基于图像处理的绝热层缠绕胶带位置检测方法

Position detection of rubber tape in heat insulation winding molding based on image processing

本文根据固体火箭发动机绝热层自动纠偏控制系统要求,利用工业相机实时采集缠绕胶带边缘图像,通过图像处理算法实现缠绕胶带位置检测。首先,通过图像预处理技术进行图像降噪,使用最大类间方差法确定Canny算法双阈值并进行边缘提取。然后,根据提取到的边缘点集合进行三次多项式拟合得到边缘线,进而获取缠绕过程中胶带边缘的实际位置。最后,将检测到的实际位置与当前缠绕角对应的基准位置比较得到胶带跑偏量,根据纠偏控制算法将其转化为相应控制量控制执行机构进行纠偏。该方法可应用到固体火箭发动机绝热层缠绕成型自动纠偏控制系统中。

In this paper,according to the requirements of automatic rectification control system for winding molding of heat insulation of solid rocket motor,images of rubber tape edge were captured with industrial camera in real-time,and the images were processed based on image processing algorithm to realize the position detection of rubber tape.Firstly,image preprocessing technology was used for image denoising,the double thresholds of Canny algorithm were determined by the maximum inter-class variance method,and rubber tape edge was extracted.Then the rubber tape edge curve was obtained by cubic polynomial fitting according to the extracted edge pixel point set,and the actual position of the rubber tape edge in the winding molding process was obtained.Finally,the deviation of the rubber tape was obtained by comparing the detected actual position of rubber tape with the reference position of rubber tape according to the current winding angle,according to the rectification control algorithms,deviation was converted into the corresponding control variable to control the actuator for rectification.This position detection method is applied to automatic rectification control system in winding molding of heat insulation of solid rocket motor with excellent effect.