Cable stranding apparatus, stranding method and controller

Abstract

The application discloses a cable stranding device, a stranding method and a controller, and belongs to the technical field of cable stranding. The tension of the wire is increased by a control regulator to simulate the situation that the first defect of the wire occurs due to large tension, and the control image detection component obtains a first abnormal image. The tension of the wire is reduced by the control regulator to simulate the situation that the second defect of the wire occurs due to small tension, and the control image detection component obtains a second abnormal image. The limit range can be defined from the first abnormal image and the second abnormal image, and the smaller qualified range is defined from the limit range. The tension of the object wire is adjusted by the object regulator to make the actual image in the qualified range. The cable stranding device can timely monitor the shape change of the wire due to the change of the tension, timely control the tension regulator to correct the tension of the wire, ensure that the actual image of all wires is in the normal qualified range, and avoid the quality defects of the cable caused by the unstable tension of the wire.

Description

Technical Field

[0001] This invention relates to the field of cable stranding technology, and in particular to a cable stranding device, stranding method and controller. Background Technology

[0002] A cable stranding device is a mechanical device used to strand various conductor wires, combining multiple individual conductor wires into a single strand to meet the technological requirements of cables. Cables produced by cable stranding devices require testing. Unstable tension in individual wires can easily lead to problems such as uneven stranding tightness, missing strands, loose strands, or reversed strands. Therefore, the cable stranding device's pay-off assembly is equipped with multiple tension regulators to individually adjust the pay-off tension of each wire, solving the problem of unstable pay-off tension. However, existing cable stranding devices can only adjust the pay-off tension of the corresponding wire after a quality problem is detected, failing to correct the tension before it becomes unstable. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a cable stranding device and method that can promptly monitor the morphological changes of the wire caused by tension variations, and timely control the tension regulator to correct the wire tension, ensuring that the actual image of all wires is within the normal acceptable range, and avoiding quality defects in the cable caused by unstable wire tension.

[0004] According to a first aspect of the present invention, a cable stranding device includes a wire feeding assembly, a stranding assembly, an image detection assembly, and a controller. The wire feeding assembly is provided with a plurality of regulators, each regulator feeding wire to the stranding assembly and adjusting the tension of the corresponding wire. The wire feeding assembly drives all the wires to rotate and strand them into a cable. The image detection assembly is disposed on the stranding assembly.

[0005] The controller is configured to:

[0006] Controlling any one of the regulators to increase the tension of the corresponding wire causes the cable to have a first defect, and controlling the image detection component to acquire a first abnormal image of the wire rotating to a preset position;

[0007] Control any one of the regulators to reduce the tension of the corresponding wire to cause a second defect in the cable, and control the image detection component to acquire a second abnormal image of the wire rotating to the preset position;

[0008] The limit range is obtained based on the first abnormal image and the second abnormal image, and the acceptable range is obtained based on the limit range.

[0009] Taking any one of the wires as the target wire, the image detection component is controlled to acquire the actual image of the target wire rotating to the preset position, and it is determined whether the actual image exceeds the qualified range;

[0010] When the actual image exceeds the acceptable range, the regulator corresponding to the object wire is an object regulator, which controls the object regulator to adjust the tension of the object wire until the actual image is within the acceptable range.

[0011] The cable stranding device according to embodiments of the present invention has at least the following beneficial effects: The control regulator increases the tension of the wire to simulate a first defect caused by excessive tension, and the control image detection component acquires a first abnormal image showing the shape of the wire as it rotates to a preset position with the pay-off component; the control regulator decreases the tension of the wire to simulate a second defect caused by insufficient tension, and the control image detection component acquires a second abnormal image showing the shape of the wire as it rotates to a preset position with the pay-off component; the first and second abnormal images define a limit range, and the limit range defines a smaller acceptable range; the actual image of the target wire is compared with the acceptable range, and the tension of the target wire is adjusted by the target regulator to ensure that the actual image is within the acceptable range; the cable stranding device can promptly monitor the shape change of the wire caused by tension changes, promptly control the tension regulator to correct the tension of the wire, ensure that the actual images of all wires are within the normal acceptable range, and avoid quality defects in the cable caused by unstable wire tension.

[0012] According to some embodiments of the present invention, the frequency at which the image detection component acquires images of the wire is the same as the frequency at which the wire rotates to the preset position, so that the position of the wire in the image captured by the image detection component remains unchanged.

[0013] According to a second aspect of the present invention, a cable stranding method is applied to a cable stranding device, the cable stranding device driving multiple wires to rotate and strand them into a cable, the cable stranding device further comprising multiple adjusters and an image detection component, the multiple adjusters corresponding one-to-one to adjust the tension of the multiple wires, the cable stranding method comprising:

[0014] Control any one of the regulators to increase the tension of the corresponding wire to cause a first defect in the cable, and control the image detection component to acquire a first abnormal image of the wire rotating to a preset position;

[0015] Controlling any one of the regulators to reduce the tension of the corresponding wire causes a second defect in the cable, and controlling the image detection component to acquire a second abnormal image of the wire rotating to the preset position;

[0016] The limit range is obtained based on the first abnormal image and the second abnormal image, and the acceptable range is obtained based on the limit range.

[0017] Taking any one of the wires as the target wire, the image detection component is controlled to acquire the actual image of the target wire rotating to the preset position, and it is determined whether the actual image exceeds the qualified range;

[0018] When the actual image exceeds the acceptable range, the regulator corresponding to the object wire is an object regulator, which controls the object regulator to adjust the tension of the object wire until the actual image is within the acceptable range.

