High-speed wire P / F line C-hook tilt detection method and device

Abstract

The present invention discloses a method and device for detecting the inclination of a high-speed wire P / F line C-hook, which relates to the technical field of high-speed wire production lines. The method comprises the following steps: scanning the C-hook with a laser imaging device to obtain point cloud data of the C-hook; dividing the point cloud data of the C-hook to obtain point cloud data of the upper arm of the C-hook; and calculating the inclination of the C-hook through the point cloud data of the upper arm of the C-hook. The present application can efficiently and reliably detect the inclination of the C-hook of the high-speed wire P / F line.

Description

Technical Field

[0001] The present invention relates to the technical field of high-speed wire production lines, and in particular to a method and a device for detecting the inclination of a high-speed wire P / F line C-hook. Background Art

[0002] The C-hook is an important transport device for high-speed wire rod P / F lines. The C-hook on the P / F line receives the coils transported by the coil transport trolley. The C-hook is powered by the drive device and the drive chain. During the transportation process, the coils are cooled, inspected, cut, sampled, compacted and bundled, weighed and labeled. Finally, the coil unloader unloads the coils from the C-hook. After that, the empty C-hook returns to the coil collection station to continue the next cycle.

[0003] Among them, the C-hook on the P / F line may tilt after hanging the coil and during transportation. In serious cases, it will cause the finished coil to fall, which will cause the following problems: First, the C-hook is equipped with a clamp and a balance rail when collecting, trimming, packaging, weighing, hanging and other stations. Due to the cutting of the head and tail or breaking in the middle, it may cause the center of gravity to shift and cause a tipping accident. Once tipping occurs at the above station, it is very likely to damage the clamp and the balance rail. Since the balance rail is welded to the main span beam on the P / F line through the support beam, tipping will cause more beams to be knocked crooked, so a lot of time is required for inspection and maintenance; second, the C-hook tipping over during operation may cause production to be forced to stop, seriously affecting the production rhythm, and even causing production accidents such as the billets being rolled on the rolling line being forced to be scrapped.

[0004] At present, in addition to the traditional manual monitoring solution on the production line, there is also a C-hook tilt detection device. Figure 1As shown, the device is mainly composed of a ribbon 14, a color sensor 13, a clamp 12 and other devices, wherein the ribbon 14 is crescent-shaped, white in the middle, black at the upper and lower ends, and is placed on the side of the C-hook 11; the color sensor is placed toward the ribbon, and can identify the color of the ribbon position at different tilt degrees; the clamp can be used for emergency braking. Therefore, when the C-hook 11 is in a horizontal position, the color facing the color sensor 13 is white, which is a normal state; when the C-hook 11 tilts, the color facing the color sensor 13 turns black, and at this time, an alarm can be sent to the control system to control the clamp to clamp the C-hook 11 or brake in other ways to prevent accidents. There are mature applications for C-hook tilt recognition, which mainly rely on manual inspection methods and are completely based on naked eye observation and the operator's independent judgment. The above scheme has the following disadvantages: first, there are a large number of C-hooks on the P / F line, but this scheme requires the installation of ribbons, color sensors, clamps and other equipment on each C-hook, which has high installation costs and difficult maintenance; second, due to the high temperature of the coils on the C-hooks during the production process, usually higher than one hundred degrees Celsius, the color sensor is a sensitive device, and long-term high-temperature steaming and baking will affect its performance and easily cause damage; third, external factors, such as light brightness, dust, etc., may affect the recognition results. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a method and device for detecting the inclination of the C-hook of the high-speed wire P / F line, which can efficiently and reliably detect the inclination of the C-hook of the high-speed wire P / F line.

[0006] The specific technical solution of the embodiment of the present invention is:

[0007] A high-speed wire P / F line C-hook tilt detection method, the high-speed wire P / F line C-hook tilt detection method comprising the following steps:

[0008] A three-dimensional laser imaging device is used to scan the C-hook to obtain point cloud data of the C-hook;

[0009] Dividing the point cloud data of the C-hook to obtain point cloud data of the upper arm of the C-hook;

[0010] The degree of inclination of the C-hook is calculated through the point cloud data of the upper arm of the C-hook.

[0011] Preferably, the method further comprises the following steps:

[0012] Before dividing the point cloud data of the C-hook, it is identified that the C-hook enters the detection area.

[0013] Preferably, in the step of identifying the C-hook entering the detection area, the spatial position below the C-hook suspension point is defined as the detection area for the C-hook to enter, and if the point cloud data in the detection area exceeds a preset value, it is determined that the C-hook has reached the detection area.

[0014] Preferably, in the step of dividing the point cloud data of the C-hook to obtain the point cloud data of the upper arm of the C-hook, redundant data in front of and behind the C-hook in the point cloud data of the C-hook is deleted according to spatial features, and then a clustering segmentation algorithm is used to divide the remaining point cloud data of the C-hook to segment the point cloud data of the upper arm of the C-hook.

