Intelligent control system of cable braiding machine based on feedback regulation

Abstract

The present application relates to the field of intelligent control technology, and specifically to an intelligent control system for a cable braiding machine based on feedback regulation. The system includes: a braiding pitch acquisition module, which is used to acquire the braiding pitch of the cable by collecting the cable image during the cable braiding process, and the braiding pitch is related to the number of spindles of the cable braiding machine and the distance between each cable strand; a speed control parameter acquisition module, which is used to acquire the speed control parameters of the spindle according to the braiding pitch; and an adjustment module, which is used to adjust the current speed of the spindle according to the speed control parameters to obtain the target speed of the spindle. The disclosed embodiment can automatically adjust the speed of the spindle of the cable braiding machine by analyzing the cable braiding pitch in the cable image, so as to achieve high-precision and intelligent operation of the cable braiding machine, thereby improving the accuracy of cable braiding and reducing material costs and human resource costs.

Description

Technical Field

[0001] The present application belongs to the field of intelligent control technology, and specifically relates to an intelligent control system for a cable braiding machine based on feedback regulation. Background Art

[0002] Cable braiding is an important part of the manufacturing process of wires and cables. Its quality and efficiency directly affect the overall performance and production cost of the product. With the transformation and upgrading of the manufacturing industry and the development of the intelligent trend, the cable braiding industry has an increasingly urgent need for automated and intelligent equipment. In the process of cable braiding, a variety of abnormal situations may occur, which requires continuous changes in the relevant parameters of the braiding system to control the braiding machine, based on feedback from the actual production process, to ensure the accuracy and stability of the machine braiding.

[0003] Traditional cable braiding machines mainly rely on manual operation and mechanical control, which makes it difficult to achieve high-precision and intelligent operation. Since it is a manually operated control machine, there is a certain delay, which to some extent affects the accuracy of cable braiding and increases material and human resource costs. Summary of the invention

[0004] In order to solve the above problems, the embodiment of the present application provides an intelligent control system for a cable braiding machine based on feedback regulation. The system comprises:

[0005] A braiding pitch acquisition module, used to acquire the braiding pitch of the cable by collecting images of the cable during the cable braiding process, wherein the braiding pitch is related to the number of spindles of the cable braiding machine and the distance between each strand of the cable;

[0006] A speed control parameter acquisition module, used to acquire the speed control parameter of the spindle according to the braiding pitch;

[0007] The adjustment module is used to adjust the current rotation speed of the spindle according to the rotation speed control parameter to obtain the target rotation speed of the spindle.

[0008] Optionally, the weaving pitch acquisition module further includes:

[0009] A per-pair distance determination module, used to determine the per-pair distance of the cable according to the cable image, wherein the per-pair distance of the cable is the distance between two edge lines of two adjacent braided wires on the length of the cable;

[0010] A spindle quantity acquisition module, used to acquire the spindle quantity of the cable braiding machine;

[0011] The braiding pitch acquisition submodule is used to acquire the braiding pitch of the cable according to the distance between each strand of the cable and the number of spindles.

[0012] Optionally, the distance determination module further includes:

[0013] An edge line determination module, used to determine a first edge line and a second edge line of the two adjacent braided wires according to the cable image;

[0014] A first coordinate determination module, used to determine a first coordinate value, where the first coordinate value is a coordinate value of a first pixel point, where the first pixel point is an intersection of the first edge line and a straight line in the length direction of the cable;

[0015] A second coordinate determination module, used to determine a second coordinate value, where the second coordinate value is a coordinate value of a second pixel point, where the second pixel point is an intersection of the second edge line and the straight line in the length direction of the cable;

[0016] The distance-per-share determination submodule is used to determine the distance-per-share of the cable according to the first coordinate value and the second coordinate value.

