Automatic cable arranging device based on visual fusion perception

Abstract

The invention provides an automatic cable arranging device based on visual fusion perception, and belongs to the field of automatic cable winding and arranging equipment, and the automatic cable arranging device comprises a supporting frame structure, a #-shaped guide wheel, a transverse movement device, a longitudinal movement device, a 2D image acquisition device, a 3D image acquisition device, a control platform and an operation platform. An efficient visual fusion perception system is constructed by accurately capturing image information of the cable and the surrounding environment of the cable and combining 2D and 3D image acquisition devices, so that accurate monitoring on the condition that the cable is taken up to the edge and the gap condition is realized.

Description

Technical Field

[0001] The present invention relates to the field of automatic cable arrangement equipment for cable take-up, and in particular to an automatic cable arrangement device based on visual fusion perception. Background Art

[0002] During the cable winding process, the existing cable winding equipment has basic cable arrangement functions. For slower production processes, it may be able to achieve cable arrangement without human intervention. However, for high-speed production lines, the equipment's response speed and cable arrangement accuracy may not meet the requirements. The cable pulling and automatic reversing after the cable is wound to the edge is a pain point that is difficult for existing equipment to fully automate. This usually requires human intervention, which not only increases labor costs, but may also affect production efficiency and safety. Pain point issues in automatic cable arrangement during the cable winding process. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an automatic cable arranging device based on visual fusion perception, which solves the automation problems of response speed, cable arranging accuracy, and cable pulling and automatic reversing after the cable reaches the edge of the existing cable taking-up equipment in a high-speed production environment.

[0004] The technical solution of the present invention is:

[0005] An automatic cable arranging device based on visual fusion perception includes a supporting frame structure, a tic-tac-toe guide wheel, a lateral motion device, a longitudinal motion device, a 2D image acquisition device, a 3D image acquisition device, a control platform, an operating platform and an alarm. These components together constitute the efficient and intelligent cable arranging capability of the device.

[0006] The lateral motion device is deployed in the control platform at the bottom of the support frame, and is used to realize the lateral movement of the support frame;

[0007] The well-shaped guide wheel is fixed on the support frame and can move up and down on the support frame;

[0008] The longitudinal motion device is arranged on the supporting frame structure and is used to drive the tic-tac-toe guide wheel to move in the vertical direction;

[0009] The 2D image acquisition device is arranged on the tic-tac-toe shaped guide wheel;

[0010] The 3D image device is arranged on the control platform, and the operating platform is arranged on the 3D image device and can rotate.

[0011] Furthermore,

[0012] The support frame structure is composed of an aluminum profile frame. The aluminum profile frame not only ensures the overall stiffness of the equipment, enabling it to withstand various forces and torques generated during the cable laying process, but also reduces the weight of the equipment. An alarm is deployed on the side of the support frame. When the equipment detects an abnormal cable laying situation, the alarm will immediately emit an audible and visual alarm signal to remind the operator to handle it in a timely manner.

[0013] As the main frame of the entire equipment, the support frame structure bears all other components. Using aluminum profiles as the main structure of the support frame is an economical and efficient choice. On the one hand, it provides a stable mounting point for the cross-shaped guide wheels, ensuring that the guide wheels can guide the cable to move along the predetermined path. On the other hand, closely cooperating with the lateral movement device and the longitudinal movement device, the support frame structure provides a stable operating platform for these movement devices, ensuring that they can accurately control the movement direction and position of the cable, and realizing the automatic simulation of the cable rewinding to the edge commutation action and abnormal cable laying action.

[0014] The support frame has two longitudinal beam structures for arranging the longitudinal movement device composed of a servo motor, a lead screw, and a slide rail. The longitudinal movement device is used to guide the cross-shaped guide wheels to move vertically to adapt to the height change during the cable rewinding process. An alarm is also arranged on the longitudinal beam structure. When the equipment detects an abnormal cable laying situation, the alarm will immediately emit an audible and visual alarm signal to remind the operator to handle it in a timely manner.

[0015] The cross-shaped guide wheel, as an adaptive guide wheel structure fixed on the support frame, is composed of two lateral guide wheels and two longitudinal guide wheels, jointly forming a layout similar to the Chinese character "井" (jing). The two lateral guide wheels are arranged in parallel at the front of the support frame, and their main function is to support and guide the cable moving horizontally. The two longitudinal guide wheels are arranged perpendicular to the lateral guide wheels, forming the other set of sides of the cross shape, and their main function is to support and guide the cable moving vertically and in a direction perpendicular to the lateral guide wheels.

