Intelligent cable arranging method and device

Abstract

The invention provides an intelligent cable arranging method and device. The intelligent cable arranging method comprises the steps of obtaining point cloud data of a cable contour; performing noise filtering processing on the point cloud data to obtain processed point cloud data; resampling the processed point cloud data to obtain sampled point cloud data; performing curve fitting on the sampled point cloud data to obtain a surface profile curve of the cable; according to the surface profile curve of the cable, determining the cable arrangement distance of the cable, and judging whether the current cable reaches the edge or not; if the current flat cable arrives at the edge, the direction of the inner edge of the wire coil is determined to be the flat cable direction, and the flat cable mechanism is controlled to reverse when arriving at the reversing point; and if the current winding displacement does not reach the edge, controlling the winding displacement mechanism to perform winding displacement according to the winding displacement distance and the original winding displacement direction. Therefore, the cable arrangement and quality detection can be automatically completed, the work of winding length measurement, production state monitoring and the like can be assisted, manual intervention is not needed in the whole process, the labor cost is well reduced, and the cable arrangement quality is controllable.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing and cable arrangement, and in particular to a method and device for intelligent cable arrangement. Background Art

[0002] In the production process of medium and high voltage cables, conductor cabling, wrapping, cross-linking, sheath welding, sheath extrusion and other tools are all required to wind the cables. When the cables are wound onto the reel, a worker is often required to supervise on site to ensure that the wound cables are evenly distributed. When the cable reaches one end of the reel, it needs to be manually reversed in time.

[0003] However, this traditional cable arrangement method not only has high labor costs, but also has the possibility of misjudgment by the naked eye, making the cable arrangement quality uncontrollable. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a method and device for intelligent cable arrangement.

[0005] In a first aspect, an embodiment of the present application provides a method for intelligently arranging cables, comprising:

[0006] Get point cloud data of cable contour;

[0007] Performing noise filtering on the point cloud data to obtain processed point cloud data;

[0008] Resampling the processed point cloud data to obtain sampled point cloud data;

[0009] Performing curve fitting on the sampled point cloud data to obtain a surface profile curve of the cable;

[0010] Determine the cable arrangement spacing according to the surface profile curve of the cable, and judge whether the current cable arrangement reaches the edge;

[0011] If the current cable arrangement has reached the edge, the direction of the inner edge of the cable drum is determined as the cable arrangement direction, and the cable arrangement mechanism is controlled to reverse when reaching the reversal point;

[0012] If the current wiring has not reached the edge, the wiring arrangement mechanism is controlled to arrange the wiring according to the wiring spacing and the original wiring direction.

[0013] Optionally, obtain point cloud data of the cable contour, including:

[0014] The cable drum is scanned by a line laser camera to obtain point cloud data of the cable profile; wherein the direction of the line laser is parallel to the axial direction of the cable drum.

[0015] Optionally, performing noise filtering on the point cloud data to obtain processed point cloud data includes: performing noise filtering on the point cloud data through a visual recognition analysis controller, and smoothing abnormal values ​​in the point cloud data to obtain processed point cloud data;

[0016] Resampling the processed point cloud data to obtain sampled point cloud data includes: randomly selecting point cloud data obtained from one of the point cloud data obtained from M consecutive scans as the sampled point cloud data; wherein M is a natural number greater than 1;

[0017] Performing curve fitting on the sampled point cloud data to obtain a surface contour curve of the cable includes: performing curve fitting on the sampled point cloud data using a piecewise interpolation algorithm according to the curve characteristics of the cable surface contour to obtain the surface contour curve of the cable.

[0018] Optionally, determining the cable arrangement spacing according to the surface profile curve of the cable includes:

[0019] Method 1: using the least square method to fit each arc of the surface profile curve of the cable to obtain a plurality of circles with a diameter of d;

[0020] In the middle of the line arrangement process, find the two circles corresponding to the edge of the maximum cluster, where the centers of the two circles are O max and O max-1 , O max and O max-1 The value obtained by subtracting d from the spacing L in the X direction is taken as the cable spacing;

[0021] Method 2: Analyze the original point cloud coordinates to obtain the edge points of each cable;

[0022] In the middle of the line arrangement process, find the two circles corresponding to the edge of the maximum cluster height, and use the centroid method to obtain the horizontal coordinate of the centroid of the two circles as X G1 and X G2 , X G1 and X G2 The absolute value of the difference minus d is taken as the cable spacing;

[0023] Method 3: Take the average of the wiring spacings calculated by methods 1 and 2 as the final wiring spacing.

[0024] Optionally, the step of determining whether the current cable arrangement reaches an edge includes: detecting in real time the cable center O of the edge of the maximum cluster height. max Distance to inner edge of the reel l m ; When l is first detected m<d, it is determined that the current cable has reached the edge; where d is the diameter of the cable;

[0025] The reversal point refers to: when the line has reached the edge, or when the line reversal process is satisfied, the center of the circle O of the maximum height cluster is calculated. max The center of the circle with the smallest height cluster O min The height difference Δh in the Z-axis direction, when the height difference Δh>d, it is determined that the reversal point has been reached.

