CN111380461A - A cable winding state detection system - Google Patents

Abstract

The invention discloses a cable winding state monitoring system, which comprises a cable reel, a laser sensor, a data measuring unit and a data fitting unit, wherein the cable reel comprises: the cable is wound on a horizontally placed cable reel; the laser sensor is arranged at a certain position so that the cable is in a scanning range and is connected with the computer through an Ethernet port; the laser sensor transmits the two-dimensional data of the scanning points on the surface of the cable to a computer, and the data are filtered and stored through a data measuring unit; and fitting the data by adopting a least square circle fitting algorithm with radius constraint so that the winding state of the cable can be known in real time. The invention can realize real-time, safe and efficient monitoring of the winding state of the cable.

Description

A cable winding state detection system

technical field

The invention relates to a cable winding monitoring technology, in particular to a cable winding state detection system.

Background technique

Winding the cable tightly and neatly on the cable reel is an important process in the cable production process. The cables are not arranged neatly, especially if the cable spacing is too large, the length of the wound cable is too short and cannot meet the actual application standard. With the continuous development of the automation level of the production line, the monitoring requirements for whether the cables are arranged neatly and closely during the winding process also increase.

At present, the improvement of the cable winding process is mostly concentrated on the control method of the cable reel. The application of the new cable reel can improve the efficiency of the cable winding, but it cannot monitor the cable arrangement status in real time; The new mobile cable winding monitoring system can judge whether the cable winding process is normal or not by sending out detection rays and then forming a status image, but the rays have certain harm to the human body. Therefore, the existing cable winding lacks a real-time, safe and efficient monitoring method.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a cable winding state monitoring system, so as to realize real-time, safe and efficient monitoring of the cable winding state.

The technical scheme for realizing the purpose of the present invention is: a cable winding state monitoring system, comprising a cable reel, a laser sensor, a data measurement unit and a data fitting unit; wherein:

The cable is wound on the cable reel, and moves horizontally between the inner walls on both sides of the cable reel over time;

The laser emitting surface of the laser sensor is facing the cable reel, irradiating the surface of the cable to generate scanning points, and transmitting the two-dimensional data of the scanning points to the data measurement unit;

The data measurement unit is used for outputting parameter signals to the laser sensor, receiving measurement data returned by the laser sensor and saving;

The data fitting unit is used for fitting the two-dimensional measurement data saved by the data measurement unit.

Further, the diameter of the cable is more than 25mm, and the reflectivity of the surface material is greater than 30%.

Further, the specification requirements of the cable reel are as follows:

When 0m＜D≤0.92m,

When 0.92m＜D＜2.9m,

Where D is the inner width of the cable reel, H is the height after the cable is wound; the time t for the cable reel to rotate once should satisfy: t>T/f; where T is the average number of scans to meet the detection accuracy requirements, and f is the sensor scan frequency.

Further, the laser sensor is an LMS400-1000 two-dimensional laser sensor, and the scanning range is a sector, which is used to collect two-dimensional data of distance and angle.

Further, the laser emitting surface of the laser sensor is perpendicular to the axis of the cable reel.

Further, the data measurement unit is the sensor matching control unit SOPAS ET, through which the sensor parameters and filter selection are set, and the sensor parameters include angular resolution and scanning frequency, and the measured data are filtered and screened.

Further, the data fitting unit performs boundary fitting of the cable reel, and selects the abscissa of the left and right points from the preprocessed data to obtain the arithmetic mean value as the estimated value of the boundary position; Scan the point data, and fit the data by the least square method of radius constraint; determine the positional relationship between the cables and between the cables and the cable tray according to the fitting results, and obtain the arrangement of the cables.

Further, the fitting result of the data fitting unit is output on the computer display screen.

Compared with the prior art, the present invention has the significant advantages as follows: the present invention discloses a cable winding state monitoring system, which can monitor the cable winding by using the LMS400-1000 two-dimensional laser sensor, and the sensor can be adjusted through the data measurement unit. Scanning frequency and laser angle resolution and other parameters can be adapted to different working conditions, and the two-dimensional data of the scanning point is transmitted back. Combined with the data fitting unit, the analysis of the cable winding status is completed, which not only realizes the real-time cable winding status Monitoring also improves the safety and efficiency of monitoring.