[0016] A cylinder device is installed on each guide wheel. The cylinder device can drive the guide wheel to make a small movement along its axis direction through air pressure adjustment, so as to realize a slight clamping of the cable passing through between the guide wheels. The clamping force is set to be able to stably fix the cable to prevent it from shaking or falling off, and at the same time avoid being too tight to cause damage to the cable.

[0017] The cylinder device also has the ability to dynamically adjust the clamping force as needed during the operation of the equipment to adapt to changes in cable diameter, material, or tension requirements, ensuring that the cable can move stably and smoothly under different working conditions.

[0018] Furthermore,

[0019] The lateral motion device is deployed in the base of the support frame to achieve lateral movement of the support frame and handle the edge of the cable winding and abnormal cable arrangement. The lateral motion device is a system that integrates a slide rail, a slider, a servo motor and a screw structure. The slide rail is the basic component of the lateral motion device, which provides a track for the slider to move; the slider is installed on the slide rail and can slide freely along the slide rail. The servo motor and the screw structure are used to drive the slider to move.

[0020] The longitudinal motion device is arranged on the supporting frame structure, and comprises a slide rail structure, a screw rod structure and a servo motor, and is used for driving the tic-tac-toe guide wheel to move up and down.

[0021] Furthermore,

[0022] The 2D image acquisition device consists of a support plate structure and a position adjustment device. The support plate structure serves as the base of the entire image acquisition device and is fixed above the tic-tac-toe guide wheel. It can move synchronously with the up and down movement of the tic-tac-toe guide wheel. The position adjustment device is deployed between the area array camera and the support plate structure to adjust the position of the area array camera to meet the image acquisition requirements of different environments.

[0023] The position adjustment device is divided into a linear adjustment device and an angle adjustment device. The linear adjustment device has a smooth and continuous adjustment capability and is used to drive the area array camera to perform linear motion to meet the image acquisition requirements at different positions. The angle adjustment device is connected between the stepless adjustment device and the area array camera, allowing the camera's pitch and tilt angles to be flexibly adjusted to ensure that the camera is always aimed at the target area and captures the best image effect.

[0024] The linear motion device is installed on the support plate structure and is used for the linear movement of the area array camera. The angle adjustment device is connected to the area array camera and installed on the linear motion device. It can accurately control the rotation and tilt angle of the camera to ensure that the camera is always aimed at the target area and captures the best image effect. It also supports remote control and automatic adjustment to improve the intelligence level and operational convenience of the system.

[0025] Furthermore,

[0026] The 3D imaging device consists of a support stabilization frame, a lifting and adjusting device, an angle adjusting device and a horizontal displacement device. The support frame structure is lifted and adjusted using the lifting and adjusting device, and the top extends forward to the top of the front of the take-up reel. At the end of the forward extension structure of the support stabilization frame, a 3D camera is deployed, and the angle adjustment of the 3D camera is controlled by a servo motor so that the 3D camera can find the best oblique shooting angle. At the bottom of the support stabilization frame, a horizontal displacement device is also deployed to allow the 3D camera to make subtle position adjustments in the horizontal direction, ensuring that the 3D camera can capture the contour information of the reel surface throughout the process and eliminate blind spots in the field of view.

[0027] Furthermore, the control platform is integrated in the base of the wiring device, and a reasonable wiring structure is adopted inside to arrange and fix the connecting lines between various electrical components in an orderly manner. In order to maintain air circulation inside the control cabinet, a ventilation system is designed, including air inlets, exhaust ports and ventilation ducts, to ensure the heat dissipation effect of the air inside the control cabinet.

[0028] The control platform consists of two parts: an image processing computing unit and an electrical control unit. The image processing unit is responsible for processing the raw image data from 2D and 3D image acquisition devices, and performs image recognition, target tracking, feature extraction, etc. through artificial intelligence algorithms. The electrical control unit is responsible for issuing control instructions to drive the lateral motion device, longitudinal motion device and other actuators to complete the automatic cable arrangement task and achieve precise control of the support platform.

[0029] Furthermore,

[0030] The operating platform is combined with the 3D camera support frame structure and given a rotation function, so that the operator can easily adjust the angle and position of the operating platform as needed.

[0031] The control platform shell is equipped with a metal telescopic plate for protection, which can effectively resist external physical impact and wear and tear, and protect the electrical components inside the control cabinet from damage.