[0026] Optionally, the method further comprises:

[0027] The cable drives the lower tension roller of the cable arrangement mechanism to rotate during the winding process;

[0028] The number of rotations of the tension roller is obtained by a meter counter of the cable arrangement mechanism and converted into the winding length of the cable;

[0029] transmitting the winding length to a control cabinet;

[0030] When the target winding length is reached, the control cabinet issues an alarm.

[0031] In a second aspect, an embodiment of the present application provides a device for intelligent cable arrangement, for implementing any one of the methods in the first aspect, the device comprising: a visual module, a control cabinet, and a cable arrangement mechanism; wherein:

[0032] The visual module is used to obtain point cloud data of the cable contour;

[0033] The control cabinet is used to perform noise filtering on the point cloud data to obtain processed point cloud data; resample the processed point cloud data to obtain sampled point cloud data; perform curve fitting on the sampled point cloud data to obtain a surface contour curve of the cable; determine the cable arrangement spacing of the cable according to the surface contour curve of the cable, and judge whether the current cable arrangement has reached the edge; when the current cable arrangement has reached the edge, determine the direction of the inner edge of the cable drum as the cable arrangement direction, and output a reversing instruction when reaching the reversing point; when the current cable arrangement has not reached the edge, determine whether fine-tuning is required according to the cable arrangement spacing and the original cable arrangement direction, and output a fine-tuning instruction.

[0034] The cable arrangement mechanism is used to receive the reversing or fine-tuning instructions issued by the control cabinet and execute corresponding actions to control the cables to achieve automatic reversing and adjustment of the cable arrangement spacing.

[0035] Optionally, the vision module includes: a camera bracket, a line laser camera and a data cable, wherein the line laser camera is mounted on the camera bracket and sends point cloud data of the cable contour to the control cabinet via the data cable;

[0036] The control cabinet includes: a visual recognition and analysis controller and a display. The visual recognition and analysis controller receives the point cloud data of the cable contour transmitted by the line laser camera, and displays the surface contour curve of the cable and the cable arrangement spacing on the display.

[0037] Optionally, the camera bracket includes: a camera bracket base, a bracket vertical rod and a bracket cross rod, the camera bracket base is fixed to the ground by bolts, the bracket vertical rod is fastened to the camera bracket base by fastening screws, the bracket vertical rod can move up and down in the vertical direction, one end of the bracket cross rod is connected to the bracket vertical rod through a sleeve rod, the bracket cross rod can be extended and retracted in the horizontal direction, and the other end of the bracket cross rod is connected to a transverse rotation fixture and a longitudinal rotation fixture, wherein the longitudinal rotation fixture is used to install a line laser camera.

[0038] Optionally, the cable arrangement mechanism includes: a fixed base, a guide rail, a slide plate, a tension roller, a tension roller bracket, a meter, a limit structure, a servo motor, and a ring-shaped quality inspection frame, wherein:

[0039] The fixed base is fixed to the ground by bolts, the guide rail is fixedly mounted above the fixed base and is connected to the servo motor, and the servo motor is used to drive the guide rail to reciprocate; the slide plate is connected to the guide rail by a slider, and the slide plate moves with the movement of the guide rail, a tension roller bracket is fixed to one end of the slide plate, and a lower tension roller and an upper tension roller are respectively connected and installed on the tension roller bracket through a lower threaded cross bar and an upper threaded cross bar; a space for the cable to pass through is formed between the lower tension roller and the upper tension roller; the lower threaded cross bar is slidably connected to the tension roller bracket, and is connected to the slide plate through two springs; a meter is installed on the bracket on one side of the lower tension roller, and a limiting structure is longitudinally fixed to the other end of the slide plate;

[0040] The visual recognition analysis controller is connected to the servo motor;

[0041] The annular quality inspection frame is located between the tension roller bracket and the limiting structure and is fixed on the slide plate, and is used for installing the annular camera structure.

[0042] In a third aspect, an embodiment of the present application provides a device for intelligent cable arrangement, comprising: a processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to:

[0043] Execute the steps of the method for intelligent cable arrangement as described in any one of the first aspects.