Description of drawings

FIG. 1 is a schematic structural diagram of a cable winding state monitoring system according to the present invention.

Figures 2(a) to 2(c) are schematic diagrams of several cable arrangement states that can be measured disclosed in the embodiment of the present invention, wherein Figure 2(a) is a schematic diagram of the orderly arrangement of the cables, and Figure 2(b) is a schematic diagram of the cable arrangement not being A tight schematic diagram, Figure 2(c) is a schematic diagram of a crowded and untidy cable arrangement.

3(a) to 3(b) are schematic diagrams of the fitting process of the data fitting unit disclosed in the embodiment of the present invention, wherein FIG. 3(a) is a schematic diagram of the boundary fitting, and FIG. 3(b) is the cable fitting Schematic.

FIG. 4 is a schematic diagram of a detection range of a two-dimensional laser sensor disclosed in an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the examples of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The invention discloses a cable winding state monitoring system to realize real-time, safe and efficient monitoring of the cable winding state.

As shown in FIG. 1, a cable winding state monitoring system includes a cable reel 1, a laser sensor 3, a data measurement unit 5, and a data fitting unit 6, wherein the data measurement unit 5 and the data fitting unit 6 are integrated in a computer 4 in; where:

The cable 2 is wound on the cable reel 1, and moves horizontally back and forth between the inner walls on both sides of the cable reel 1 over time;

The laser emitting surface of the laser sensor 3 is facing the cable reel 1, and the surface of the cable is irradiated to generate scanning points, and the interface end is connected to the computer 4 to transmit the two-dimensional data of the scanning points to the computer;

The data measurement unit 5 outputs the parameter signal to the laser sensor 3 and receives the measurement signal of the laser sensor 3;

The data fitting unit 6 calls the two-dimensional measurement data saved by the data measurement unit 5 and outputs the fitting result on the display screen of the computer 4 .

0.92m＜D＜2.9m时，H≤

其中D为电缆卷筒内宽，单位m，H为电缆卷绕完成后高度，单位m。电缆盘1旋转一圈的时间t应满足：t>T/f。其中T为满足检测精度要求的平均扫描次数，传感器的扫描频率为f/Hz。激光传感器3为LMS400-1000二维激光传感器，采集距离和角度二维数据，其参数根据实际情况调整，传感器扫描范围如图4所示；数据测量单元5为激光传感器3配套控制单元SOPAS ET，可在计算机4上通过该单元设置激光传感器3参数，并对其测量的数据进行过滤与筛选；数据拟合单元6通过半径约束最小二乘法对数据进行拟合，并分析电缆2间及电缆2与电缆盘1间的位置关系，最终获得电缆2的排列情况。Specifically, the diameter of the cable 2 is 25mm and above, and the reflectivity of the surface material is greater than 30%; the specification requirements of the cable reel 1 are as follows: when 0m<D≤0.92m,

When 0.92m＜D＜2.9m, H≤

Where D is the inner width of the cable reel, in m, and H is the height after the cable is wound, in m. The time t for the cable reel 1 to rotate once should satisfy: t>T/f. Among them, T is the average scanning times to meet the detection accuracy requirements, and the scanning frequency of the sensor is f/Hz. Laser sensor 3 is an LMS400-1000 two-dimensional laser sensor, which collects two-dimensional data of distance and angle. Its parameters are adjusted according to the actual situation. The scanning range of the sensor is shown in Figure 4; The parameters of the laser sensor 3 can be set on the computer 4 through this unit, and the data measured by it can be filtered and screened; the data fitting unit 6 fits the data through the radius-constrained least squares method, and analyzes between the cables 2 and the cables 2 The positional relationship with the cable reel 1 finally obtains the arrangement of the cables 2 .