[0017] Optionally, the speed control parameter acquisition module further includes:

[0018] A braiding pitch data sequence acquisition module, used to obtain the braiding pitch data sequence of the cable according to the cable image;

[0019] An adjustment necessity parameter determination module, used to determine the adjustment necessity parameter of the spindle according to the braiding pitch data sequence;

[0020] An adjustment determination module, used for determining whether the spindle needs to be adjusted according to the adjustment necessity parameter;

[0021] The speed control parameter acquisition submodule is used to acquire the speed control parameters of the spindle when it is determined that the spindle needs to be adjusted.

[0022] Optionally, the adjustment necessity parameter determination module further includes:

[0023] A first abnormal braiding pitch number acquisition module, used to acquire the first abnormal braiding pitch number, where the first abnormal braiding pitch number is the number of abnormal braiding pitches in a first braiding pitch data sequence, where the first braiding pitch data sequence is the braiding pitch data sequence corresponding to the cable image at the current moment;

[0024] A second abnormal braiding pitch number acquisition module, used to acquire the second abnormal braiding pitch number, where the second abnormal braiding pitch number is the number of abnormal braiding pitches in a second braiding pitch data sequence, where the second braiding pitch data sequence is a braiding pitch data sequence corresponding to a cable image at a next moment adjacent to the current moment;

[0025] The adjustment necessity parameter determination submodule is used to determine the adjustment necessity parameter of the spindle according to the number of the first abnormal weaving pitches, the number of the second abnormal weaving pitches, and the length difference between the second abnormal weaving pitch and the first abnormal weaving pitch.

[0026] Optionally, the adjustment determination module further includes:

[0027] A first determination module is used to determine that the cable braiding machine is in good operating state and does not need to be adjusted when all data in the braiding pitch data sequence are equal and equal to the standard braiding pitch;

[0028] A first acquisition module, configured to acquire adjustment necessity parameters of three consecutive frames of cable images when data different from the standard braiding pitch exists in the braiding pitch data sequence;

[0029] The second determination module is used to determine whether the spindle needs to be adjusted according to the adjustment necessity parameters of the three consecutive frames of cable images.

[0030] Optionally, the second determining module is further used to:

[0031] When the adjustment necessity parameters of the three consecutive frames of cable images are all less than or equal to the set threshold, it is determined that the operation state of the cable braiding machine is good and no adjustment is required;

[0032] When the adjustment necessity parameters of the three consecutive frames of cable images are all greater than the set threshold value, it is determined that the operating state of the cable braiding machine is abnormal and needs to be adjusted.

[0033] Optionally, the speed control parameter acquisition submodule further includes:

[0034] An angle sequence acquisition module, used to acquire an angle sequence between edge lines of all braided wires in the current cable image and a straight line in the length direction of the cable;

[0035] A standard angle acquisition module, used to acquire a standard angle between an edge line of the braided wire and a straight line in the length direction of the cable;

[0036] The speed control parameter acquisition module is used to obtain the speed control parameters of the spindle according to the angle sequence and the standard angle.

[0037] Optionally, the speed control parameter acquisition module further includes:

[0038] A maximum value acquisition module, used to acquire the maximum value of the angle sequence, wherein the maximum value of the angle sequence is the angle value between the last edge line in the current cable image and the straight line in the length direction of the cable;

[0039] A difference acquisition module, used to acquire the difference between the maximum value of the angle sequence and the standard angle;

[0040] A mean value acquisition module, used to acquire the mean value of the difference between the angle sequence and the standard angle;

[0041] The speed control parameter acquisition module is used to obtain the speed control parameter of the spindle according to the difference between the maximum value of the angle sequence and the standard angle and the mean value.

[0042] Optionally, the adjustment module further includes:

[0043] A speed control amount acquisition module, used to acquire the speed control amount according to the current speed and the speed control parameter;

[0044] The target speed acquisition module is used to adjust the current speed according to the speed control amount to obtain the target speed of the spindle.