[0044] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a program, wherein when the program is executed, the steps of the method for intelligent cable arrangement as described in any one of the first aspects are implemented.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] In the present application, the point cloud data of the cable contour is obtained; the point cloud data is subjected to noise filtering to obtain the processed point cloud data; the processed point cloud data is resampled to obtain the sampled point cloud data; the sampled point cloud data is subjected to curve fitting to obtain the surface contour curve of the cable; the cable arrangement spacing is determined according to the surface contour curve of the cable, and it is judged whether the current cable arrangement has reached the edge; if the current cable arrangement has reached the edge, the direction of the inner edge of the cable drum is determined as the cable arrangement direction, and the cable arrangement mechanism is controlled to change direction when reaching the reversal point; if the current cable arrangement has not reached the edge, the cable arrangement mechanism is controlled to arrange the cable according to the cable arrangement spacing and the original cable arrangement direction. In this way, the cable arrangement and quality inspection can be automatically completed, and the winding length measurement, production status monitoring and other tasks can be assisted. The whole process does not require manual intervention, which greatly reduces the labor cost and makes the cable arrangement quality controllable. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0048] Figure 1 A flow chart of a method for intelligent cable arrangement provided in an embodiment of the present application;

[0049] Figure 2 A three-dimensional dot map obtained by a line laser camera provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of the wiring to edge state provided in an embodiment of the present application;

[0051] Figure 4 A schematic diagram of a state where the cable arrangement provided in an embodiment of the present application has not reached the edge;

[0052] Figure 5 A flow chart of another method for intelligent cable arrangement provided in an embodiment of the present application;

[0053] Figure 6 A schematic diagram of the structure of a device for intelligent cable arrangement provided in an embodiment of the present application;

[0054] Figure 7 A schematic diagram of the structure of a camera bracket provided in an embodiment of the present application;

[0055] Figure 8 A schematic diagram of the structure of the tension roller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0059] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0060] The following specific embodiments are used to describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0061] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0062] In an exemplary embodiment, Figure 1 As shown, a method for intelligent cable arrangement is provided. The method in this embodiment may include the following steps:

[0063] Step S101: Acquire point cloud data of cable contours.

[0064] For example, the cable drum can be scanned by a line laser camera to obtain point cloud data of the cable profile, wherein the direction of the line laser is parallel to the axial direction of the cable drum. Thus, the line laser camera can be used to perform online analysis of the spacing of the cable arrangement.

[0065] In this embodiment, a line laser camera is used to shoot the cable drum, and the direction of the line laser is parallel to the axial direction of the cable drum. The line laser camera scans the outline of the cable 1000 times per second, and transmits the spatial point cloud data [(x1, y1, z1), (x2, y2, z2), (x3, y3, z3) ... (xn, yn, zn)] obtained from each scan to the visual recognition analysis controller.

[0066] Step S102: performing noise filtering processing on the point cloud data to obtain processed point cloud data.

[0067] Exemplarily, performing noise filtering on the point cloud data to obtain processed point cloud data includes: performing noise filtering on the point cloud data through a visual recognition analysis controller, and smoothing outliers in the point cloud data to obtain processed point cloud data.

[0068] In this embodiment, the acquired point cloud data needs to be filtered because of some noise influence in the sampling process. A conventional Gaussian filtering algorithm can be used to smooth out the abnormal values, which can retain more surface details.

[0069] Step S103: resample the processed point cloud data to obtain sampled point cloud data.

[0070] Exemplarily, the processed point cloud data is resampled to obtain sampled point cloud data, including: randomly selecting point cloud data obtained from one of the point cloud data obtained by consecutive M scans as the sampled point cloud data; wherein M is a natural number greater than 1.

[0071] In this embodiment, in order to improve the validity of the sampled data, one result can be randomly selected from every 100 consecutive scan results for spacing analysis, and finally 10 contour lines are obtained from the scan results of 1000 times per second for spacing analysis.

[0072] Step S104: performing curve fitting on the sampled point cloud data to obtain a surface profile curve of the cable.

[0073] Exemplarily, curve fitting is performed on the sampled point cloud data to obtain the surface contour curve of the cable, including: according to the curve characteristics of the cable surface contour, a piecewise interpolation algorithm is used to perform curve fitting on the sampled point cloud data to obtain the surface contour curve of the cable.

[0074] In this embodiment, according to the curve characteristics of the cable surface profile, a segmented interpolation algorithm is used to perform curve fitting on the point cloud data to obtain the surface profile curve of the cable.

[0075] For example, Figure 2 As shown, it is a three-dimensional dot map obtained by the line laser camera. Figure 2 The surface contour of the cable can be seen more clearly.

[0076] Step S105, determining the cable arrangement spacing according to the surface contour curve of the cable, and judging whether the current cable arrangement reaches the edge, if so, executing step S106; if not, executing step S107.

[0077] In this embodiment, the cable spacing can be calculated by using the center of circle fitting method and the center of gravity method, and the average value is taken as the final cable arrangement spacing.

[0078] For example, the cable spacing may be determined in the following manner:

[0079] Method 1, fitting circle center method: the least square method is used to fit each arc of the surface contour curve of the cable to obtain a number of circles with a diameter of d; in the middle of the cable arrangement process, two circles corresponding to the edges of the maximum clustering height are found, where the centers of the two circles are O max and O max-1 , O max and O max-1 The value obtained by subtracting d from the spacing L in the X direction is the wiring spacing of the cable.

