An underwater micro-fiber automatic cutting device and a cutting method

Abstract

This invention belongs to the field of remotely controlled operation of micro-fiber optic cables, specifically an underwater automatic micro-fiber optic cutting device and method, comprising: a fiber optic cutting bed fixed to the top of a support frame, with multiple rectangular protrusions arranged side-by-side on the downward-facing surface of the cutting bed; a fiber optic cutting blade positioned directly below the cutting bed; a fiber optic limiting hole on each side of the cutting bed and the cutting blade; an image acquisition device located on the fiber optic cable exit side; a motor drive mechanism located directly below the support frame, with its drive end corresponding to the cutting blade, driving the cutting blade to reciprocate up and down when the motor drive mechanism operates; and a processing system for receiving images of the cutting area acquired by the image acquisition device, controlling the movement of the motor drive mechanism, and simultaneously supplying power to the motor drive mechanism and the image acquisition device. The automatic fiber optic cutting device of this invention has the advantages of high reliability, automatic detection, and low cost.

Description

Technical Field

[0001] This invention belongs to the field of remote control of micro-fiber optics, specifically an underwater micro-fiber optic automatic cutting device and cutting method. Background Technology

[0002] With the development of deep-sea underwater robots, the demand for long-distance remote control operations based on micro-fiber optic cables is becoming increasingly widespread. Due to safety requirements, it is necessary to cut the micro-fiber optic cables before the underwater robot is recovered. Currently used mechanical cutting devices have drawbacks such as low success rate of single-cutting and inability to assess the cutting results. Furthermore, from a technical perspective, existing underwater cutting devices have significant shortcomings:

[0003] 1. Poor mechanical reliability: Traditional scissor-type blades are prone to deflection under water pressure, resulting in a single-cut success rate of less than 70% (see Ocean Engineering, 2023, No. 2).

[0004] 2. Lack of real-time verification: The cutting results rely on manual visual inspection, and it is impossible to determine whether the optical fiber has been completely cut in turbid water.

[0005] 3. High maintenance costs: Precision moving parts are susceptible to seawater corrosion and require frequent replacement (such as the patented device CN1108160A).

[0006] Therefore, there is an urgent need for a fiber optic cutting solution that features automatic detection, high reliability, and adaptability to deep-sea environments. Summary of the Invention

[0007] The purpose of this invention is to provide an automatic underwater micro-fiber cutting device and method. The functional components of this design fully consider the success rate of wire cutting, reliability, and automatic detection, so as to overcome the shortcomings of existing micro-fiber cutting devices in the background art.

[0008] The technical solution adopted by the present invention to achieve the above objectives is: an underwater micro-fiber automatic cutting device, comprising: a support frame, a fiber cutting bed, a fiber cutting blade, a fiber limiting hole, a motor drive mechanism, an image acquisition device, and a processing system;

[0009] The fiber optic cutting bed is fixed to the top of the support frame, and multiple rectangular protrusions are arranged side by side on the opposite downward-facing surface of the fiber optic cutting bed.

[0010] A fiber optic cleaver is positioned directly below the fiber optic cleaver; a fiber optic limiting hole is provided on each side of the fiber optic cleaver and the fiber optic cleaver; after the fiber passes through one of the fiber optic limiting holes and between the fiber optic cleaver and the fiber optic cleaver, it exits through the other fiber optic limiting hole to constrain the fiber optic oscillation.

[0011] The image acquisition device is located on the fiber optic cable outlet side. The fiber optic cable passes through the fiber optic cable limiting hole and connects with the outlet device between the image acquisition devices to acquire images of the fiber optic cable cutting area.

[0012] The motor drive mechanism is located directly below the support frame, and the drive end of the motor drive mechanism corresponds to the fiber optic cleaver. When the drive end of the motor drive mechanism is running, it contacts the fiber optic cleaver and pushes the fiber optic cleaver to achieve up-and-down reciprocating motion.

[0013] The processing system is used to receive the image of the cut area acquired by the image acquisition device, control the movement of the motor drive mechanism, and simultaneously supply power to the motor drive mechanism and the image acquisition device.

[0014] The support frame includes: a top plate, a bottom plate, and connecting rods;

[0015] The top plate and the bottom plate are parallel to each other, and a fiber optic cutting bed, a fiber optic cutting knife, a fiber optic limiting hole and an image acquisition device are provided between the top plate and the bottom plate.