[0045] In summary, the embodiment of the present application provides an intelligent control system for a cable braiding machine based on feedback regulation, the system comprising: a braiding pitch acquisition module, for acquiring the braiding pitch of the cable by collecting the cable image during the cable braiding process, the braiding pitch being related to the number of spindles of the cable braiding machine and the distance between each strand of the cable; a speed control parameter acquisition module, for acquiring the speed control parameter of the spindle according to the braiding pitch; an adjustment module, for adjusting the current speed of the spindle according to the speed control parameter to obtain the target speed of the spindle. The disclosed embodiment can automatically adjust the speed of the spindle of the cable braiding machine by analyzing the cable braiding pitch in the cable image, so as to achieve high-precision and intelligent operation of the cable braiding machine, thereby improving the accuracy of cable braiding and reducing material and human resource costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the implementation scheme of the present application, the drawings required for use in the implementation scheme will be briefly introduced below. It should be understood that the drawings only show certain implementation schemes of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on the drawings without paying creative work.

[0047] Figure 1 It is a block diagram of an intelligent control system of a cable braiding machine based on feedback regulation according to an exemplary embodiment.

[0048] Figure 2 It is a block diagram of a weaving pitch acquisition module according to an exemplary embodiment.

[0049] Figure 3 It is a block diagram of a speed control parameter acquisition module according to an exemplary embodiment.

[0050] Figure 4 It is a block diagram of an adjustment module according to an exemplary embodiment. DETAILED DESCRIPTION

[0051] In order to clearly illustrate the technical features of the present solution, the present application is described in detail below through specific implementation methods and in conjunction with the accompanying drawings.

[0052] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0053] It should be understood that the various steps described in the method implementation of the present application can be performed in different orders and / or performed in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0054] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0055] It should be noted that the concepts such as "first" and "second" mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0056] It should be noted that the modifications of "one" and "multiple" mentioned in this application are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more". In the description of this application, unless otherwise specified, "multiple" means two or more than two, and other quantifiers are similar; "at least one item", "one or more items" or similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one item a can represent any number of a; for another example, one or more items of a, b and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple; "and / or" is a kind of association relationship that describes the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0057] Although the operations or steps are described in a specific order in the drawings in the embodiments of the present application, it should not be understood that it is required to perform these operations or steps in the specific order shown or in a serial order, or to perform all the operations or steps shown to obtain the desired results. In the embodiments of the present application, these operations or steps can be performed in series; these operations or steps can also be performed in parallel; or some of these operations or steps can be performed.

[0058] At the same time, it is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0059] First, the application scenario of the present application is described. The present invention proposes an intelligent control system for a cable braiding machine based on feedback regulation, which collects specific images of the braided cable for analysis, uses the braiding pitch to determine whether the cable braiding machine needs to be regulated, and uses this data as the basis for judgment and analysis. When regulation is required, the speed control parameters of the spindle are obtained, and the spindle speed of the cable braiding machine is adjusted with this parameter, thereby completing high-precision intelligent regulation of the cable braiding machine. The present application is described below in conjunction with specific embodiments.

[0060] Figure 1 FIG. 1 is a block diagram of an intelligent control system for a cable braiding machine based on feedback regulation according to an exemplary embodiment. Figure 1 As shown, the embodiment of the present application provides an intelligent control system for a cable braiding machine based on feedback regulation, which may include the following modules:

[0061] The braiding pitch acquisition module is used to acquire the braiding pitch of the cable by collecting the cable image during the cable braiding process. The braiding pitch is related to the number of spindles of the cable braiding machine and the distance between each strand of the cable. The braiding pitch acquisition module also includes: a distance between each strand of the cable is determined according to the cable image. The distance between each strand of the cable is the distance between the two edge lines of two adjacent braiding wires on the cable length; a spindle number acquisition module is used to acquire the number of spindles of the cable braiding machine; a braiding pitch acquisition submodule is used to acquire the braiding pitch of the cable according to the distance between each strand of the cable and the number of spindles.