[0019] The cable stranding method according to embodiments of the present invention has at least the following beneficial effects: The control regulator increases the tension of the wire to simulate a first defect caused by excessive tension, acquiring a first abnormal image showing the shape of the wire as it rotates to a preset position with the pay-off assembly; the control regulator decreases the tension of the wire to simulate a second defect caused by insufficient tension, acquiring a second abnormal image showing the shape of the wire as it rotates to a preset position with the pay-off assembly; the first and second abnormal images define a limit range, which in turn defines a smaller acceptable range; the actual image of the target wire is compared with the acceptable range, and the tension of the target wire is adjusted by the target regulator to ensure the actual image is within the acceptable range; the cable stranding device can promptly monitor the shape change of the wire caused by tension variations, promptly control the regulator to correct the wire tension, ensuring that the actual images of all wires are within the normal acceptable range, and avoiding quality defects in the cable caused by unstable wire tension.

[0020] According to some embodiments of the present invention, controlling the object adjuster to adjust the tension of the object wire until the actual image is within the acceptable range includes:

[0021] Obtain the first similarity between the actual image and the first abnormal image, and obtain the second similarity between the actual image and the second abnormal image;

[0022] Determine whether the first similarity is greater than the second similarity;

[0023] When the first similarity is greater than the second similarity, the object adjuster is controlled to relax the object wire to reduce the tension of the object wire;

[0024] When the first similarity is less than the second similarity, the object regulator is controlled to tighten the object wire to increase the tension of the object wire.

[0025] According to some embodiments of the present invention, obtaining a first similarity between the actual image and the first anomalous image, and obtaining a second similarity between the actual image and the second anomalous image, includes:

[0026] The actual shape contour and actual center line are obtained from the actual image; the first abnormal shape contour and first abnormal center line are obtained from the first abnormal image; and the second abnormal shape contour and second abnormal center line are obtained from the second abnormal image.

[0027] A first shape similarity is obtained based on the actual shape contour and the first abnormal shape contour, and a second shape similarity is obtained based on the actual shape contour and the second abnormal shape contour.

[0028] A first centerline similarity is obtained based on the actual centerline and the first abnormal centerline, and a second centerline similarity is obtained based on the actual centerline and the second abnormal centerline.

[0029] The first similarity is obtained based on the first shape similarity and the first centerline similarity, and the second similarity is obtained based on the second shape similarity and the second centerline similarity.

[0030] According to some embodiments of the present invention, obtaining the first similarity based on the first shape similarity and the first centerline similarity includes:

[0031] The first similarity is calculated using the following formula:

[0032] S1=K W ×S W1 +K Z ×S Z1 ;

[0033] Where S1 is the first similarity, K W As the first weight, S W1 For the first shape similarity, K Z As the second weight, S Z1 The similarity is to the first centerline.

[0034] According to some embodiments of the present invention, obtaining a first shape similarity based on the actual shape contour and the first abnormal shape contour includes:

[0035] The actual external shape and the first abnormal external shape are integrated into the same coordinate system;

[0036] By obtaining the actual edge line of the actual shape contour, it is possible to obtain the first abnormal edge line of the first abnormal shape contour.

[0037] Obtain the first distance change data between the actual edge line and the first abnormal edge line, and obtain the first shape similarity based on the first distance change data.

[0038] According to some embodiments of the present invention, obtaining the first centerline similarity based on the actual centerline and the first abnormal centerline includes:

[0039] Integrate the actual centerline and the first abnormal centerline into the same coordinate system;

[0040] Obtain the first center distance change data between the actual center line and the first abnormal center line, and obtain the first center line similarity based on the first center distance change data.

[0041] According to some embodiments of the present invention, obtaining the limit range based on the first abnormal image and the second abnormal image, and obtaining the acceptable range based on the limit range, includes:

[0042] The first abnormal image and the second abnormal image are superimposed to form a third abnormal image, and the limit range of the third abnormal image is obtained;

[0043] Two limit boundaries are obtained based on the limit range, and the two limit boundaries are translated equidistantly towards the center of the third abnormal image to obtain two qualified boundaries.

[0044] The qualified range is obtained based on the two qualified boundaries.

[0045] A controller according to a third aspect of the present invention includes:

[0046] At least one processor;

[0047] And a storage device that stores instructions which, when executed by at least one processor, perform the cable stranding method described in the second aspect of the embodiment above.

[0048] Since the controller adopts all the technical solutions of the cable stranding method in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of a cable stranding device according to an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the structure of multiple wire stranding positions in one embodiment of the present invention;

[0051] Figure 3This is a schematic diagram of the structure in one embodiment of the present invention, showing how the limit range and the acceptable range are obtained from the first abnormal image and the second abnormal image.

[0052] Figure 4 This is a flowchart of a cable stranding method according to an embodiment of the present invention;

[0053] Figure 5 This is a flowchart illustrating the process of obtaining the qualified range in one embodiment of the present invention;

[0054] Figure 6 This is a flowchart of adjusting the tension of the target wire in one embodiment of the present invention;

[0055] Figure 7 This is a flowchart illustrating the process of obtaining the first similarity and the second similarity in one embodiment of the present invention;

[0056] Figure 8 This is a schematic diagram illustrating that the object wire exceeds the acceptable range in one embodiment of the present invention;

[0057] Figure 9 This is a flowchart of obtaining the first shape similarity in one embodiment of the present invention;

[0058] Figure 10 This is a flowchart of obtaining the second shape similarity in one embodiment of the present invention;

[0059] Figure 11 This is a flowchart of obtaining the first centerline similarity in one embodiment of the present invention;

[0060] Figure 12 This is a flowchart of obtaining the second centerline similarity in one embodiment of the present invention.