[0016] The base plate has a through hole at the position corresponding to the fiber optic cleaver; the drive end of the motor drive mechanism is directly below the through hole.

[0017] The connecting rod is provided in two parts, and the two ends of the connecting rod are respectively connected to the top plate and the bottom plate; a fiber optic cutting bed and a fiber optic cutting blade are provided between the two connecting rods; fiber optic limiting holes are fixed on the connecting rods respectively.

[0018] The optical fiber limiting hole is a chamfered conical hole; the optical fiber inlet end is introduced from the large opening of the conical hole, and the outlet end is led out from the small opening of the conical hole.

[0019] The fiber optic cleaver includes: a buffer mechanism, a cleaver assembly, and a cleaver holder;

[0020] The buffer mechanism includes: a push plate, a buffer spring, and a screw;

[0021] The buffer spring and screws are provided in pairs, and the two screws are screwed into the support frame vertically through the top plate and fixed to the push plate on the bottom plate of the support frame; the buffer spring is sleeved on the screw to realize the push plate position after deformation.

[0022] The bottom surface of the tool holder is fixed to the top surface of the push plate between two screws by a spring; the top surface of the tool holder is provided with a tool assembly.

[0023] The tool assembly includes: two clamping devices and a plurality of cutting blades disposed between the two clamping devices;

[0024] The two clamping devices and the cutter are arranged in the same row, and the total number of clamping devices and cutters is equal to the number of rectangular protrusions on the fiber optic cutting bed.

[0025] The top surface of the clamping device is provided with multiple protrusions that fit against the rectangular protrusion structure surface of the fiber optic cutting bed to clamp the fiber; the blade of the cutter is perpendicular to the fiber to cut the fiber.

[0026] The motor drive mechanism includes: an underwater DC motor, a reducer, a cam, and a rotary transformer;

[0027] The underwater DC motor is connected to the output shaft via a reducer, and the upper end of the output shaft is connected to a cam key. When the underwater DC motor is running, it drives the cam to rotate. The cam cooperates with the buffer mechanism of the fiber optic cleaver to drive the cutter on the cutter holder to achieve periodic up-and-down reciprocating motion.

[0028] The rotary transformer is mounted on the output shaft and is used to provide real-time feedback of the motor's angular position to the processing system.

[0029] The image acquisition device includes: a camera and a bar light source;

[0030] The strip light source serves as a backlight to illuminate the cutting area;

[0031] The camera is a USB camera whose field of view covers the cutting area. It is used to acquire images of the cutting area and send them to the processing system for analysis of the fiber optic morphology to determine whether the cutting was successful.

[0032] The processing system includes:

[0033] Motor driver module for driving DC motors using MPQ6541 chip;

[0034] The microprocessor module, using an STM32F429 chip, receives image data acquired by the camera, executes image processing algorithms, and determines the integrity of the optical fiber.

[0035] The power management module is used to distribute power to the motor, light source, camera and processor, and switch the working mode in response to commands.

[0036] A cutting method for an underwater automatic micro-fiber cutting device includes the following steps:

[0037] S1: The optical fiber is inserted into the limiting hole, and the buffer spring of the optical fiber cleaver is in a compressed state; the strip light source, camera and underwater DC motor are powered off, and the processing system maintains a low power consumption mode.

[0038] S2: The microprocessor module of the processing system receives the cutting command, wakes up the power management module, and starts the bar light source, camera and motor driver modules;

[0039] S3: The microprocessor module controls the underwater DC motor to rotate at a preset speed through the motor driver module, and pushes the fiber optic cutter through the cam to complete the clamping and cutting action.

[0040] S4: While executing step S3, the USB camera acquires an image of the cutting area, and the microprocessor module detects the integrity of the optical fiber through an image processing algorithm. If the optical fiber disappears, the cutting is considered successful; if the optical fiber exists, the cutting is considered unsuccessful.

[0041] S5: Status Reset and Retry:

[0042] If the cutting is successful, the microprocessor module will move the motor to the default state and stop the motor from rotating based on the value fed back by the rotary transformer.

[0043] If the cutting fails, wait for the set time and then repeat steps S3-S4 until it succeeds or the retry limit is reached; if it still fails after retrying, report the fault and stop the operation.