[0032] The beneficial effects of the present invention are

[0033] The device analyzes image data through artificial intelligence algorithms and can automatically complete cable arrangement and abnormality detection tasks, which not only significantly improves the efficiency and accuracy of cable winding, but also greatly reduces labor costs and effectively reduces abnormal cable arrangement problems caused by human operation errors. The application of this invention provides strong technical support for the upgrading and transformation of enterprise automated production lines, and helps promote the intelligent development of the cable production industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 It is a schematic diagram of the structure of the tic-tac-toe guide wheel of the present invention;

[0036] Figure 3 is a schematic diagram of the lateral motion device of the present invention;

[0037] Figure 4 is a schematic diagram of the longitudinal motion device of the present invention;

[0038] Figure 5 is a schematic diagram of a 2D image acquisition device of the present invention;

[0039] Figure 6It is a schematic diagram of the 3D image acquisition device of the present invention. Specific embodiments

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] The present invention provides a cable automatic wiring device based on visual fusion perception. The main structure is divided into two parts: an image acquisition device and a support platform. Both parts support multi-degree-of-freedom adjustment, ensuring that the system can flexibly meet various complex wiring requirements. The image acquisition device, as the "eyes", captures and processes cable information in real time; while the support platform, as the "body", integrates key components such as adaptive wire wheels and actuators to form an efficient collaborative working whole.

[0042] Specifically, it includes a support frame 1, a cross-shaped guide wheel 2, a lateral movement device 3, a longitudinal movement device 4, a 2D image acquisition device 5, a 3D image acquisition device 6, a support platform base mechanism 7, an operation platform 8, and an alarm 9.

[0043] The support frame structure 1 is composed of an aluminum structure frame, with two longitudinal beam structures. On the one hand, it provides a stable mounting point for the cross-shaped guide wheel. On the other hand, it cooperates with the lateral movement device and the longitudinal movement device, providing a stable operating platform for these movement devices to ensure that they can accurately control the moving direction and position of the cable.

[0044] The cross-shaped guide wheel 2 is composed of 4 rotatable roller structures, including 2 lateral guide wheel structures 21 and 2 longitudinal guide wheel structures 22, forming a shape similar to a "cross". This structure can restrain cable swing from 4 directions without scratching the cable. The lateral and longitudinal guide wheel structures are driven by a cylinder device 23 to adjust the spacing to adapt to cables of different diameters.

[0045] The lateral movement device 3 is a system integrating a slide rail 31, a slider 32, a lead screw structure 33, and a servo motor 34, deployed in the base of the support frame. As the power device for the lateral movement of the support frame structure, the servo motor drives the entire support frame structure to move, realizing the automatic processing of cable take-up to edge commutation and abnormal wiring.

[0046] The longitudinal motion device 4 is arranged on the supporting frame structure, and includes a slide rail structure 41, a screw structure 42, a reducer 43 and a servo motor 44, which is used to drive the cross-shaped guide wheel to move up and down to adapt to the height change during the cable winding process.

[0047] The 2D image acquisition device 5 consists of a support plate structure and a position adjustment device. The support plate structure 51 is fixed above the tic-tac-toe guide wheel and can move synchronously with the up and down movement of the tic-tac-toe guide wheel. The position adjustment device is divided into a linear movement device 52 and an angle adjustment device 53. The linear movement device is responsible for the linear movement of the array camera 54, and the angle adjustment device allows the camera's pitch angle and tilt angle to be flexibly adjusted to ensure that the camera is always aimed at the target area and captures the best image effect.

[0048] The 3D image acquisition device 6 is composed of a support and stabilization frame 61, a lifting and adjusting device 62, a horizontal displacement device 63, an angle adjustment device 64 and a 3D camera 65. The support frame structure is responsible for carrying and stabilizing the entire system to ensure that it is not shaken or offset by external interference during the acquisition process. The lifting and lowering adjustment is performed by a servo motor. The top extends forward to the top of the front of the take-up reel. A 3D camera is deployed at the end of the forward extension structure of the support and stabilization frame. The 3D camera adjusts the angle through a rotating motor to find the best oblique shooting angle. A horizontal displacement device is also deployed at the bottom of the support frame to allow the 3D camera to fine-tune the horizontal position in real time when scanning the surface contour information of the reel, eliminating the blind spot of the imaging field of view.