[0061] Reference numerals: Wire 10, Target wire 11, Cable 20, First abnormal image 30, Second abnormal image 40, Limit range 50, Acceptable range 60, Wire feeding assembly 100, Regulator 110, Target regulator 111, Twisted wire assembly 200, Image detection assembly 300. Detailed Implementation

[0062] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0063] In the description of this invention, it should be understood that the terms front, back, up, down, axial, circumferential, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0064] In the description of this invention, "multiple" means two or more; "greater than," "less than," and "exceeding" are understood to exclude the stated number; "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0065] In the description of this invention, it should be noted that terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0066] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0067] Reference Figures 1 to 3 As shown, the present invention provides a cable stranding device.

[0068] Reference Figure 1 As shown, the cable stranding device includes a wire feeding assembly 100, a stranding assembly 200, and an image detection assembly 300.

[0069] The wire feeding assembly 100 is provided with multiple wire feeding racks, each used to hold the wires 10 to be twisted. The wire feeding assembly 100 is also provided with multiple regulators 110, which are configured one-to-one with the multiple wire feeding racks. The wires 10 on the wire feeding racks are fed into the twisting assembly 200 after passing through the regulators 110. The regulators 110 are used to adjust the tension of the connected wires 10 fed into the twisting assembly 200. The wire feeding assembly 100 drives all the wire feeding racks and all the regulators 110 to rotate, so that the multiple wires 10 rotate and twist into a twisted wire. The twisting assembly 200 compresses all the twisted wires 10 to form a cable 20.

[0070] The cable stranding device also includes a take-up assembly, which pulls the cable 20 stranded by the stranding assembly 200 and winds up the cable 20. The take-up speed of the take-up assembly is matched with the speed at which the wire 10 is rotated by the release assembly 100.

[0071] The image detection component 300 is mounted on the stranded wire assembly 200. The imaging area of ​​the image detection component 300 intersects with the rotation trajectory of the wire 10, as referenced. Figure 1 As shown, the image detection component 300 captures an image of the cable 10 rotated to its highest point. In this embodiment, referring to... Figure 2 As shown, if the highest point is taken as the preset position, the image detection component 300 will capture an image of the cable 10 rotating to the preset position.

[0072] The cable stranding device is also equipped with a controller, which is electrically connected to the regulator 110 and the image detection component 300. The controller controls the regulator 110 to adjust the tension of the corresponding wire 10, and the controller controls the image detection component 300 to acquire an image of the wire 10 rotating to a preset position.

[0073] Since the wire feeding assembly 100 rotates at a uniform speed, all wires 10 rotate at the same speed, so all wires 10 rotate to the preset position at the same frequency. The frequency of the image captured by the image detection assembly 300 is adjusted to the frequency of the wires 10 rotating to the preset position, ensuring that the position of the wires in each image captured by the image detection assembly 300 remains unchanged.

[0074] Understandably, since the pay-off assembly 100 drives all the wires 10 to rotate at a uniform speed, the tension controlled by all regulators 110 on the corresponding wires 10 should be consistent. Given that the tension of all wires 10 is the same, the image of each wire 10 rotating to a preset position should be consistent. However, because the regulators 110 connected to each wire 10 are different from the pay-off frame, the degree of tension control by the regulators 110 on the wires 10 varies. The gradual decrease in the remaining amount of wire 10 in the pay-off frame causes changes in the tension of the wires 10 during pay-off. Furthermore, the different frictional resistances at the positions where the pay-off assembly 100 drives the rotation of each wire 10 result in differences in the tension controlled by each regulator 110 on the corresponding wire 10.

[0075] Even if multiple tension sensors are set in the pay-off assembly 100 and each tension sensor measures the tension of each wire 10, since the tension sensor can only measure the tension of the wire 10 between the pay-off assembly 100 and the stranding assembly 200, there are many influencing factors between the wire 10 from the pay-off frame to the stranding position, resulting in large fluctuations in the tension of the wire 10 measured by the tension sensor, and it is difficult to define an accurate tension acceptable range, making it difficult to link the regulator 110 to control the tension of the wire 10 within the tension acceptable range.

[0076] Furthermore, during the continuous operation of the pay-off assembly 100 and the stranding assembly 200, the frictional resistance gradually increases over time due to the sliding of the wire 10 relative to these assemblies. Even if the tension of the wire 10 can be controlled within the acceptable range, it will gradually exceed this range over time. If the tension sensor linkage regulator 110 forcibly controls the tension of the wire 10 within the acceptable range, the tension of the wire 10 will not match the current stranding requirements, leading to quality defects in the cable 20. Therefore, the measure of using a tension sensor to monitor the tension of the wire 10 presents a difficult problem to solve.

[0077] The controller is configured with the following control logic.

[0078] The controller controls any one of the regulators 110 to increase the tension of the corresponding wire 10 and detects the cable 20 in real time. When the cable 20 has a first defect, the controller controls the image detection component 300 to take an image of the wire 10 rotating to a preset position. This image is the first abnormal image 30.

[0079] In this embodiment, the first defect is caused by excessive tension of a single wire 10. The first defect may be a messy wiring, wire deformation or breakage, over-twisting, missing strands, etc. Since the controller controls the regulator 110 to gradually increase the tension of the corresponding wire 10 until the cable 20 has the first defect, a correspondence can be established between the first abnormal image 30 of the wire 10 and the first defect of the cable 20.

[0080] Reference Figure 3 As shown in the first abnormal image 30, the wire 10 is under greater tension, causing it to be in a taut state, making it more likely to be in a straight line. In addition, the diameter of some of the softer wires 10 is reduced due to the greater tension.

[0081] The controller controls any one of the regulators 110 to reduce the tension of the corresponding wire 10 and detects the cable 20 in real time. When the cable 20 has a second defect, the controller controls the image detection component 300 to take an image of the wire 10 rotating to a preset position. This image is the second abnormal image 40.