[0044] Step S4 includes the following steps:

[0045] 1) Acquire the backlight illumination image of the cut area using a USB camera, denoted as the grayscale image matrix I(x,y);

[0046] 2) Based on the position coordinates of the rectangular protrusion structure of the fiber optic cleaver, define a rectangular detection region R in the image;

[0047] 3) Calculate the variance of pixel grayscale values ​​within the detection region R, i.e.:

[0048]

[0049] Where μ is the average gray value of the region;

[0050] 4) The grayscale variance threshold is determined through a turbid water environment calibration experiment, i.e.:

[0051] Multiple sets of backlight images were acquired with the optical fiber cut off, and calculations were performed.

[0052] Multiple sets of backlight images were acquired without cutting the optical fiber, and calculations were performed.

[0053] Then the grayscale value variance threshold 'a' satisfies:

[0054] Ensure that the variance is always lower than a when the cutting is successful, and always higher than a when the cutting fails;

[0055] 6) If σ 2 If the value is below the grayscale variance threshold α, it is determined that there is no fiber and the cutting is successful; if σ 2If the value exceeds the grayscale variance threshold 'a', it is determined that there is an optical fiber profile, and the cutting fails.

[0056] In step S5, if the cutting is successful, the microprocessor module, based on the value fed back from the rotary transformer, causes the motor to move to the default state and stops the motor rotation, including the following steps:

[0057] (1) The microprocessor module acquires the motor angle electrical signal θ output by the rotary transformer in real time. a ;

[0058] (2) The microprocessor module calculates the angle deviation Δθ between the current position and the preset default position as follows:

[0059] Δθ=θ a -θ b

[0060] Where, θ b The default position angle value stored in the microprocessor;

[0061] (3) The microprocessor controls the DC motor to rotate through the motor driver module until the angle deviation Δθ≤δ; where δ is the allowable position error threshold.

[0062] (4) When the angle deviation Δθ≤δ, the microprocessor module cuts off the power supply to the underwater DC motor and the fiber optic cutter springs back to the default compressed state.

[0063] The present invention has the following beneficial effects and advantages:

[0064] 1. The fiber optic cleaver assembly of the present invention has a cleaver holder and a cleaver connected by a buffer spring and a screw to prevent locking when the cam drives the cleaver holder to move upward due to installation errors or long-term use. The cleaver has three cleavers and two clamping mechanisms. When the cleaver moves upward, the clamping structure can first clamp the fiber to prevent it from swinging randomly. The clamping mechanism and the cleaver holder are connected by a buffer spring and a screw.

[0065] 2. The image acquisition device of the present invention consists of a bar light source and a USB camera. The bar light source serves as a backlight source and, in conjunction with the image processing algorithm running in the control system, can detect the presence or absence of optical fibers. The combination of the small USB camera and the bar light source can adapt to environments with poor visibility, such as murky water.

[0066] 3. The processing system of this invention consists of a motor driver module, a microprocessor module, and a power management module. The motor driver module drives the DC motor and is composed of the MPQ6541 chip from MPS; the microprocessor module is composed of the STM32F429 from STMicroelectronics and can be connected to a USB camera to detect the fiber optic cutting results; the power management module manages the system power supply.

[0067] 4. This invention has triple reliability protection: structural anti-failure: buffer springs and conical limiting holes counteract water pressure deformation and prevent the blade from jamming; multi-blade collaborative cutting: 3 sets of cutting blades and 2 sets of clamping devices form segmented force, increasing the cutting success rate to 98.5%; closed-loop control: rotary transformer provides real-time feedback on the motor angle to ensure precise blade reset.

[0068] 5. The backlight variance algorithm of this invention eliminates the interference of suspended particles through grayscale statistics, and the detection accuracy reaches 95% in turbid waters (visibility <0.5m); Attached Figure Description

[0069] Figure 1 A schematic diagram of the underwater micro-fiber automatic cutting device of the present invention;

[0070] Figure 2 A schematic diagram of the light source and camera combination of the image acquisition device of the present invention;

[0071] Figure 3 System architecture diagram of the processing system of this invention;

[0072] Among them, 1 is the fiber optic cleaving bed, 2 is the fiber optic cleaving blade, 3 is the fiber optic limiting hole, 4 is the motor drive mechanism, 5 is the image acquisition device, and 6 is the processing system. Detailed Implementation

[0073] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0074] like Figure 1 The diagram shown is a structural schematic of the underwater micro-fiber automatic cutting device of the present invention. The underwater micro-fiber automatic cutting device of the present invention includes: a support frame, a fiber cutting bed 1, a fiber cutting knife 2, a fiber limiting hole 3, a motor drive mechanism 4, an image acquisition device 5, and a processing system 6.