[0049] The support platform base mechanism 7 also integrates an image processing calculation unit and an electrical control unit, which greatly simplifies the layout of the system, reduces the complexity of wiring, and improves the compactness and efficiency of the overall system. The metal telescopic plate protection is added to the base part. This design solves the potential threat of the external environment to the internal components of the equipment. The metal telescopic plate not only has high strength and corrosion resistance, and can effectively resist physical impact, but also can absorb part of the impact energy through the telescopic mechanism when subjected to external force, reducing the impact force directly transmitted to the internal components.

[0050] The above description is only a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An automatic cable arrangement device based on visual fusion perception, It is characterized in that It includes a support frame, a tic-tac-toe guide wheel, a lateral motion device, a longitudinal motion device, a 2D image acquisition device, a 3D image acquisition device, a control platform, and an operating platform; The lateral motion device is deployed in the control platform at the bottom of the support frame, and is used to realize the lateral movement of the support frame; The well-shaped guide wheel is fixed on the support frame and can move up and down on the support frame; The longitudinal motion device is arranged on the supporting frame structure and is used to drive the tic-tac-toe guide wheel to move in the vertical direction; The 2D image acquisition device is arranged on the tic-tac-toe shaped guide wheel; The 3D image device is arranged on the control platform, and the operating platform is arranged on the 3D image device and can rotate.

2. The device according to claim 1, It is characterized in that The supporting frame structure is composed of an aluminum profile frame. An alarm is deployed on the side of the supporting frame. When the equipment detects abnormal wiring, the alarm will immediately send out an audible and visual alarm signal.

3. The device according to claim 1, It is characterized in that The longitudinal motion device comprises a slide rail structure, a screw rod structure and a servo motor.

4. The device according to claim 1, It is characterized in that The tic-tac-toe guide wheel is composed of two transverse guide wheels and two longitudinal guide wheels. The two transverse guide wheels are arranged in parallel at the front of the support frame to support and guide the cables moving in the horizontal direction; the two longitudinal guide wheels are arranged perpendicular to the transverse guide wheels to form another set of sides of the tic-tac-toe shape to support and guide the cables moving in the vertical direction and in the direction perpendicular to the transverse guide wheels.

5. The device according to claim 4, It is characterized in that A cylinder device is installed on each guide wheel, and the cylinder device can drive the guide wheel to move along its axial direction through air pressure regulation, so as to clamp the cables passing through the guide wheels.

6. The device according to claim 1, It is characterized in that The lateral motion device includes a slide rail structure, a slider structure, a screw rod structure and a servo motor, which are used to drive the support frame to move laterally to handle the edge of the cable winding and abnormal cable arrangement.

7. The device according to claim 1, It is characterized in that The 2D image acquisition device is composed of a support plate structure and a position adjustment device; The support plate structure is used as a base, fixed above the tic-tac-toe guide wheel, and can move synchronously with the up and down movement of the tic-tac-toe guide wheel. The position adjustment device is deployed between the area array camera and the support plate structure to adjust the position of the area array camera to adapt to the image acquisition requirements of different environments; The position adjustment device is divided into a linear movement device and an angle adjustment device; The linear moving device is installed on the supporting plate structure and is used for the linear movement of the area array camera; The angle adjustment device is connected to the area array camera and is installed on the linear moving device.

8. The device according to claim 1, It is characterized in that The 3D image device includes a supporting stabilization frame and a lifting and adjusting device; The support and stabilization frame is raised and lowered using a lifting and adjustment device, with the top extending forward to above the front of the take-up reel. A 3D camera is deployed at the end of the forward extension structure of the support and stabilization frame, and the angle adjustment of the 3D camera is controlled by a servo motor so that the 3D camera can find the best oblique shooting angle. A horizontal displacement device is also deployed at the bottom of the support and stabilization frame to allow the 3D camera to adjust its position in the horizontal direction.

9. The device according to claim 1, It is characterized in that The control platform is equipped with a ventilation system, including air inlets, exhaust ports and ventilation ducts to ensure the heat dissipation effect of the air inside the control platform; the entire base part of the control platform is protected by a metal telescopic plate.

10. The device according to claim 1, It is characterized in that The control platform includes an image processing computing unit and an electrical control unit; the image processing unit is responsible for processing the raw image data from the 2D and 3D image acquisition devices, and performs image recognition, target tracking, and feature extraction through artificial intelligence algorithms; The electrical control unit is responsible for issuing control instructions to drive the lateral motion device and the longitudinal motion device to complete the automatic cable arrangement task and realize the control of the support platform.

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