Before monitoring, the corresponding parameters of the laser sensor 3 are adjusted according to the known cable type, and the sensor angle resolution is 0.1° to 0.25°. During the winding process of the cable 2, the two-dimensional arrangement information of the cable 2, that is, the angle and distance of each scanning point, is collected by the laser sensor 3, and output to the data measurement unit 5 on the computer 4; range filtering and outlier filtering are turned on. After the mean value filtering, the data measurement unit 5 reduces the deviation of the original data and saves the filtered data in the computer by filtering; the data fitting unit 6 calls the processed data, firstly performs the boundary fitting of the cable reel 1, from the pre- The abscissa of the left and right points in the processing data is selected to obtain the arithmetic mean value, which is used as the estimated value of the boundary position. The fitting diagram of the boundary is shown in Figure 3(a). After establishing the boundary of the cable tray 1, screen again, select the scan point data within the fitting boundary, and fit the data based on the least squares method with radius constraints. The fitting diagram is shown in Figure 3(b), and the dotted line is the fitting According to the fitting result, the position information of cable reel 1 and cable 2 can be obtained by analyzing the fitting result, that is, the winding state of the cable. As shown in Figure 2(a), the cable is neatly wound on the cable reel, and the sensor is installed on the cable reel. Directly above, this is the ideal situation for the cable arrangement. As shown in Figure 2(c), No. 4, too small spacing causes the cables to squeeze each other and protrude, and the arrangement is not neat; close. When the cable of the present invention is wound on both ends of the cable reel, the distance between each layer of the cable and the inner wall of the reel may be larger than the diameter of a cable as shown in Figure 2(b) No. 1 or smaller than the diameter of a cable as shown in Figure 2(c) No. 2; this implementation In the example, the fitting accuracy of the data fitting unit 6 is less than 2 mm.

Claims (8)

1. a cable winding state monitoring system, is characterized in that, comprises cable reel, laser sensor, data measuring unit and data fitting unit; Wherein: The cable is wound on the cable reel, and moves horizontally between the inner walls on both sides of the cable reel over time; The laser emitting surface of the laser sensor is facing the cable reel, irradiating the surface of the cable to generate scanning points, and transmitting the two-dimensional data of the scanning points to the data measurement unit; The data measurement unit is used for outputting parameter signals to the laser sensor, receiving measurement data returned by the laser sensor and saving; The data fitting unit is used for fitting the two-dimensional measurement data saved by the data measurement unit. 2 . The cable winding state monitoring system according to claim 1 , wherein the diameter of the cable is more than 25 mm, and the reflectivity of the surface material is greater than 30%. 3 . 3. The cable winding state monitoring system according to claim 1, wherein the specification requirements of the cable reel are as follows: When 0m＜D≤0.92m,

When 0.92m＜D＜2.9m,

Where D is the inner width of the cable reel, H is the height after the cable is wound; the time t for the cable reel to rotate once should satisfy: t>T/f; where T is the average number of scans to meet the detection accuracy requirements, and f is the sensor scan frequency. 4 . The cable winding state monitoring system according to claim 1 , wherein the laser sensor is an LMS400-1000 two-dimensional laser sensor with a sector-shaped scanning range for collecting distance and angle two-dimensional data. 5 . 5. The cable winding state monitoring system according to claim 1 or 4, wherein the laser emitting surface of the laser sensor is perpendicular to the axis of the cable reel. 6. cable winding state monitoring system according to claim 1, is characterized in that, described data measurement unit is sensor matching control unit SOPAS ET, and sensor parameter and filter selection are set by this unit, and sensor parameter comprises angular resolution and Scan frequency, and filter and filter the data it measures. 7. The cable winding state monitoring system according to claim 1, wherein the data fitting unit performs boundary fitting of the cable reel, and selects the abscissas of several left and right points from the preprocessed data to obtain an arithmetic mean value, as the estimated value of the boundary position; select the scan point data within the fitting boundary, and fit the data by the least squares method with radius constraints; determine the positional relationship between cables and between cables and cable trays according to the fitting results , to obtain the arrangement of the cables. 8 . The cable winding state monitoring system according to claim 7 , wherein the fitting result of the data fitting unit is output on a computer display screen. 9 .

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