[0075] The support frame includes: a top plate, a bottom plate, and connecting rods;

[0076] The top plate and the bottom plate are parallel to each other, and a fiber optic cutting bed 1, a fiber optic cutting knife 2, a fiber optic limiting hole 3 and an image acquisition device 5 are provided between the top plate and the bottom plate.

[0077] The fiber optic cleaving bed 1 is fixed at the top of the support frame, and multiple rectangular protrusions are arranged side by side on the opposite downward-facing surface of the fiber optic cleaving bed 1.

[0078] A fiber optic cleaver 2 is positioned directly below the fiber optic cleaver 1; two connecting rods are provided, with their ends connected to the top plate and bottom plate respectively; the fiber optic cleaver 1 and the fiber optic cleaver 2 are positioned between the two connecting rods; fiber optic limiting holes 3 are fixed on the connecting rods respectively; after the fiber passes through one of the fiber optic limiting holes 3 and between the fiber optic cleaver 1 and the fiber optic cleaver 2, it exits through the other fiber optic limiting hole 3 to constrain the fiber optic swing.

[0079] The fiber optic limiting hole 3 is a chamfered conical hole; the fiber optic inlet end is introduced from the large opening of the conical hole, and the outlet end is led out from the small opening of the conical hole.

[0080] The image acquisition device 5 is located on the fiber optic cable output side. The fiber optic cable passes through the fiber optic limiting hole 3 and connects with the output device between the image acquisition device 5 to acquire images of the fiber optic cable cutting area.

[0081] The base plate has a through hole at the position of the fiber optic cleaver 2; the drive end of the motor drive mechanism 4 is directly below the through hole; the motor drive mechanism 4 is located directly below the support frame, and the drive end of the motor drive mechanism 4 corresponds to the fiber optic cleaver 2. When the drive end of the motor drive mechanism 4 is running, it contacts the fiber optic cleaver 2 and pushes the fiber optic cleaver 2 to achieve up and down reciprocating motion.

[0082] The processing system 6 is used to receive the image of the cut area acquired by the image acquisition device 5, control the movement of the motor drive mechanism 4, and simultaneously supply power to the motor drive mechanism 4 and the image acquisition device 5.

[0083] (I) Fiber Optic Cutter

[0084] The fiber optic cleaver 2 includes: a buffer mechanism, a cleaver assembly, and a cleaver holder;

[0085] The buffer mechanism includes: a push plate, a buffer spring, and screws;

[0086] Both the buffer spring and the screw are provided in pairs, and the two screws are screwed into the support frame vertically through the top plate and fixed to the push plate on the bottom plate of the support frame; the buffer spring is sleeved on the screw to realize the push plate returning to its original position after deformation.

[0087] The bottom surface of the tool holder is fixed to the top surface of the push plate between two screws by a spring; the top surface of the tool holder is equipped with a tool assembly.

[0088] The tool assembly includes: two clamping devices and multiple cutting blades disposed between the two clamping devices;

[0089] The two clamping devices and the cutter are arranged in the same row, and the total number of clamping devices and cutters is equal to the number of rectangular protrusions on the fiber optic cutting bed 1.

[0090] The top surface of the clamping device is provided with multiple protrusions that fit against the rectangular protrusion structure surface of the fiber optic cutting bed 1 to clamp the fiber; the blade of the cutter is perpendicular to the fiber to cut the fiber.

[0091] (II) Motor Drive Mechanism

[0092] The motor drive mechanism 4 includes: an underwater DC motor, a reducer, a cam, and a rotary transformer;

[0093] The underwater DC motor is connected to the output shaft via a reducer, and the upper end of the output shaft is connected to a cam key. When the underwater DC motor is running, it drives the cam to rotate. The cam works in conjunction with the buffer mechanism of the fiber optic cutter 2 to drive the cutter on the cutter holder to achieve periodic up-and-down reciprocating motion.

[0094] A rotary transformer is mounted on the output shaft to provide real-time feedback of the motor's angular position to the processing system 6.

[0095] (III) Image Acquisition Device

[0096] like Figure 2 The diagram shown is a schematic of the combination of a light source and a camera in the image acquisition device of the present invention; the image acquisition device 5 in the present invention includes: a camera and a bar light source;

[0097] A strip light source is used as a backlight to illuminate the cutting area;

[0098] The camera is a USB camera whose field of view covers the cutting area. It is used to acquire images of the cutting area and send them to the processing system 6 for analysis of the fiber optic morphology to determine whether the cutting was successful.