[0062] The speed control parameter acquisition module is used to obtain the speed control parameters of the spindle according to the braiding pitch. The speed control parameter acquisition module also includes: a braiding pitch data sequence acquisition module, which is used to obtain the braiding pitch data sequence of the cable according to the cable image; an adjustment necessity parameter determination module, which is used to determine the spindle adjustment necessity parameter according to the braiding pitch data sequence; an adjustment determination module, which is used to determine whether the spindle needs to be adjusted according to the adjustment necessity parameter; and a speed control parameter acquisition submodule, which is used to obtain the spindle speed control parameters when it is determined that the spindle needs to be adjusted.

[0063] The adjustment module is used to adjust the current speed of the spindle according to the speed control parameter to obtain the target speed of the spindle. The adjustment module also includes: a speed control amount acquisition module, which is used to obtain the speed control amount according to the current speed and the speed control parameter; and a target speed acquisition module, which is used to adjust the current speed according to the speed control amount to obtain the target speed of the spindle.

[0064] In summary, the embodiment of the present application provides an intelligent control system for a cable braiding machine based on feedback regulation, the system comprising: a braiding pitch acquisition module, for acquiring the braiding pitch of the cable by collecting the cable image during the cable braiding process, the braiding pitch being related to the number of spindles of the cable braiding machine and the distance between each strand of the cable; a speed control parameter acquisition module, for acquiring the speed control parameter of the spindle according to the braiding pitch; an adjustment module, for adjusting the current speed of the spindle according to the speed control parameter to obtain the target speed of the spindle. The disclosed embodiment can automatically adjust the speed of the spindle of the cable braiding machine by analyzing the cable braiding pitch in the cable image, so as to achieve high-precision and intelligent operation of the cable braiding machine, thereby improving the accuracy of cable braiding and reducing material and human resource costs.

[0065] Figure 2 FIG. 1 is a block diagram of a weaving pitch acquisition module according to an exemplary embodiment. Figure 2 As shown, the weaving pitch acquisition module may also include the following modules:

[0066] The distance determination module is used to determine the distance between each cable according to the cable image. , the distance between each strand of cable It is the distance between the two edge lines of two adjacent braided wires along the cable length.

[0067] The distance determination module for each share may further include:

[0068] The edge line determination module is used to determine the first edge line and the second edge line of two adjacent braided wires according to the cable image; the first edge line and the second edge line can be the lower edge line or the upper edge line of the two adjacent braided wires.

[0069] A first coordinate determination module, used to determine a first coordinate value , the first coordinate value is the coordinate value of the first pixel point k, and the first pixel point k is the intersection of the first edge line and the straight line in the length direction of the cable.

[0070] A second coordinate determination module is used to determine the second coordinate value , the second coordinate value is the coordinate value of the second pixel point k+1, and the second pixel point k+1 is the intersection of the second edge line and the straight line in the length direction of the cable.

[0071] The distance determination submodule is used to determine the distance of each element according to the first coordinate value. and the second coordinate value , determine the distance between each strand of the cable .

[0072] For example, the distance between each strand of the cable is It can be obtained by the following formula:

[0073] Formula 1

[0074] Among them, the coordinates of the first pixel point k are the first coordinates , the coordinates of the second pixel point k+1 are the second coordinates , is the distance between the first pixel point k and the second pixel point k+1, that is, the distance between each strand of the cable.

[0075] A spindle quantity acquisition module is used to obtain the spindle quantity n of the cable braiding machine;

[0076] The braiding pitch acquisition submodule is used to obtain the pitch of the cable according to the distance between each strand of the cable. And the number of spindles n, get the braiding pitch of the cable .

[0077] For example, the braiding pitch of the cable is It can be obtained by the following formula:

[0078] Formula 2

[0079] in, Indicates the first Braided silk.

[0080] Figure 3 FIG. 1 is a block diagram of a speed control parameter acquisition module according to an exemplary embodiment. Figure 3 As shown, the speed control parameter acquisition module may also include the following modules:

[0081] The braiding pitch data sequence acquisition module is used to obtain the braiding pitch data sequence of the cable according to the cable image; taking the number of spindles n=12 as an example, the braiding pitch data sequence is: It should be noted that the braiding pitch is calculated every 6 strands, from top to bottom.