[0080] In this embodiment, first, each arc is fitted by the least square method to obtain a number of circles with a diameter of d and the center of the circle is O i (x i ,y i ,z i ). A clustering analysis of the height of the center of each circle in the Z-axis direction is performed to obtain two or one height clusters. When two height clusters are obtained and the number of circles in the cluster with the largest height > 1, it is determined as the intermediate process of wire arrangement. When two height clusters are obtained and the number of circles in the cluster with the largest height = 1, it is determined as the wire arrangement commutation process. In the state of the intermediate process of wire arrangement, find two circles at the edge of the cluster with the largest height, and take the distance L between their centers O max and O max-1 in the X direction, so as to obtain the wire arrangement pitch Δl yx of the wire obtained by the fitting center method = L - d.

[0081] Method 2, centroid method: For the original point cloud coordinates, analyze and obtain the edge points of each wire; in the state of the intermediate process of wire arrangement, find two circles corresponding to the edge of the cluster with the largest height, and use the centroid method to obtain the centroid abscissas of the two circles as X G1 and X G2 . Take the value obtained by subtracting d from the absolute value of the difference between X G1 and X G2 as the wire arrangement pitch of the wire.

[0082] In this embodiment, for the original point cloud coordinates, analyze and obtain the edge points of each wire, that is, the minimum value position of the Z-axis, so as to limit the X-axis range of a single wire. Calculate the centroid coordinates in the X direction by the centroid method to obtain the centroid abscissa:

[0083]

[0084] In the state of the intermediate process of wire arrangement, find two circles at the edge of the cluster with the largest height, and use the centroid method to obtain their centroid abscissas X G1 and X G2 , so as to calculate the wire arrangement pitch Δl zx =|X G1 -X G2 |-d.

[0085] Method 3: Take the average value of the wire arrangement pitches calculated by Method 1 and Method 2 as the final wire arrangement pitch.

[0086] In this embodiment, determine the real-time pitch Δl i of the wire in the single contour line after resampling = (Δl yx +Δl zx ) / 2. Where Δl iis the real-time spacing of the i-th cable, i=1,2,3...10. The average real-time spacing is:

[0087]

[0088] For example, the cable center O of the maximum cluster edge can be detected in real time. max Distance to inner edge of the reel l m ; When l is first detected m <d, it is determined that the current cable has reached the edge; where d is the diameter of the cable. The reversal point refers to: when the cable has reached the edge, or when the cable reversal process is satisfied, the center O of the maximum cluster height is calculated. max The center of the circle with the smallest height cluster O min The height difference Δh in the Z-axis direction, when the height difference Δh>d, it is determined that the reversal point has been reached.

[0089] In this embodiment, while calculating the cable spacing, the cable center O of the maximum cluster edge is detected in real time. max Distance to inner edge of the reel l m When the first detection of l m When <d, the current state is determined to enter the line arrangement to the edge state. At this time, the direction of the inner edge of the wire reel is determined to be the line arrangement direction, and the line will be changed in the opposite direction.

[0090] In this embodiment, regarding the reversal judgment, in the line-to-edge state, the real-time clustering state, when the line reversal process is met, starts to calculate the center of the circle with the maximum height cluster O max The center of the circle with the smallest height cluster O min The height difference in the Z-axis direction is Δh = (Z Omax -Z Omin )>d, it is determined that the current point is the wiring reversal point. Omin The Z coordinate value of the center of the circle closest to the cluster with the largest height in the cluster with the smallest height is detected. Omax It is the value of the Z coordinate of the center of the circle closest to the cluster with the largest height detected.

[0091] In this embodiment, in the calculation method of the cable spacing, the average value of the two results of the fitting circle center method and the center of gravity method is adopted to reduce the error caused by the inaccurate measurement result and make the calculation of the spacing more accurate. In addition, a clear calculation amount is used to determine whether the cable has entered the edge state and reached the precise reversal point, so that the timing of the cable arrangement action is more accurate.

[0092] Step S106: determine the direction of the inner edge of the cable drum as the cable arrangement direction, and control the cable arrangement mechanism to reverse when reaching the reversal point.

[0093] For example, Figure 3 As shown, when it is determined that the edge has been reached, the direction of the inner edge of the wire drum is used as the wire arrangement direction, and the direction is changed when the reversal condition is met.

[0094] Step S107, controlling the cable arrangement mechanism to arrange the cables according to the cable arrangement spacing and the original cable arrangement direction.

[0095] For example, Figure 4 As shown, when it is determined that the edge has not been reached, the wiring continues to be arranged in the original wiring direction.