[0099] (iv) Processing System

[0100] like Figure 3 The diagram shown is a system architecture diagram of the processing system of the present invention. The processing system 6 of the present invention includes a motor drive module that drives a DC motor and is composed of an MPQ6541 chip from MPS; a microprocessor module composed of an STM32F429 from STMicroelectronics, which can be connected to a USB camera to detect the fiber optic cutting results; and a power management module that manages the system power supply.

[0101] Specifically: a motor driver module for driving a DC motor;

[0102] The microprocessor module is used to receive image data acquired by the camera, execute image processing algorithms, and determine the integrity of the optical fiber.

[0103] The power management module is used to distribute power to the motor, light source, camera and processor, and switch the working mode in response to commands.

[0104] like Figure 1As shown, the present invention relates to a cutting method based on an underwater micro-fiber automatic cutting device, comprising the following steps:

[0105] S1: The optical fiber is inserted into the limiting hole 3, and the buffer spring of the optical fiber cutter 2 is in a compressed state; the strip light source, camera and underwater DC motor are powered off, and the processing system 6 maintains a low power consumption mode.

[0106] S2: The microprocessor module of the processing system 6 receives the cutting command, wakes up the power management module, and starts the bar light source, camera and motor driver module;

[0107] S3: The microprocessor module controls the underwater DC motor to rotate at a preset speed through the motor driver module, and pushes the fiber optic cutter 2 through the cam to complete the clamping and cutting action;

[0108] S4: While executing step S3, the USB camera acquires an image of the cutting area, and the microprocessor module detects the integrity of the optical fiber through an image processing algorithm. If the optical fiber disappears, the cutting is considered successful; if the optical fiber exists, the cutting is considered unsuccessful.

[0109] 1) Acquire the backlight illumination image of the cut area using a USB camera, denoted as the grayscale image matrix I(x,y);

[0110] 2) Based on the position coordinates of the rectangular protrusion structure of the fiber optic cutting bed 1, define the rectangular detection region R in the image;

[0111] 3) Calculate the variance of pixel grayscale values ​​within the detection region R, i.e.:

[0112]

[0113] Where μ is the average gray value of the region;

[0114] 4) The grayscale variance threshold is determined through a turbid water environment calibration experiment, i.e.:

[0115] Multiple sets of backlight images were acquired with the optical fiber cut off, and calculations were performed.

[0116] Multiple sets of backlight images were acquired without cutting the optical fiber, and calculations were performed.

[0117] Then the grayscale value variance threshold 'a' satisfies:

[0118] Ensure that the variance is always lower than a when the cutting is successful, and always higher than a when the cutting fails;

[0119] 5) If σ 2 If the value is below the grayscale variance threshold α, it is determined that there is no fiber and the cutting is successful; if σ 2If the value exceeds the grayscale variance threshold 'a', it is determined that there is an optical fiber profile, and the cutting fails.

[0120] S5: Status Reset and Retry:

[0121] If the cutting is successful, the microprocessor module will move the motor to the default state and stop the motor from rotating based on the value fed back by the rotary transformer.

[0122] (1) The microprocessor module acquires the motor angle electrical signal θ output by the rotary transformer in real time. a ;

[0123] (2) The microprocessor module calculates the angle deviation Δθ between the current position and the preset default position as follows:

[0124] Δθ=θ a -θ b

[0125] Where, θ b The default position angle value stored in the microprocessor;

[0126] (3) The microprocessor controls the DC motor to rotate through the motor driver module until the angle deviation Δθ≤δ; where δ is the allowable position error threshold.

[0127] (4) When the angle deviation Δθ≤δ, the microprocessor module cuts off the power supply to the underwater DC motor, and the fiber optic cutter 2 springs back to the default compression state.

[0128] If the cutting fails, wait for the set time and then repeat steps S3-S4 until it succeeds or the retry limit is reached; if it still fails after retrying, report the fault and stop the operation.

[0129] Example 1: Fiber Optic Cutting Operation Using an Underwater Robot

[0130] Deployment environment: 1000m water depth operating area (water temperature 4℃, pressure 15MPa);

[0131] Cutting process:

[0132] The optical fiber is inserted through the tapered limiting hole 3 and positioned by the rectangular protrusion structure 1; the processing system 6 starts the DC motor 4, the cam pushes the tool group 2 to move upward, the clamping device first clamps the optical fiber, and the tool group moves upward to complete the cutting.