[0082] The adjustment necessity parameter determination module is used to determine the adjustment necessity parameter of the spindle according to the weaving pitch data sequence; illustratively, the adjustment necessity parameter determination module may also include:

[0083] The first abnormal knitting pitch number acquisition module is used to acquire the first abnormal knitting pitch number , the first abnormal braiding pitch number is the number of abnormal weaving pitches in the first weaving pitch data sequence, and the first weaving pitch data sequence is the weaving pitch data sequence corresponding to the cable image at the current time t.

[0084] The second abnormal knitting pitch number acquisition module is used to acquire the second abnormal knitting pitch number , the second abnormal braiding pitch number is the number of abnormal braiding pitches in the second braiding pitch data sequence, and the second braiding pitch data sequence is a braiding pitch data sequence corresponding to the cable image at the next moment (t+1 moment) adjacent to the current moment.

[0085] The adjustment necessity parameter determination submodule is used to adjust the first abnormal braiding pitch number according to the , the second abnormal knitting pitch number The length difference CZ between the second abnormal braiding pitch and the first abnormal braiding pitch is used to determine the spindle adjustment necessity parameter. . Exemplary spindle adjustment necessity parameters It can be obtained by the following formula:

[0086] Formula 3

[0087] Formula 4

[0088] CZ= Formula 5

[0089] in, For normalization processing.

[0090] If in The number of weaving pitches different from the standard weaving pitch at the moment is greater than When the time is down, it means that the cable braiding machine is not caused by accidental factors, but by the machine itself. And when the length difference between the braiding pitches is larger, the abnormality of the cable braiding machine is more serious, and the cable braiding machine needs to be adjusted based on feedback adjustment.

[0091] An adjustment determination module is used to determine whether the spindle needs to be adjusted according to the adjustment necessity parameter. Exemplarily, the adjustment determination module may also include:

[0092] The first determination module is used to determine that the cable braiding machine is in good operating condition and does not need to be adjusted when all data in the braiding pitch data sequence are equal and equal to the standard braiding pitch d.

[0093] The first acquisition module is used to acquire the adjustment necessity parameters of three consecutive frames of cable images when there is data different from the standard braiding pitch d in the braiding pitch data sequence, , .

[0094] The second determination module is used to adjust the necessity parameters of three consecutive cable images according to , , determine whether the spindle needs adjustment.

[0095] The second determination module is further used for:

[0096] Necessary parameters for adjustment in three consecutive cable images , When all are less than or equal to the set threshold F, it is determined that the cable braiding machine is in good operating condition and no adjustment is required.

[0097] Necessary parameters for adjustment in three consecutive cable images , When both are greater than the set threshold F, it is determined that the operating state of the cable braiding machine is abnormal and needs to be adjusted.

[0098] Exemplarily, the threshold F may be set to 0.4.

[0099] The speed control parameter acquisition submodule is used to acquire the speed control parameters of the spindle when it is determined that the spindle needs to be adjusted. Exemplarily, the speed control parameter acquisition submodule may also include:

[0100] Angle sequence acquisition module, used to obtain the angle sequence between the edge lines of all braided wires in the current cable image and the straight line in the cable length direction ; Among them, the value of m is 1~q, and q represents the last edge line among all the edge lines of the braided wires in the cable image at the current time t.

[0101] Standard angle acquisition module, used to obtain the standard angle between the edge line of the braided wire and the straight line in the length direction of the cable .

[0102] Speed ​​control parameter acquisition module is used to obtain the speed control parameter according to the angle sequence. and standard angle , get the spindle speed control parameters Exemplarily, the speed control parameter acquisition module may also include:

[0103] Maximum value acquisition module, used to obtain the maximum value of the angle sequence , the maximum value of the angle sequence is the angle between the last edge line in the current cable image and the straight line in the length direction of the cable.

[0104] Difference acquisition module, used to obtain the maximum value of the angle sequence Angle with standard The difference .