[0096] In this embodiment, in the intermediate process state of the wiring, the visual recognition and analysis controller will calculate the real-time wiring spacing Δl and transmit it to the PLC controller, and compare it with the set artificial experience limit, and output the corresponding instructions to the servo motor to control the wiring device to act. In the state of wiring to the edge, the visual recognition and analysis controller will output the "to the edge" status code and the wiring direction to the PLC controller, and the controller will stop adjusting the wiring spacing in this state. When the wiring reaches the reversing point, the visual recognition and analysis controller will output the "reversing" status code and the direction to be converted to the PLC controller, and output the corresponding instructions to the servo motor until the reversing operation is completed. Therefore, the wiring control can be performed through the combination of PLC and servo motor.

[0097] Exemplarily, the above method may further include the following steps:

[0098] The cable drives the lower tension roller of the cable arrangement mechanism to rotate during the winding process;

[0099] The number of rotations of the tension roller is obtained by a meter counter of the cable arrangement mechanism and converted into the winding length of the cable;

[0100] transmitting the winding length to a control cabinet;

[0101] When the target winding length is reached, the control cabinet issues an alarm.

[0102] The above steps in this embodiment can be integrated and executed before or after any step of step S101 to step S107. There is no requirement on the execution order.

[0103] In this embodiment, during the winding process, the cable drives the lower tension roller to rotate, and the meter obtains the number of rotations of the lower tension roller through photoelectric sensing, thereby calculating the winding length of the cable and transmitting it to the control cabinet. When the planned winding length is reached, an alarm is issued.

[0104] In this embodiment, the point cloud data of the cable contour is obtained; the point cloud data is subjected to noise filtering to obtain the processed point cloud data; the processed point cloud data is resampled to obtain the sampled point cloud data; the sampled point cloud data is subjected to curve fitting to obtain the surface contour curve of the cable; the cable arrangement spacing is determined according to the surface contour curve of the cable, and it is judged whether the current cable arrangement has reached the edge; if the current cable arrangement has reached the edge, the direction of the inner edge of the cable drum is determined as the cable arrangement direction, and the cable arrangement mechanism is controlled to change direction when reaching the reversal point; if the current cable arrangement has not reached the edge, the cable arrangement mechanism is controlled to arrange the cable according to the cable arrangement spacing and the original cable arrangement direction. In this way, the cable arrangement and quality inspection can be automatically completed, and the winding length measurement, production status monitoring and other tasks can be assisted. The whole process does not require manual intervention, which greatly reduces the labor cost and makes the cable arrangement quality controllable.

[0105] In another exemplary embodiment, Figure 5 As shown, a method for intelligent cable arrangement is provided, and the method in this embodiment may include: first, a line laser camera is used to capture point cloud data; then, the acquired point cloud data is subjected to noise filtering, point cloud data resampling, point cloud curve fitting and other processing; it is determined whether the edge is reached, and if it has reached the edge, whether the reversing point is reached, and if it has reached the reversing point, the reversing instruction and direction are transmitted to the control system, and if it has not reached the reversing point, the line laser camera is continued to capture point cloud data; if it has not reached the edge, the shortest distance method + center of gravity distance method are used to calculate the cable spacing, and the cable spacing and movement direction are transmitted to the control system.

[0106] In an exemplary embodiment, a device for intelligent cable arrangement is provided, the device comprising: a vision module, a control cabinet, and a cable arrangement mechanism; wherein: the vision module is used to obtain point cloud data of the cable contour; the control cabinet is used to perform noise filtering on the point cloud data to obtain processed point cloud data; the processed point cloud data is resampled to obtain sampled point cloud data; curve fitting is performed on the sampled point cloud data to obtain a surface contour curve of the cable; the cable arrangement spacing of the cable is determined according to the surface contour curve of the cable, and it is judged whether the current cable arrangement has reached the edge; the cable arrangement mechanism is used to determine the direction of the inner edge of the cable drum as the cable arrangement direction when the current cable arrangement has reached the edge, and to reverse when reaching the reversal point; when the current cable arrangement has not yet reached the edge, the cable arrangement is performed according to the cable arrangement spacing and the original cable arrangement direction.

[0107] Exemplarily, the vision module includes: a camera bracket, a line laser camera and a data cable, wherein the line laser camera is mounted on the camera bracket and sends point cloud data of the cable contour to a control cabinet via the data cable; the control cabinet includes: a visual recognition and analysis controller and a display, wherein the visual recognition and analysis controller receives the point cloud data of the cable contour transmitted by the line laser camera, and displays the surface contour curve of the cable and the cable arrangement spacing on the display.

[0108] Exemplarily, the camera bracket includes: a camera bracket base, a bracket vertical rod and a bracket cross rod, the camera bracket base is fixed to the ground by bolts, the bracket vertical rod is fastened to the camera bracket base by fastening screws, the bracket vertical rod can move up and down in the vertical direction, one end of the bracket cross rod is connected to the bracket vertical rod by a sleeve rod, the bracket cross rod can be extended and retracted in the horizontal direction, and the other end of the bracket cross rod is connected to a transverse rotation fixture and a longitudinal rotation fixture, wherein the longitudinal rotation fixture is used to install a line laser camera.