[0133] A strip light source illuminates the cutting area, and a USB camera captures the image.

[0134] The microprocessor calculates the grayscale variance σ 2 =120 (threshold a=150), the cutting is considered successful;

[0135] When the feedback angle deviation of the rotary transformer is Δθ = 0.8° < δ (δ = 1°), the motor resets and stops.

[0136] Results: Success rate of 99.2% in 100 consecutive cuts, with a single cut taking less than 3 seconds.

[0137] In conjunction with Embodiment 1, the present invention has a structural innovation: the rectangular protrusion of the fiber optic cleaving bed 1 and the buffer clamping mechanism of the fiber optic cleaving blade 2 form a dynamic engagement, eliminating the influence of water pressure deformation;

[0138] This invention achieves a breakthrough at the detection level: it establishes a criterion for the existence of optical fibers in turbid waters through a backlight variance algorithm, enabling unmanned result verification;

[0139] This invention achieves system integration: the STM32F429 chip simultaneously completes image processing, motor drive and fault retry control, significantly improving the intelligence level of the device.

[0140] In summary, this invention innovatively proposes a three-in-one solution of "mechanical-vision-control", and has successfully solved the problem of reliable underwater optical fiber cutting and verification.

[0141] Those skilled in the art will understand that the above description is merely a preferred embodiment of the present invention, and the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. This is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0142] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include these modifications and modifications.

Claims

1. An underwater automatic micro-fiber cutting device, characterized in that, include: Support frame, fiber optic cleaving bed (1), fiber optic cleaving knife (2), fiber optic limiting hole (3), motor drive mechanism (4), image acquisition device (5), processing system (6); The fiber optic cutting bed (1) is fixed to the top of the support frame, and multiple rectangular protrusions are arranged side by side on the opposite downward-facing surface of the fiber optic cutting bed (1). A fiber optic cleaver (2) is provided directly below the fiber optic cleaver (1); a fiber optic limiting hole (3) is provided on each side of the fiber optic cleaver (1) and the fiber optic cleaver (2); after the fiber passes through one of the fiber optic limiting holes (3) and passes between the fiber optic cleaver (1) and the fiber optic cleaver (2), it passes out from the other fiber optic limiting hole (3) to constrain the oscillation of the fiber optic. The image acquisition device (5) is located on the fiber optic cable outlet side. The fiber optic cable passes through the fiber optic cable limiting hole (3) and connects with the outlet device between the image acquisition device (5) to acquire the image of the fiber optic cable cutting area. The motor drive mechanism (4) is located directly below the support frame, and the drive end of the motor drive mechanism (4) corresponds to the fiber optic cleaver (2). When the drive end of the motor drive mechanism (4) is running, it contacts the fiber optic cleaver (2) and pushes the fiber optic cleaver (2) to achieve up-and-down reciprocating motion. The processing system (6) is used to receive the image of the cut area acquired by the image acquisition device (5), control the movement of the motor drive mechanism (4), and supply power to the motor drive mechanism (4) and the image acquisition device (5). While the optical fiber is being cut, a USB camera captures an image of the cut area. The microprocessor module of the processing system (6) uses an image processing algorithm to detect the integrity of the optical fiber. If the optical fiber disappears, the cutting is considered successful; if the optical fiber remains, the cutting is considered unsuccessful. The process includes the following steps: 1) Acquire the backlight illumination image of the cut area using a USB camera, and denote it as a grayscale image matrix. ; 2) Based on the position coordinates of the rectangular protrusion structure of the fiber optic cutting bed (1), define the rectangular detection area R in the image; 3) Calculate the variance of pixel grayscale values ​​within the detection region R, i.e.: ； in, The average gray value of the region; 4) The grayscale variance threshold is determined through a turbid water environment calibration experiment, i.e.: Multiple sets of backlight images were acquired with the optical fiber cut off, and calculations were performed. ; Multiple sets of backlight images were acquired without cutting the optical fiber, and calculations were performed. ; Then the grayscale value variance threshold satisfy: ; Ensure that the variance is always below a certain level when the cutting is successful. When failing, the variance is always higher than ; like Below the grayscale variance threshold If no fiber optic cable is found, the cut is successful; otherwise... Above the grayscale value variance threshold If the fiber outline is not found, the cutting will fail.

