cable surface to obtain a partial image of the cable surface;

[0072] S402. The processing module preprocesses the local image;

[0073] S403. Using edge detection algorithm to locate defective areas of local image;

[0074] S404. Extracting features of the detected defective area;

[0075] S405. Evaluate the performance of the cable using a preset model and output the test results.

[0076] Furthermore, in step S402, the method for preprocessing the local image is:

[0077] Set original image , grayscale the original image, and the grayscale calculation formula is:

[0078]

[0079] in, For the original image at position The red channel pixel value, For the original image at position The green channel pixel value, For the original image at position The blue channel pixel value of

[0080] The grayscale image is denoised, and the denoising calculation formula is:

[0081]

[0082] in, The filtered image at position The pixel value of is the standard deviation of the Gaussian function, is the convolution operation.

[0083] Furthermore, in step S403, the calculation formula of the edge detection algorithm is:

[0084]

[0085] in, is the edge detection result image, is the low threshold, is the high threshold.

[0086] Furthermore, in step S404, the calculation formula for feature extraction is:

[0087]

[0088] in, is the area of ​​the defect region, are all pixel positions within the defect area;

[0089]

[0090] in, is the shape factor, is the axial length of the defect area.

[0091] Furthermore, in step S405, the evaluation formula of the cable performance is:

[0092]

[0093] in, is the evaluation score, is the weight coefficient of the area feature, is the weight coefficient of the shape factor, is the model bias term.

[0094] Some embodiments of the present application provide an electronic device, which includes: a memory and a processor, wherein the processor runs the computer program to implement the cable detection method as described above; the memory stores a computer program that can be run on the processor, and when the processor runs the computer program, it executes the cable detection method provided by any of the aforementioned embodiments of the present application.

[0095] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0096] The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a readily available programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or a combination of hardware and software modules in the decoding processor to be executed. The software module may be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0097] The electronic device provided in the embodiment of the present application and the battery production method provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0098] An embodiment of the present application also provides a computer-readable storage medium corresponding to the cable detection method provided in the aforementioned embodiment, wherein the computer-readable storage medium is a CD on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the power scheduling method provided in any of the aforementioned embodiments.

[0099] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0100] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the battery scheduling method provided in the embodiments of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0101] It should be noted that: in the above text, the term "comprises", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0102] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0103] The embodiments of the present application are described above in conjunction with the accompanying drawings, which are only specific implementation modes of the present application. However, the present application is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A cable detection system combining laser and vision, characterized in that: It includes a processing module, a laser generating device, a cable installation rotating mechanism, a laser receiving device and a visual detection device. The cable installation rotating mechanism is used to place the cable and drive the cable to rotate. The laser generating device is located obliquely above the cable installation rotating mechanism. The visual detection device is located directly above the cable installation rotating mechanism. The laser receiving device is located at another obliquely above the cable installation rotating mechanism. The cable detection system is also used to perform the following steps: S100. Install the cable on the cable installation rotating mechanism and set the cable installation rotating mechanism to drive the cable to rotate. times, each time rotating the same angle, and the sum of these angles is 360°, where is a divisor of 360; S200. According to the diameter of the cable and the angle between the laser emitted by the laser generating device and the cable, the reflection path of the laser after irradiating the cable is calculated, and the laser receiving device is moved to the intersection with the path; S300. The laser generating device is started while the cable installation rotating mechanism drives the cable to rotate in the manner of step S100. Second, the processing module records The number of times the laser receiving device is not triggered and the number of angles corresponding to the number of times ; S400. The processing module drives the cable installation rotating mechanism to drive the cables to rotate to corresponding angles in sequence according to the number set M, and starts the visual inspection device to perform visual inspection on the cables.

2. A cable detection system combining laser and vision according to claim 1, characterized in that: The laser generating device comprises a plurality of laser heads which are arranged side by side and detachably connected to each other, and the laser receiving device comprises laser sensors whose number corresponds one to one with the laser heads.

3. A cable detection system combining laser and vision according to claim 2, characterized in that: In step S300, the triggering condition of the laser sensor is determined by: in, is the reflected light intensity actually received by the laser sensor, The reflected light intensity threshold of the cable material under normal conditions. is the fluctuation range of reflected light intensity under normal circumstances, A value of 1 indicates that a defect is detected. A value of 0 indicates no defect.

4. A cable detection system combining laser and vision according to claim 1, characterized in that: The cable detection system further comprises a transverse moving mechanism, the laser generating device and the laser receiving device are respectively arranged at the output end of the transverse moving mechanism, and the driving direction of the transverse moving mechanism is parallel to the length direction of the cable; In step S300, each time the cable installation rotating mechanism rotates, the lateral movement mechanism drives the laser generating device and the laser receiving device to sweep along the length direction of the cable once. The lateral movement mechanism resets after each sweep. During each sweep, the processing module records the number of vectors that do not trigger the laser receiving device. , and the vector times Add to collection middle.

5. The cable detection system combining laser and vision according to claim 1, characterized in that: In step S400, the visual inspection device performs visual inspection on the cable, including: S401. The visual inspection device takes a picture of the cable surface to obtain a partial image of the cable surface; S402. The processing module preprocesses the local image; S403. Using edge detection algorithm to locate defective areas of local image; S404. Extracting features of the detected defective area; S405. Evaluate the performance of the cable using a preset model and output the test results.

6. A cable detection system combining laser and vision according to claim 5, characterized in that: In step S402, the method for preprocessing the local image is: Set original image , grayscale the original image, and the grayscale calculation formula is: in, For the original image at position The red channel pixel value, For the original image at position The green channel pixel value, For the original image at position The blue channel pixel value of The grayscale image is denoised, and the denoising calculation formula is: in, The filtered image at position The pixel value of is the standard deviation of the Gaussian function, is the convolution operation.

7. A cable detection system combining laser and vision according to claim 6, characterized in that: In step S403, the calculation formula of the edge detection algorithm is: in, is the edge detection result image, is the low threshold, is the high threshold.

8. A cable detection system combining laser and vision according to claim 7, characterized in that: In step S404, the calculation formula for feature extraction is: in, is the area of ​​the defect region, are all pixel positions within the defect area; in, is the shape factor, is the axial length of the defect area.

9. A cable detection system combining laser and vision according to claim 8, characterized in that: In step S405, the evaluation formula of the cable performance is: in, is the evaluation score, is the weight coefficient of the area feature, is the weight coefficient of the shape factor, is the model bias term.

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