[0109] Exemplarily, the cable arrangement mechanism includes: a fixed base, a guide rail, a slide plate, a tension roller, a tension roller bracket, a meter, a limit structure, a servo motor, and a ring-shaped quality inspection frame, wherein: the fixed base is fixed to the ground by bolts, the guide rail is fixedly mounted above the fixed base and connected to the servo motor, and the servo motor is used to drive the guide rail to reciprocate; the slide plate is connected to the guide rail through a slider, and the slide plate moves with the movement of the guide rail, and a tension roller bracket is fixed to one end of the slide plate, and the tension roller bracket is connected to the lower threaded cross bar The lower tension roller and the upper tension roller are respectively connected to the upper threaded cross bar for installation; a space for the cable to pass through is formed between the lower tension roller and the upper tension roller; the lower threaded cross bar is slidably connected to the tension roller bracket, and is connected to the skateboard through two springs; a meter is installed on the bracket on one side of the lower tension roller, and a limiting structure is longitudinally fixed at the other end of the skateboard; the visual recognition and analysis controller is connected to the servo motor; the annular quality inspection frame is located between the tension roller bracket and the limiting structure, and is fixed on the skateboard, and is used to install the annular camera structure.

[0110] For example, Figure 6As shown, a device for intelligent cable arrangement is provided, which may include: a camera bracket 1, a line laser camera 2, a data line 3, a control cabinet 4, a visual recognition and analysis controller 5, a display 6, a fixed base 7, a guide rail 8, a slide plate 9, a tension roller 10, a tension roller bracket 11, a meter 12, a limit structure 13, a servo motor 14, and a ring quality inspection frame 15. Among them, the line laser camera 2 is connected to the visual recognition and analysis controller 5 through the data line 3, and the visual recognition and analysis controller 5 is connected to the display 6. The fixed base 7 is fixed to the ground by bolts, and the guide rail 8 is fixedly mounted above the fixed base 7 and connected to the servo motor 14, which can drive the guide rail 8 to reciprocate. The slide plate 9 is connected to the guide rail 8 through a slider and can move with the movement of the guide rail 8.

[0111] For example, Figure 7 As shown, a camera bracket is provided, which may include: a camera bracket base 1-1, a bracket vertical rod 1-2, a bracket cross bar 1-3, a horizontal rotation fixer 1-4, and a longitudinal rotation fixer 1-5. The camera bracket base 1-1 is fixed to the ground by bolts. The bracket vertical rod 1-2 is connected to the camera bracket base 1-1 by fastening screws and can move up and down. One end of the bracket cross bar 1-3 is connected to the bracket vertical rod 1-2 by a sleeve rod and can be laterally extended and retracted. The other end of the cross bar is connected to the horizontal rotation fixer 1-4 and the longitudinal rotation fixer 1-5. The line laser camera 2 is installed on the longitudinal rotation fixer 1-5.

[0112] For example, Figure 8 As shown, a tension roller structure is provided, which may include: a slide plate 9, a lower tension roller 10-1, an upper tension roller 10-2, a lower threaded cross bar 11-1, an upper threaded cross bar 11-2, a spring 11-3, and a meter 12.

[0113] Combination Figure 6 to Figure 8 A tension roller bracket 11 is fixed at one end of the skateboard 9, and a lower tension roller 10-1 and an upper tension roller 10-2 are respectively connected and installed on the bracket 11 through a lower threaded cross bar 11-1 and an upper threaded cross bar 11-2. A space for the cable to pass through is formed between the lower tension roller 10-1 and the upper tension roller 10-2. The lower threaded cross bar 11-1 is slidably connected to the tension roller bracket 11, can move up and down, and is connected to the skateboard 9 through two springs 11-3. A meter 12 is installed on the bracket on one side of the lower tension roller 10-1. A limiting structure 13 is longitudinally fixed at the other end of the skateboard 9. The visual recognition analysis controller 5 is connected to the servo motor 14. The annular quality inspection frame 15 is located between the tension roller bracket 11 and the limiting structure 13, and is fixed on the skateboard for installing the annular camera structure.

[0114] In this embodiment, one end of the cable passes through the space between the two tension rollers and is close to the roller wall. The size of the space between the two tension rollers will automatically adapt to the change of the cable diameter through the expansion and contraction of the spring. After being restricted by the tension roller, the cable will remain in a tensioned state and will not shake too much without being damaged, thereby improving the stability of the subsequent cable spacing measurement and cable arrangement process.