[0082] In this embodiment, the second defect is caused by the insufficient tension of a single wire 10. The second defect may be a loose strand, bulging, or wire diameter exceeding tolerance. Since the controller controls the regulator 110 to gradually reduce the tension of the corresponding wire 10 until the cable 20 shows the second defect, a correspondence can be established between the second abnormal image 40 of the wire 10 and the second defect of the cable 20.

[0083] Reference Figure 3As shown, in the first abnormal image 30, the tension of the wire 10 is small, causing the wire 10 to be in a relaxed state, making the wire 10 more inclined to bend. Furthermore, due to the rotation of the wire 10 by the wire feeding assembly 100, the wire 10 forms an arc and bends in a direction away from the rotation direction.

[0084] Therefore, referring to Figure 3 As shown, images under two conditions, excessive tension and insufficient tension, can be determined for the wire 10. The first abnormal image 30 and the second abnormal image 40 are integrated into the same image. The integrated first abnormal image 30 and the second abnormal image 40 form a limit range 50. The edge line of the first abnormal image 30 away from the second abnormal image 40 is used as one boundary of the limit range 50, and the edge line of the second abnormal image 30 away from the first abnormal image 40 is used as the other boundary of the limit range 50. The limit range 50 is defined by the two boundaries.

[0085] It is understandable that if the image of any wire 10 rotating to the preset position exceeds the limit range of 50, it proves that the tension of the wire 10 is too high or too low, which will cause quality defects in the cable 20, and the tension of the wire 10 needs to be adjusted by the regulator 110.

[0086] Reference Figure 3 As shown, in order to ensure that the tension of the wire 10 can be twisted into a qualified cable 20, it is necessary to define a smaller qualified range 60 within the limit range 50. In this embodiment, the two boundaries of the limit range 50 are shifted inward to define a smaller qualified range 60.

[0087] Understandably, if the image of any wire 10 rotating to the preset position does not exceed the acceptable range 60, it proves that the tension of the wire 10 is within the acceptable range, and there is no need to adjust the tension of the wire 10. If the image of any wire 10 rotating to the preset position exceeds the acceptable range 60 but does not exceed the limit range 50, it proves that the tension of the wire 10 needs to be adjusted, but the wire 10 can still be twisted into a qualified cable 20.

[0088] Reference Figure 1 and Figure 2 As shown, the controller takes any one of the wires 10 as the target wire 11, and controls the image detection component 300 to capture an actual image of the target wire 11 rotating to a preset position. The actual image is compared and analyzed with the qualified range 60 to determine whether the actual image exceeds the qualified range 60.

[0089] In this embodiment, as long as any one of the wires 10 rotates to the preset position, that wire 10 is regarded as the target wire 11. The shooting frequency of the image detection component 300 needs to be matched with the frequency of any one of the wires 10 appearing at the preset position. Thus, it can be seen that the image detection component 300 can capture the actual image of all the wires 10.

[0090] It is understandable that, since the wire feeding assembly 100 drives all wires 10 to rotate at a uniform speed, the starting time of rotation and the starting position of rotation of each wire 10 can be determined based on the operation record of the wire feeding assembly 100. The target wire 11 can be determined based on the time when the image detection assembly 300 captures the wire 10, the starting time of rotation of the wire 10, and the starting position of the wire 11. The target regulator 111 corresponding to the target wire 11 can also be determined.

[0091] When the controller determines that the actual image of the object wire 11 exceeds the acceptable range of 60, the controller adjusts the tension of the object wire 11.

[0092] After the target wire 11 rotates to the preset position, the actual image is obtained. The controller then compares and analyzes the actual image with the qualified range 60 to determine whether the actual image exceeds the qualified range 60. If the actual image still exceeds the qualified range 60, the controller continues to control the target adjuster 111 to adjust the tension of the target wire 11. The above process is repeated until the actual image is within the qualified range 60.

[0093] The control regulator increases the tension of the wire 10 to simulate the situation where the wire 10 has a first defect due to excessive tension, and obtains a first abnormal image 30. The first abnormal image 30 shows the shape of the wire 10 as it rotates to a preset position with the wire feeding assembly 100.

[0094] The control regulator reduces the tension of the wire 10 to simulate the second defect caused by the low tension of the wire 10, and obtains a second abnormal image 40, which shows the shape of the wire 10 as it rotates to a preset position with the wire feeding assembly 100.

[0095] The first abnormal image 30 and the second abnormal image 40 can define the limit range 50, and the limit range 50 defines a smaller acceptable range 60; the actual image of the object wire 11 is compared with the acceptable range 60, and the tension of the object wire 11 is adjusted by the object adjuster 111 so that the actual image is within the acceptable range.

[0096] The cable stranding device can promptly monitor the shape changes of the wire 10 due to tension variations. Based on the shape changes of the wire 10, it promptly controls the regulator 110 to correct the tension of the wire, ensuring that the actual image of all wires 10 is within the qualified range 60, thus avoiding quality defects in the cable caused by unstable tension of the wire 10.

[0097] Reference Figures 4 to 12 As shown, the present invention also provides a cable stranding method.

[0098] The cable stranding method is applied to a cable stranding device, which includes a wire feeding assembly 100, a stranding assembly 200, and an image detection assembly 300.

[0099] The wire feeding assembly 100 is provided with multiple wire feeding racks, each used to hold the wires 10 to be twisted. The wire feeding assembly 100 is also provided with multiple regulators 110, which are configured one-to-one with the multiple wire feeding racks. The wires 10 on the wire feeding racks are fed into the twisting assembly 200 after passing through the regulators 110. The regulators 110 are used to adjust the tension of the connected wires 10 fed into the twisting assembly 200. The wire feeding assembly 100 drives all the wire feeding racks and all the regulators 110 to rotate, so that the multiple wires 10 rotate and twist into a twisted wire. The twisting assembly 200 compresses all the twisted wires 10 to form a cable 20.