2. The underwater micro-fiber automatic cutting device according to claim 1, characterized in that, The support frame includes: a top plate, a bottom plate, and connecting rods; The top plate and the bottom plate are parallel to each other, and a fiber optic cutting bed (1), a fiber optic cutting knife (2), a fiber optic limiting hole (3) and an image acquisition device (5) are provided between the top plate and the bottom plate. The base plate has a through hole at the position corresponding to the fiber optic cleaver (2); the drive end of the motor drive mechanism (4) is directly below the through hole; Two connecting rods are provided, and the two ends of the connecting rods are respectively connected to the top plate and the bottom plate; a fiber optic cutting bed (1) and a fiber optic cutting blade (2) are provided between the two connecting rods; fiber optic limiting holes (3) are fixed on the connecting rods respectively. The fiber optic limiting hole (3) is a chamfered conical hole; the fiber optic inlet is introduced from the large opening of the conical hole, and the outlet is led out from the small opening of the conical hole.

3. The underwater micro-fiber automatic cutting device according to claim 1, characterized in that, The fiber optic cleaver (2) includes: a buffer mechanism, a cleaver assembly, and a cleaver holder; The buffer mechanism includes: a push plate, a buffer spring, and a screw; The buffer spring and screws are provided in pairs, and the two screws are screwed into the support frame vertically through the top plate and fixed to the push plate on the bottom plate of the support frame; the buffer spring is sleeved on the screw to realize the push plate position after deformation. The bottom surface of the tool holder is fixed to the top surface of the push plate between two screws by a spring; the top surface of the tool holder is provided with a tool assembly.

4. The underwater micro-fiber automatic cutting device according to claim 3, characterized in that, The tool assembly includes: two clamping devices and a plurality of cutting blades disposed between the two clamping devices; The two clamping devices and the cutter are arranged in the same row, and the total number of clamping devices and cutters is equal to the number of rectangular protrusions on the fiber optic cutting bed (1). The top surface of the clamping device is provided with multiple protrusions that fit against the rectangular protrusion structure surface of the fiber optic cutting bed (1) to clamp the fiber; the blade of the cutter is perpendicular to the fiber to cut the fiber.

5. The underwater micro-fiber automatic cutting device according to claim 1, characterized in that, The motor drive mechanism (4) includes: an underwater DC motor, a reducer, a cam, and a rotary transformer; The underwater DC motor is connected to the output shaft via a reducer, and the upper end of the output shaft is connected to a cam key. When the underwater DC motor is running, it drives the cam to rotate. The cam cooperates with the buffer mechanism of the fiber optic cutter (2) to drive the cutter on the cutter holder to achieve periodic up-and-down reciprocating motion. The rotary transformer is installed on the output shaft and is used to provide real-time feedback of the motor's angular position to the processing system (6).

6. The underwater micro-fiber automatic cutting device according to claim 1, characterized in that, The image acquisition device (5) includes: a camera and a bar light source; The strip light source serves as a backlight to illuminate the cutting area; The camera is a USB camera, whose field of view covers the cutting area. It is used to acquire images of the cutting area and send them to the processing system (6) for analysis of the fiber optic morphology to determine whether the cutting was successful.

7. The underwater micro-fiber automatic cutting device according to claim 1, characterized in that, The processing system (6) includes: Motor driver module for driving DC motors using MPQ6541 chip; The microprocessor module, using an STM32F429 chip, receives image data acquired by the camera, executes image processing algorithms, and determines the integrity of the optical fiber. The power management module is used to distribute power to the motor, light source, camera and processor, and switch the working mode in response to commands.

8. The underwater micro-fiber automatic cutting device according to claim 1, characterized in that, If the cutting is successful, the microprocessor module, based on the feedback value from the rotary transformer, moves the motor to the default state and stops the motor rotation, including the following steps: (1) The microprocessor module acquires the motor angle electrical signal output by the rotary transformer in real time. ; (2) The microprocessor module calculates the angle deviation between the current position and the preset default position. for: ； in, The default position angle value stored in the microprocessor; (3) The microprocessor controls the rotation of the DC motor through the motor driver module until the angle deviation is reached. in, The allowable position error threshold; (4) When the angle deviation At this time, the microprocessor module cuts off the power supply to the underwater DC motor, and the fiber optic cutter (2) springs back to the default compressed state.

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