[0105] Mean acquisition module, used to obtain angle sequence Angle with standard The mean of the difference . Exemplarily, the angle sequence Angle with standard The mean of the difference It can be obtained by the following formula:

[0106] Formula 6

[0107] When the angle sequence in the image of the cable at the current time t Angle with standard The mean of the difference The larger the value is, the greater the error of the cable woven at the subsequent moment may be, and the greater the degree of regulation the braiding machine needs; on the contrary, the smaller the value is, the less the degree of regulation the braiding machine needs.

[0108] The speed control parameter acquisition module is used to obtain the maximum value of the angle sequence Angle with standard The difference and the mean , get the spindle speed control parameters .

[0109] For example, the spindle speed control parameter It can be obtained by the following formula:

[0110] Formula 7

[0111] in, For normalization processing. Can be expressed The degree of control of the spindle speed of the cable braiding machine at any time.

[0112] Figure 4 FIG. 1 is a block diagram of an adjustment module according to an exemplary embodiment. Figure 4 As shown, the adjustment module may also include the following modules:

[0113] The speed control quantity acquisition module is used to obtain the speed control quantity according to the current speed. and speed control parameters , get the speed control value .

[0114] The target speed acquisition module is used to adjust the speed according to the Current speed Adjust to obtain the target spindle speed For example, the target speed of the spindle is It can be obtained by the following formula:

[0115] Formula 8

[0116] In summary, the embodiment of the present application provides an intelligent control system for a cable braiding machine based on feedback regulation, the system comprising: a braiding pitch acquisition module, for acquiring the braiding pitch of the cable by collecting the cable image during the cable braiding process, the braiding pitch being related to the number of spindles of the cable braiding machine and the distance between each strand of the cable; a speed control parameter acquisition module, for acquiring the speed control parameter of the spindle according to the braiding pitch; an adjustment module, for adjusting the current speed of the spindle according to the speed control parameter to obtain the target speed of the spindle. The disclosed embodiment can automatically adjust the speed of the spindle of the cable braiding machine by analyzing the cable braiding pitch in the cable image, so as to achieve high-precision and intelligent operation of the cable braiding machine, thereby improving the accuracy of cable braiding and reducing material and human resource costs.

[0117] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. An intelligent control system for a cable braiding machine based on feedback regulation, characterized in that: The system comprises: A braiding pitch acquisition module, used to acquire the braiding pitch of the cable by collecting images of the cable during the cable braiding process, wherein the braiding pitch is related to the number of spindles of the cable braiding machine and the distance between each strand of the cable; A speed control parameter acquisition module, used to acquire the speed control parameter of the spindle according to the braiding pitch; An adjustment module, used for adjusting the current speed of the spindle according to the speed control parameter to obtain a target speed of the spindle; The speed control parameter acquisition module also includes: A braiding pitch data sequence acquisition module, used to obtain the braiding pitch data sequence of the cable according to the cable image; An adjustment necessity parameter determination module, used to determine the adjustment necessity parameter of the spindle according to the braiding pitch data sequence; An adjustment determination module, used for determining whether the spindle needs to be adjusted according to the adjustment necessity parameter; A speed control parameter acquisition submodule, for acquiring the speed control parameters of the spindle when it is determined that the spindle needs to be adjusted; The adjustment necessity parameter determination module further includes: A first abnormal braiding pitch number acquisition module, used to acquire the first abnormal braiding pitch number, where the first abnormal braiding pitch number is the number of abnormal braiding pitches in a first braiding pitch data sequence, where the first braiding pitch data sequence is the braiding pitch data sequence corresponding to the cable image at the current moment; A second abnormal braiding pitch number acquisition module, used to acquire the second abnormal braiding pitch number, where the second abnormal braiding pitch number is the number of abnormal braiding pitches in a second braiding pitch data sequence, where the second braiding pitch data sequence is a braiding pitch data sequence corresponding to a cable image at a next moment adjacent to the current moment; An adjustment necessity parameter determination submodule, used for determining an adjustment necessity parameter of the spindle according to the number of the first abnormal braiding pitches, the number of the second abnormal braiding pitches, and the length difference between the second abnormal braiding pitch and the first abnormal braiding pitch; The adjustment determination module further includes: A first determination module is used to determine that the cable braiding machine is in good operating state and does not need to be adjusted when all data in the braiding pitch data sequence are equal and equal to the standard braiding pitch; A first acquisition module, configured to acquire adjustment necessity parameters of three consecutive frames of cable images when data different from the standard braiding pitch exists in the braiding pitch data sequence; The second determination module is used to determine whether the spindle needs to be adjusted according to the adjustment necessity parameters of the three consecutive frames of cable images.