[0100] The cable stranding device also includes a take-up assembly, which pulls the cable 20 stranded by the stranding assembly 200 and winds up the cable 20. The take-up speed of the take-up assembly is matched with the speed at which the wire 10 is rotated by the release assembly 100.

[0101] The image detection component 300 is mounted on the stranded wire assembly 200. The imaging area of ​​the image detection component 300 intersects with the rotation trajectory of the wire 10, as referenced. Figure 1 As shown, the image detection component 300 captures an image of the cable 10 rotated to its highest point. In this embodiment, referring to... Figure 2 As shown, if the highest point is taken as the preset position, the image detection component 300 will capture an image of the cable 10 rotating to the preset position.

[0102] The cable stranding method includes the following steps.

[0103] In step S100, control any one of the regulators 110 to increase the tension of the corresponding wire 10 so that the cable 20 has a first defect, and control the image detection component 300 to acquire a first abnormal image 30 of the wire 10 rotating to a preset position.

[0104] The controller controls any one of the regulators 110 to increase the tension of the corresponding wire 10 and detects the cable 20 in real time. When the cable 20 has a first defect, the controller controls the image detection component 300 to take an image of the wire 10 rotating to a preset position. This image is the first abnormal image 30.

[0105] In this embodiment, the first defect is caused by excessive tension of a single wire 10. The first defect may be a messy wiring, wire deformation or breakage, over-twisting, missing strands, etc. Since the controller controls the regulator 110 to gradually increase the tension of the corresponding wire 10 until the cable 20 has the first defect, a correspondence can be established between the first abnormal image 30 of the wire 10 and the first defect of the cable 20.

[0106] Reference Figure 3 As shown in the first abnormal image 30, the wire 10 is under greater tension, causing it to be in a taut state, making it more likely to be in a straight line. In addition, the diameter of some of the softer wires 10 is reduced due to the greater tension.

[0107] In step S200, control any one of the regulators 110 to reduce the tension of the corresponding wire 10 so that the cable 20 has a second defect, and control the image detection component 300 to acquire a second abnormal image 40 of the wire 10 rotating to a preset position.

[0108] The controller controls any one of the regulators 110 to reduce the tension of the corresponding wire 10 and detects the cable 20 in real time. When the cable 20 has a second defect, the controller controls the image detection component 300 to take an image of the wire 10 rotating to a preset position. This image is the second abnormal image 40.

[0109] In this embodiment, the second defect is caused by the insufficient tension of a single wire 10. The second defect may be a loose strand, bulging, or wire diameter exceeding tolerance. Since the controller controls the regulator 110 to gradually reduce the tension of the corresponding wire 10 until the cable 20 shows the second defect, a correspondence can be established between the second abnormal image 40 of the wire 10 and the second defect of the cable 20.

[0110] Reference Figure 3 As shown, in the first abnormal image 30, the tension of the wire 10 is small, causing the wire 10 to be in a relaxed state, making the wire 10 more inclined to bend. Furthermore, due to the rotation of the wire 10 by the wire feeding assembly 100, the wire 10 forms an arc and bends in a direction away from the rotation direction.

[0111] Step S300: Obtain the limit range 50 based on the first abnormal image 30 and the second abnormal image 40, and obtain the qualified range 60 based on the limit range 50.

[0112] Reference Figure 3As shown, images under two conditions, excessive tension and insufficient tension, can be determined for the wire 10. The first abnormal image 30 and the second abnormal image 40 are integrated into the same image. The integrated first abnormal image 30 and the second abnormal image 40 form a limit range 50. The edge line of the first abnormal image 30 away from the second abnormal image 40 is used as one boundary of the limit range 50, and the edge line of the second abnormal image 30 away from the first abnormal image 40 is used as the other boundary of the limit range 50. The limit range 50 is defined by the two boundaries.

[0113] In step S400, taking any one of the wires 10 as the target wire 11, the image detection component 300 is controlled to acquire the actual image of the target wire 11 rotating to a preset position, and it is determined whether the actual image exceeds the qualified range 60.

[0114] The controller takes any one of the wires 10 as the target wire 11, and controls the image detection component 300 to capture an actual image of the target wire 11 rotating to a preset position. The actual image is compared and analyzed with the qualified range 60 to determine whether the actual image exceeds the qualified range 60.

[0115] In step S500, when the actual image exceeds the acceptable range 60, the regulator 110 corresponding to the object wire 11 becomes the object regulator 111, which controls the object regulator 111 to adjust the tension of the object wire 11 until the actual image is within the acceptable range 60.

[0116] When the controller determines that the actual image of the object wire 11 exceeds the acceptable range of 60, the controller adjusts the tension of the object wire 11.

[0117] After the target wire 11 rotates to the preset position, the actual image is obtained. The controller then compares and analyzes the actual image with the qualified range 60 to determine whether the actual image exceeds the qualified range 60. If the actual image still exceeds the qualified range 60, the controller continues to control the target adjuster 111 to adjust the tension of the target wire 11. The above process is repeated until the actual image is within the qualified range 60.

[0118] Reference Figure 5 As shown, in some embodiments, step S300 further includes the following steps.

[0119] Step S310: Overlap the first abnormal image 30 and the second abnormal image 40 to form a third abnormal image, and obtain the limit range 50 of the third abnormal image.

[0120] Reference Figure 3As shown, in the first abnormal image 30, the tension of the wire 10 is small, causing the wire 10 to be in a relaxed state, making the wire 10 more inclined to bend. Furthermore, due to the rotation of the wire 10 by the wire feeding assembly 100, the wire 10 forms an arc and bends in a direction away from the rotation direction.