[0115] In this embodiment, the cable passes through the tension roller, passes through the annular quality inspection frame and the limit structure, and is fixed on the cable drum before the cable winding begins. The cable is restricted by the tension roller and then wound onto the cable drum, which ensures that the cable between the roller and the cable drum has a certain tension force. On the premise that the cable is not damaged, the shaking of the cable during the winding process is reduced, thereby improving the winding quality.

[0116] In this embodiment, the line laser camera emits a line laser to hit the surface of the cable on the cable drum, and receives the reflected light for analysis. The laser is parallel to the axial direction of the cable drum. The line laser camera transmits the spatial lattice data of the cable surface obtained by analysis to the visual recognition analysis controller in real time through the data line. The visual recognition analysis controller draws the contour of the cable surface by analyzing the spatial lattice data, and obtains the spacing information of the cable through the fitting algorithm. By comparing the size relationship between the spacing and the theoretical optimal spacing, the action that the cable arrangement mechanism should perform is analyzed, and the corresponding control instructions are output to the servo motor through the PLC. The servo motor adjusts the speed according to the obtained instructions, thereby controlling the sliding speed of the slide on the guide rail. During the sliding process of the slide, the limit mechanism drives the cable to continuously move to the winding position on the cable drum. This adjustment process is completed once per second, thereby ensuring that the spacing of the cable is close to the theoretical optimal spacing. When the visual recognition analysis controller analyzes that the cable is close to the edge of the cable drum, and the distance between the cable and the edge of the cable drum is less than the cable diameter, it is determined that the winding needs to be reversed, and the reversing control signal is output to the servo motor through the PLC. The servo motor immediately rotates in the opposite direction, so that the cable winding can be reversed left and right.

[0117] In addition, an embodiment of the present application also provides a device for intelligent cable arrangement, including: a processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to: execute the steps of the above-mentioned method for intelligent cable arrangement.

[0118] In addition, an embodiment of the present application provides a computer-readable storage medium for storing a program, and when the program is executed, the steps of the above-mentioned cable intelligent wiring method are implemented.

[0119] It should be noted that those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "platform" herein.

[0120] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When at least one processor of a user device executes the computer-executable instructions, the user device executes the above-mentioned various possible methods. Among them, the computer-readable medium includes a computer storage medium and a communication medium, wherein the communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also exist in a communication device as discrete components.

[0121] The present application also provides a program product, which includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium. At least one processor executes the computer program so that the server implements any method of the above-mentioned embodiments of the present invention.

[0122] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0123] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A method for intelligent cable arrangement, characterized in that: include: Get point cloud data of cable contour; Performing noise filtering on the point cloud data to obtain processed point cloud data; Resampling the processed point cloud data to obtain sampled point cloud data; Performing curve fitting on the sampled point cloud data to obtain a surface profile curve of the cable; Determine the cable arrangement spacing according to the surface profile curve of the cable, and judge whether the current cable arrangement reaches the edge; If the current cable arrangement has reached the edge, the direction of the inner edge of the cable drum is determined as the cable arrangement direction, and the cable arrangement mechanism is controlled to reverse when reaching the reversal point; If the current wiring has not reached the edge, the wiring arrangement mechanism is controlled to arrange the wiring according to the wiring spacing and the original wiring direction.

2. The method for intelligent cable arrangement according to claim 1, characterized in that: Get point cloud data of cable contours, including: The cable drum is scanned by a line laser camera to obtain point cloud data of the cable profile; wherein the direction of the line laser is parallel to the axial direction of the cable drum.

3. The method for intelligent cable arrangement according to claim 1, characterized in that: Performing noise filtering on the point cloud data to obtain processed point cloud data, including: performing noise filtering on the point cloud data through a visual recognition analysis controller, and smoothing outliers in the point cloud data to obtain processed point cloud data; Resampling the processed point cloud data to obtain sampled point cloud data includes: randomly selecting point cloud data obtained from one of the point cloud data obtained from M consecutive scans as the sampled point cloud data; wherein M is a natural number greater than 1; Performing curve fitting on the sampled point cloud data to obtain a surface contour curve of the cable includes: performing curve fitting on the sampled point cloud data using a piecewise interpolation algorithm according to the curve characteristics of the cable surface contour to obtain the surface contour curve of the cable.

4. The method for intelligent cable arrangement according to any one of claims 1 to 3, characterized in that: Determining the cable arrangement spacing according to the surface profile curve of the cable includes: Method 1: using the least square method to fit each arc of the surface profile curve of the cable to obtain a plurality of circles with a diameter of d; In the middle of the line arrangement process, find the two circles corresponding to the edge of the maximum cluster, where the centers of the two circles are O max and O max-1 , O max and O max-1 The value obtained by subtracting d from the spacing L in the X direction is taken as the cable spacing; Method 2: Analyze the original point cloud coordinates to obtain the edge points of each cable; In the middle of the line arrangement process, find the two circles corresponding to the edge of the maximum cluster height, and use the centroid method to obtain the horizontal coordinate of the centroid of the two circles as X G1 and X G2 , X G1 and X G2 The absolute value of the difference minus d is taken as the cable spacing; Method 3: Take the average of the wiring spacings calculated by methods 1 and 2 as the final wiring spacing.