2. The cable braiding machine intelligent control system based on feedback regulation according to claim 1 is characterized in that: The braiding pitch acquisition module further includes: A per-pair distance determination module, used to determine the per-pair distance of the cable according to the cable image, wherein the per-pair distance of the cable is the distance between two edge lines of two adjacent braided wires on the length of the cable; A spindle quantity acquisition module, used to acquire the spindle quantity of the cable braiding machine; The braiding pitch acquisition submodule is used to acquire the braiding pitch of the cable according to the distance between each strand of the cable and the number of spindles.

3. The cable braiding machine intelligent control system based on feedback regulation according to claim 2 is characterized in that: The distance determination module for each element further includes: An edge line determination module, used to determine a first edge line and a second edge line of the two adjacent braided wires according to the cable image; A first coordinate determination module, used to determine a first coordinate value, where the first coordinate value is a coordinate value of a first pixel point, where the first pixel point is an intersection of the first edge line and a straight line in the length direction of the cable; A second coordinate determination module, used to determine a second coordinate value, where the second coordinate value is a coordinate value of a second pixel point, where the second pixel point is an intersection of the second edge line and the straight line in the length direction of the cable; The distance-per-share determination submodule is used to determine the distance-per-share of the cable according to the first coordinate value and the second coordinate value.

4. The cable braiding machine intelligent control system based on feedback regulation according to claim 1 is characterized in that: The second determining module is further used for: When the adjustment necessity parameters of the three consecutive frames of cable images are all less than or equal to the set threshold, it is determined that the operation state of the cable braiding machine is good and no adjustment is required; When the adjustment necessity parameters of the three consecutive frames of cable images are all greater than the set threshold value, it is determined that the operating state of the cable braiding machine is abnormal and needs to be adjusted.

5. The cable braiding machine intelligent control system based on feedback regulation according to claim 1 is characterized in that: The speed control parameter acquisition submodule also includes: An angle sequence acquisition module, used to acquire an angle sequence between edge lines of all braided wires in the current cable image and a straight line in the length direction of the cable; A standard angle acquisition module, used to acquire a standard angle between an edge line of the braided wire and a straight line in the length direction of the cable; The speed control parameter acquisition module is used to obtain the speed control parameters of the spindle according to the angle sequence and the standard angle.

6. The cable braiding machine intelligent control system based on feedback regulation according to claim 5 is characterized in that: The speed control parameter acquisition module further includes: A maximum value acquisition module, used to acquire the maximum value of the angle sequence, wherein the maximum value of the angle sequence is the angle value between the last edge line in the current cable image and the straight line in the length direction of the cable; A difference acquisition module, used to acquire the difference between the maximum value of the angle sequence and the standard angle; A mean value acquisition module, used to acquire the mean value of the difference between the angle sequence and the standard angle; The speed control parameter acquisition module is used to obtain the speed control parameter of the spindle according to the difference between the maximum value of the angle sequence and the standard angle and the mean value.

7. The cable braiding machine intelligent control system based on feedback regulation according to claim 1 is characterized in that: The adjustment module further includes: A speed control amount acquisition module, used to acquire the speed control amount according to the current speed and the speed control parameter; The target speed acquisition module is used to adjust the current speed according to the speed control amount to obtain the target speed of the spindle.

Images