[0121] The images under two conditions, namely excessive tension and insufficient tension, can be determined. The first abnormal image 30 and the second abnormal image 40 are integrated into a third abnormal image, and the limit range 50 is defined by the two limit boundaries of the third abnormal image.

[0122] It is understandable that if the image of any wire 10 rotating to the preset position exceeds the limit range of 50, it proves that the tension of the wire 10 is too high or too low, which will cause quality defects in the cable 20, and the tension of the wire 10 needs to be adjusted by the regulator 110.

[0123] Step S320: Based on the limit range 50, two limit boundaries are obtained. The two limit boundaries are then translated equidistantly towards the center of the third abnormal image to obtain two qualified boundaries.

[0124] Step S330: Obtain the acceptable range 60 based on the two acceptable boundaries.

[0125] Reference Figure 3 As shown, in order to ensure that the tension of the wire 10 can be twisted into a qualified cable 20, a smaller qualified range 60 needs to be defined in the limit range 50. In this embodiment, the two limit boundaries of the limit range 50 are shifted inward by equal distance to form two qualified boundaries, and the qualified range 60 is defined by the two qualified boundaries.

[0126] Understandably, if the image of any wire 10 rotating to the preset position does not exceed the acceptable range 60, it proves that the tension of the wire 10 is within the acceptable range, and there is no need to adjust the tension of the wire 10. If the image of any wire 10 rotating to the preset position exceeds the acceptable range 60 but does not exceed the limit range 50, it proves that the tension of the wire 10 needs to be adjusted, but the wire 10 can still be twisted into a qualified cable 20.

[0127] In some embodiments, refer to Figure 6 As shown, step S500 also includes the following steps.

[0128] Step S510: Obtain the first similarity between the actual image and the first abnormal image 30, and obtain the second similarity between the actual image and the second abnormal image 40.

[0129] The first abnormal image 30 is compared and analyzed with the actual image to determine the first similarity; the second abnormal image 40 is compared and analyzed with the actual image to determine the second similarity.

[0130] The above images can be compared and analyzed using algorithms to calculate the similarity between two images. For example, histogram comparison, cosine similarity, hash algorithm, mean squared error (MSE), structural similarity (SSIM), and feature matching can be used. The above algorithms are conventional solutions.

[0131] Histogram comparison: This method compares image similarity by counting the number of pixels with different grayscale values ​​in an image and presenting the results as a histogram. For grayscale images, the histogram represents the number of pixels with different grayscale values; for color images, histograms for each channel (e.g., red, green, blue) can be calculated separately. Common metrics include Euclidean distance, Manhattan distance, and Bhattacharyya distance.

[0132] Cosine similarity: This measure evaluates image similarity by converting images into feature vectors and calculating the cosine of the angle between two vectors. The value of cosine similarity ranges from -1 to 1. A value closer to 1 indicates greater similarity between the two vectors, a value closer to -1 indicates less similarity, and a value close to 0 indicates no significant similarity or difference between the two vectors.

[0133] Hash algorithms: Image similarity is evaluated by converting images into fixed-length hash values ​​and then comparing them using Hamming distance. Common hash algorithms include average hash (aHash), perceptual hash (pHash), and difference hash (dHash).

[0134] Mean Squared Error (MSE): Measures the average of the squared differences between predicted and true values, used to assess the differences between images. The smaller the MSE value, the more similar the images are.

[0135] Structural Similarity (SSIM): This measure evaluates the similarity between two images based on three aspects: brightness, contrast, and structure. The closer the SSIM value is to 1, the more similar the two images are.

[0136] Feature matching: Calculates the similarity between images by extracting feature points and matching them.

[0137] Step S520: Determine whether the first similarity is greater than the second similarity.

[0138] Step S530: When the first similarity is greater than the second similarity, control the object adjuster 111 to relax the object wire 11 to reduce the tension of the object wire 11.

[0139] In step S540, when the first similarity is less than the second similarity, the control object adjuster 111 tightens the object wire 11 to increase the tension of the object wire 11.

[0140] Comparing the first similarity and the second similarity, when the first similarity is larger, it proves that the actual image of the object wire 11 is closer to the first abnormal image 30 with excessive tension, and the object regulator 111 needs to be controlled to reduce the tension of the object wire 11; when the second similarity is larger, it proves that the actual image of the object wire 11 is closer to the second abnormal image 40 with insufficient tension, and the object regulator 111 needs to be controlled to increase the tension of the object wire 11.

[0141] In some embodiments, refer to Figure 7 As shown, step S510 also includes the following steps.

[0142] Step S511: Obtain the actual shape contour and actual center line based on the actual image, obtain the first abnormal shape contour and first abnormal center line based on the first abnormal image 30, and obtain the second abnormal shape contour and second abnormal center line based on the second abnormal image 40.

[0143] The actual shape contour is determined by the outer edge of the actual image, the actual center line of the center position is determined by the actual shape contour, the first abnormal shape contour is determined by the outer edge of the first abnormal image, the first abnormal center line of the center position is determined by the first abnormal shape contour, the second abnormal shape contour is determined by the outer edge of the second abnormal image, and the second abnormal center line of the center position is determined by the second abnormal shape contour.

[0144] Step S512: Obtain a first shape similarity based on the actual shape contour and the first abnormal shape contour, and obtain a second shape similarity based on the actual shape contour and the second abnormal shape contour.

[0145] Step S513: Obtain the first centerline similarity based on the actual centerline and the first abnormal centerline, and obtain the second centerline similarity based on the actual centerline and the second abnormal centerline.

[0146] Step S514: Obtain the first similarity based on the first shape similarity and the first centerline similarity, and obtain the second similarity based on the second shape similarity and the second centerline similarity.

[0147] Comparative analysis of the above images can be performed using histogram comparison, cosine similarity, hash algorithm, mean squared error (MSE), structural similarity (SSIM), and feature matching.

