Research On Automatic Coil Detection And Control Of Cable

Cable coiling is an important part of the cable production process.In the process of cable coiling,due to the influence of the irregularity of the cable coil,it is easy to cause the phenomenon of cable jumping and stacking,as well as the problem of sagging,resulting in poor winding quality.Stablize.Due to the quality of the winding,it is easy to cause problems such as scratches,unsightly appearance and inaccurate length of the cable skin,which affect the sales of the product.With the development of automation and machine vision,an intelligent coiling system using vision technology is needed to solve the current winding method that relies on manual adjustment.Therefore,it is important to develop a highly automated,stable and efficient cable coiling system.significance.At present,in the process of coiling the cable,most of the cable reels are made of wood,and there is a large size error.During the winding process,the reverse direction of the cable to the edge is not accurate,and the cables are prone to overlap and large gaps.At present,manual production is required in the coiling process of cables,and the cable position is constantly adjusted to ensure the quality of the winding.There are problems such as high labor participation,need to stop waiting for shifts,and unstable cable quality.In view of the problems existing in the process of cable coiling,this paper designs an automatic coiling detection system for cables,and mainly develops the following research contents:(1)In view of the problem of relying on manual production in the process of cable winding,it is proposed to use a line laser sensor to detect the distance from the cable to the edge,and control whether the winding mechanism is reversed;the camera detects the lag angle of the cable and adjusts the cable through the robot.Lag angle replaces manual handheld adjustment.Design of cable coiling system,tension control system design,mechanical design of gripper and hardware selection of visual inspection part for automatic cable coiling detection system.(2)Analyze the influence of the cable lag angle on the winding quality,and use the camera to detect the cable lag angle in real time.Firstly,the cable image is denoised.According to the result of edge detection,the Prewitt algorithm is used for pixel-level edge extraction.Finally,the improved Zernike moment sub-pixel edge detection algorithm is used for edge detection.Orderly winding of cables.(3)Detect the distance between the cable and the baffle through the point cloud data to determine whether the cable is reversed to the edge.The obtained point cloud data is subjected to the concave and convex point detection algorithm with constraints to realize the segmentation of the cable point cloud data and the point cloud data of the cable tray baffle;the point cloud data of the tray baffle is fitted by the RANSAC algorithm;The position of the entangled line is used to extract the point cloud data of the entangled line using the slope and height difference,and the overall least squares method is used to fit the point cloud data of the entangled line.Finally,the distance from the point to the straight line is used to solve the reverse problem of the entanglement mechanism..(4)The(Eye-to-hand)installation method is used for hand-eye calibration.Use the honeycomb calibration board to calibrate the camera to obtain the parameters of the camera;obtain the matrix transformation relationship between the camera coordinate system and the robot base coordinate system through the coordinate system transformation,and use the twostep method for eye-in-hand calibration to obtain the transformation matrix between the camera and the robot;finally Use TCP/IP protocol to realize data transmission between industrial cameras and robots.