5. The method for intelligent cable arrangement according to any one of claims 1 to 3, characterized in that: The method of judging whether the current cable arrangement reaches the edge includes: detecting the cable circle center O of the maximum cluster edge in real time max Distance to inner edge of the reel l m ; When l is first detected m <d, it is determined that the current cable has reached the edge; where d is the diameter of the cable; The reversal point refers to: when the line has reached the edge, or when the line reversal process is satisfied, the center of the circle O of the maximum height cluster is calculated. max The center of the circle with the smallest height cluster O min The height difference Δh in the Z-axis direction, when the height difference Δh>d, it is determined that the reversal point has been reached.

6. The method for intelligent cable arrangement according to any one of claims 1 to 3, characterized in that: The method further comprises: The cable drives the lower tension roller of the cable arrangement mechanism to rotate during the winding process; The number of rotations of the tension roller is obtained by a meter counter of the cable arrangement mechanism and converted into the winding length of the cable; transmitting the winding length to a control cabinet; When the target winding length is reached, the control cabinet issues an alarm.

7. A device for intelligent cable arrangement, characterized in that: Used to implement the method described in any one of claims 1 to 6, the device comprises: a visual module, a control cabinet, and a wiring mechanism; wherein: The visual module is used to obtain point cloud data of the cable contour; The control cabinet is used to perform noise filtering on the point cloud data to obtain processed point cloud data; resample the processed point cloud data to obtain sampled point cloud data; perform curve fitting on the sampled point cloud data to obtain a surface contour curve of the cable; determine the cable arrangement spacing of the cable according to the surface contour curve of the cable, and judge whether the current cable arrangement has reached the edge; when the current cable arrangement has reached the edge, determine the direction of the inner edge of the cable drum as the cable arrangement direction, and output a reversing instruction when reaching the reversing point; when the current cable arrangement has not reached the edge, determine whether fine-tuning is required according to the cable arrangement spacing and the original cable arrangement direction, and output a fine-tuning instruction; The cable arrangement mechanism is used to receive the reversing or fine-tuning instructions issued by the control cabinet and execute corresponding actions to control the cables to achieve automatic reversing and adjustment of the cable arrangement spacing.

8. The intelligent cable arrangement device according to claim 7, characterized in that: The visual module includes: a camera bracket, a line laser camera and a data cable, wherein the line laser camera is mounted on the camera bracket and sends point cloud data of the cable contour to the control cabinet via the data cable; The control cabinet includes: a visual recognition and analysis controller and a display. The visual recognition and analysis controller receives the point cloud data of the cable contour transmitted by the line laser camera, and displays the surface contour curve of the cable and the cable arrangement spacing on the display.

9. The intelligent cable arrangement device according to claim 8, characterized in that: The camera bracket includes: a camera bracket base, a bracket vertical rod and a bracket cross rod, the camera bracket base is fixed to the ground by bolts, the bracket vertical rod is fastened to the camera bracket base by fastening screws, the bracket vertical rod can move up and down in the vertical direction, one end of the bracket cross rod is connected to the bracket vertical rod by a sleeve rod, the bracket cross rod can be extended and retracted in the horizontal direction, and the other end of the bracket cross rod is connected to a horizontal rotation fixer and a longitudinal rotation fixer, wherein the longitudinal rotation fixer is used to install a line laser camera.

10. The intelligent cable arrangement device according to claim 8, characterized in that: The cable arrangement mechanism includes: a fixed base, a guide rail, a slide plate, a tension roller, a tension roller bracket, a meter, a limit structure, a servo motor, and a ring-shaped quality inspection frame, wherein: The fixed base is fixed to the ground by bolts, the guide rail is fixedly mounted above the fixed base and is connected to the servo motor, and the servo motor is used to drive the guide rail to reciprocate; the slide plate is connected to the guide rail by a slider, and the slide plate moves with the movement of the guide rail, a tension roller bracket is fixed to one end of the slide plate, and a lower tension roller and an upper tension roller are respectively connected and installed on the tension roller bracket through a lower threaded cross bar and an upper threaded cross bar; a space for the cable to pass through is formed between the lower tension roller and the upper tension roller; the lower threaded cross bar is slidably connected to the tension roller bracket, and is connected to the slide plate through two springs; a meter is installed on the bracket on one side of the lower tension roller, and a limiting structure is longitudinally fixed to the other end of the slide plate; The visual recognition analysis controller is connected to the servo motor; The annular quality inspection frame is located between the tension roller bracket and the limiting structure and is fixed on the slide plate, and is used for installing the annular camera structure.

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