[0148] The first shape similarity, the first centerline similarity, the second shape similarity, and the second centerline similarity are obtained respectively. The first similarity is calculated based on the first shape similarity and the second centerline similarity, and the second similarity is calculated based on the second shape similarity and the second centerline similarity.

[0149] Step S515: Calculate the first similarity using the following formula:

[0150] S1=K W ×S W1 +K Z ×S Z1 ;

[0151] Where S1 is the first similarity, K W As the first weight, S W1 For the first appearance similarity, K Z As the second weight, S Z1 The similarity is the first centerline.

[0152] Step S516: Calculate the second similarity using the following formula:

[0153] S2=K W ×S W2 +K Z ×S Z2 ;

[0154] Where S2 is the second similarity, K W As the first weight, S W2 For the second shape similarity, K Z As the second weight, S Z2 The similarity is for the second centerline.

[0155] Since the comparative analysis of the outline and the comparative analysis of the center line can yield different similarities, different weights are assigned to the similarity of the outline and the similarity of the center line after the experiment. In this embodiment, the outline similarity is assigned a first weight and the center line similarity is assigned a second weight. The similarity is obtained after weighting the outline similarity and the center line similarity, making the similarity more closely reflect the actual situation.

[0156] In some embodiments, refer to Figure 9 As shown, step S512 also includes the following steps.

[0157] Step S5121: Integrate the actual shape profile and the first abnormal shape profile into the same coordinate system.

[0158] Step S5122: Obtain the actual edge line of the actual shape contour, and obtain the first abnormal edge line of the first abnormal shape contour.

[0159] Step S5123: Obtain the first distance change data between the actual edge line and the first abnormal edge line, and obtain the first shape similarity based on the first distance change data.

[0160] In the same coordinate system, the first distance change data between the actual edge line of the actual shape contour and the first abnormal edge line of the first abnormal shape contour is calculated. If the variance of the first distance change data is smaller, the similarity of the associated first shape is greater; if the variance of the first distance change data is greater, it proves that the similarity of the first shape is smaller.

[0161] In some embodiments, refer to Figure 10 As shown, step S512 also includes the following steps.

[0162] Step S5124: Integrate the actual shape profile and the second abnormal shape profile into the same coordinate system.

[0163] Step S5125: Obtain the actual edge line of the actual shape contour, and obtain the second abnormal edge line of the second abnormal shape contour.

[0164] Step S5126: Obtain the second distance change data between the actual edge line and the second abnormal edge line, and obtain the second shape similarity based on the second distance change data.

[0165] In the same coordinate system, the second distance variation data between the actual edge line of the actual shape contour and the second abnormal edge line of the second abnormal shape contour is calculated. If the variance of the second distance variation data is smaller, the similarity of the associated second shape is greater; if the variance of the second distance variation data is larger, it proves that the similarity of the second shape is smaller.

[0166] In some embodiments, refer to Figure 11 As shown, step S513 also includes the following steps.

[0167] Step S5131: Integrate the actual centerline and the first abnormal centerline into the same coordinate system.

[0168] Step S5132: Obtain the first center distance change data between the actual center line and the first abnormal center line, and obtain the first center line similarity based on the first center distance change data.

[0169] The variation data of the first center distance between the actual center line and the first abnormal center line of the actual shape contour are calculated in the same coordinate system. If the variance of the variation data of the first center distance is smaller, the similarity of the associated first center lines is greater; if the variance of the variation data of the first center distance is greater, it proves that the similarity of the first center lines is smaller.

[0170] In some embodiments, refer to Figure 12 As shown, step S513 also includes the following steps.

[0171] Step S5131: Integrate the actual centerline and the second abnormal centerline into the same coordinate system.

[0172] Step S5132: Obtain the second center distance change data between the actual center line and the second abnormal center line, and obtain the second center line similarity based on the second center distance change data.

[0173] The variation data of the second center distance between the actual center line and the second abnormal center line of the actual shape contour are calculated in the same coordinate system. If the variance of the variation data of the second center distance is smaller, the similarity of the associated second center lines is greater; if the variance of the variation data of the second center distance is larger, it proves that the similarity of the second center lines is smaller.

[0174] This invention also provides a controller, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the cable stranding method described in the above embodiments.

[0175] Taking the example of a controller where the processor and memory can be connected via a bus, memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the control processor, and these remote memories can be connected to the controller via a network.

[0176] The non-transient software program and instructions required to implement the cable stranding method of the above embodiments are stored in memory. When executed by a processor, the cable stranding method of the above embodiments is executed, for example, the method described above. Figure 4 Method steps S100 to S500 Figure 5 Method steps S310 to S330, Figure 6 Method steps S510 to S540 Figure 7 Method steps S511 to S516 in the above method Figure 9 Method steps S5121 to S5123, Figure 10 Method steps S5124 to S5126 in the above. Figure 11 Method steps S5131 to S5132, Figure 12 The method steps S5133 to S5134, etc.

[0177] Since the controller adopts all the technical solutions of the cable stranding method in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here.

[0178] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0179] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0180] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0181] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0182] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0183] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. "A and / or B" can represent: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0184] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of the above units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0185] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0186] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0187] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0188] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A cable stranding device, characterized in that, The cable includes a wire feeding assembly, a wire stranding assembly, an image detection assembly, and a controller. The wire feeding assembly is equipped with multiple regulators, each of which feeds wire to the wire stranding assembly and adjusts the tension of the corresponding wire. The wire feeding assembly drives all the wires to rotate and strand them into a cable. The image detection assembly is located on the wire stranding assembly. The controller is configured to: Control any one of the regulators to increase the tension of the corresponding wire to cause a first defect in the cable, and control the image detection component to acquire a first abnormal image of the wire rotating to a preset position; Controlling any one of the regulators to reduce the tension of the corresponding wire causes a second defect in the cable, and controlling the image detection component to acquire a second abnormal image of the wire rotating to the preset position; The limit range is obtained based on the first abnormal image and the second abnormal image, and the acceptable range is obtained based on the limit range. Taking any one of the wires as the target wire, the image detection component is controlled to acquire the actual image of the target wire rotating to the preset position, and it is determined whether the actual image exceeds the qualified range; When the actual image exceeds the acceptable range, the regulator corresponding to the object wire is an object regulator, which controls the object regulator to adjust the tension of the object wire until the actual image is within the acceptable range; The step of controlling the object adjuster to adjust the tension of the object wire until the actual image is within the acceptable range includes: Obtain the first similarity between the actual image and the first abnormal image, and obtain the second similarity between the actual image and the second abnormal image; Determine whether the first similarity is greater than the second similarity; When the first similarity is greater than the second similarity, the object adjuster is controlled to relax the object wire to reduce the tension of the object wire; When the first similarity is less than the second similarity, the object regulator is controlled to tighten the object wire to increase the tension of the object wire.

2. The cable stranding device according to claim 1, characterized in that, The frequency at which the image detection component acquires images of the wire is the same as the frequency at which the wire rotates to the preset position, so that the position of the wire in the image captured by the image detection component remains unchanged.

3. A method for stranding cable wire, characterized in that, An application in a cable stranding device, wherein the cable stranding device drives multiple wires to rotate and strand them into a cable, the cable stranding device further includes multiple adjusters and an image detection component, the multiple adjusters corresponding one-to-one to adjust the tension of the multiple wires, the cable stranding method comprising: Control any one of the regulators to increase the tension of the corresponding wire to cause a first defect in the cable, and control the image detection component to acquire a first abnormal image of the wire rotating to a preset position; Controlling any one of the regulators to reduce the tension of the corresponding wire causes a second defect in the cable, and controlling the image detection component to acquire a second abnormal image of the wire rotating to the preset position; The limit range is obtained based on the first abnormal image and the second abnormal image, and the acceptable range is obtained based on the limit range. Taking any one of the wires as the target wire, the image detection component is controlled to acquire the actual image of the target wire rotating to the preset position, and it is determined whether the actual image exceeds the qualified range; When the actual image exceeds the acceptable range, the regulator corresponding to the object wire is an object regulator, which controls the object regulator to adjust the tension of the object wire until the actual image is within the acceptable range; The step of controlling the object adjuster to adjust the tension of the object wire until the actual image is within the acceptable range includes: Obtain the first similarity between the actual image and the first abnormal image, and obtain the second similarity between the actual image and the second abnormal image; Determine whether the first similarity is greater than the second similarity; When the first similarity is greater than the second similarity, the object adjuster is controlled to relax the object wire to reduce the tension of the object wire; When the first similarity is less than the second similarity, the object regulator is controlled to tighten the object wire to increase the tension of the object wire.

4. The cable stranding method according to claim 3, characterized in that, The step of obtaining a first similarity between the actual image and the first abnormal image, and obtaining a second similarity between the actual image and the second abnormal image, includes: The actual shape contour and actual center line are obtained from the actual image; the first abnormal shape contour and first abnormal center line are obtained from the first abnormal image; and the second abnormal shape contour and second abnormal center line are obtained from the second abnormal image. A first shape similarity is obtained based on the actual shape contour and the first abnormal shape contour, and a second shape similarity is obtained based on the actual shape contour and the second abnormal shape contour. A first centerline similarity is obtained based on the actual centerline and the first abnormal centerline, and a second centerline similarity is obtained based on the actual centerline and the second abnormal centerline. The first similarity is obtained based on the first shape similarity and the first centerline similarity, and the second similarity is obtained based on the second shape similarity and the second centerline similarity.

5. The cable stranding method according to claim 4, characterized in that, The step of obtaining the first similarity based on the first shape similarity and the first centerline similarity includes: The first similarity is calculated using the following formula: S1=K W ×S W1 +K Z ×S Z1 ; Where S1 is the first similarity, K W As the first weight, S W1 For the first shape similarity, K Z As the second weight, S Z1 The similarity is to the first centerline.

6. The cable stranding method according to claim 4, characterized in that, The step of obtaining the first shape similarity based on the actual shape contour and the first abnormal shape contour includes: The actual external shape and the first abnormal external shape are integrated into the same coordinate system; By obtaining the actual edge line of the actual shape contour, it is possible to obtain the first abnormal edge line of the first abnormal shape contour. Obtain the first distance change data between the actual edge line and the first abnormal edge line, and obtain the first shape similarity based on the first distance change data.

7. The cable stranding method according to claim 4, characterized in that, The step of obtaining the first centerline similarity based on the actual centerline and the first abnormal centerline includes: Integrate the actual centerline and the first abnormal centerline into the same coordinate system; Obtain the first center distance change data between the actual center line and the first abnormal center line, and obtain the first center line similarity based on the first center distance change data.

8. The cable stranding method according to claim 3, characterized in that, The step of obtaining the limit range based on the first abnormal image and the second abnormal image, and obtaining the acceptable range based on the limit range, includes: The first abnormal image and the second abnormal image are superimposed to form a third abnormal image, and the limit range of the third abnormal image is obtained; Two limit boundaries are obtained based on the limit range, and the two limit boundaries are translated equidistantly towards the center of the third abnormal image to obtain two qualified boundaries. The qualified range is obtained based on the two qualified boundaries.

9. A controller, characterized in that, include: At least one processor; And a storage device storing instructions that, when executed by at least one processor, perform the cable stranding method according to any one of claims 3 to 8.

Images