[0015] Preferably, in the step of calculating the degree of inclination of the C-hook through the point cloud data of the upper arm of the C-hook, a linear regression calculation is performed using the least squares method based on the point cloud data of the upper arm of the C-hook to obtain the value of a in y=ax+b when linear, and the degree of inclination of the C-hook is judged based on the value of a.

[0016] Preferably, in the step of determining the degree of inclination of the C-hook based on the value of a, the angle between the upper arm of the C-hook and the horizontal plane is equal to arctan(a).

[0017] Preferably, the step of scanning the C-hook with a three-dimensional laser imaging device to obtain point cloud data of the C-hook includes:

[0018] A three-dimensional laser imaging device is used to scan the C-hook to obtain point cloud data of the C-hook;

[0019] Calibrating the point cloud data of the C-hook specifically includes: rotating the horizontal plane of the point cloud data of the C-hook in the opposite direction by the angle between the three-dimensional laser imaging device and the horizontal plane.

[0020] Preferably, the step of scanning the C-hook with a three-dimensional laser imaging device to obtain point cloud data of the C-hook includes:

[0021] A three-dimensional laser imaging device is used to scan the C-hook to obtain point cloud data of the C-hook;

[0022] The point cloud data of the C-hook is filtered, specifically comprising: calculating the average distance from each point in the point cloud data of the C-hook to its adjacent points, the result obtained is Gaussian distributed, and the points whose average distance is outside a preset standard range are deleted from the point cloud data of the C-hook.

[0023] Preferably, the three-dimensional laser imaging device includes a 3D laser scanner, the scanning direction of which is aligned with the middle position of the upper arm of the C-hook after entering the detection area, and can at least scan the entire upper arm of the C-hook.

[0024] A high-speed wire P / F line C-hook tilt detection device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the following steps are implemented: a high-speed wire P / F line C-hook tilt detection method as described in any one of the above.

[0025] The technical solution of the present invention has the following significant beneficial effects:

[0026] First, the method of identifying the C-hook through point cloud data scanned by a three-dimensional laser imaging device is not affected by the light difference between day and night, nor is it affected by the cleanliness and color difference of the C-hook. It can detect and judge the inclination angle of the C-hook in real time. If it is found that the inclination angle exceeds the safe angle range, the control system and the operator can be notified to take corresponding emergency measures in time, which can effectively prevent the economic losses caused by the occurrence of rollover accidents.

[0027] Second, in the present application, the tilt angle of a row of C-hooks can be detected by using only one three-dimensional laser imaging device, which greatly reduces the cost of detecting the tilt of the C-hooks.

[0028] Third, in the present application, the point cloud data of the C-hook can be filtered to obtain point cloud data that only includes the C-hook and the coil, thereby improving the speed and accuracy of detection; in addition, the point cloud data of the C-hook can also be calibrated to eliminate the angle between the three-dimensional laser imaging device and the horizontal plane when it is installed, thereby improving the accuracy of subsequent detection of the inclination of the C-hook.

[0029] Fourth, in the present application, a clustering segmentation algorithm can be used to divide the remaining point cloud data of the C-hook to segment the point cloud data of the upper arm of the C-hook, and then the inclination degree of the C-hook is obtained through the point cloud data of the upper arm of the C-hook. This can eliminate the interference of the coil received on the lower arm of the C-hook, and the inclination degree of the C-hook can be more accurately calculated only through the point cloud data of the upper arm of the C-hook.

[0030] With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope. Features described and / or shown for one embodiment can be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or replace features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the figures are only schematic, used to help understand the present invention, and are not specifically limited to the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to the teachings of the present invention.

[0032] Figure 1 It is a structural schematic diagram of a C-hook tilt detection device in the prior art;

[0033] Figure 2 This is a flowchart of the steps of the high-speed wire P / F line C-hook tilt detection method in the embodiment of the present application;

[0034] Figure 3 This is a schematic diagram of the detection area of ​​the C-hook upper arm in an embodiment of the present application;

[0035] Figure 4 This is the point cloud data before filtering in the embodiment of the present application;

[0036] Figure 5 The point cloud data after filtering in the embodiment of the present application;

[0037] Figure 6 It is a schematic diagram of the spatial position below the C-hook hanging connection in the embodiment of the present application as the detection area for the C-hook to enter;

[0038] Figure 7 This is a schematic diagram of the point cloud data of the C-hook upper arm in an embodiment of the present application.

[0039] Reference numerals of the above drawings:

[0040] 11. C-hook; 111. upper arm; 12. clamp; 13. color sensor; 14. ribbon. DETAILED DESCRIPTION

[0041] The details of the present invention can be more clearly understood by combining the accompanying drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are only used for the purpose of explaining the present invention and cannot be understood as limiting the present invention in any way. Under the guidance of the present invention, technicians can conceive of any possible variations based on the present invention, which should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as "arranged on" another element, it can be directly on another element or there can also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a central element at the same time. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, or it can be the communication between the two elements, it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation method.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally 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 related listed items.

[0043] In order to efficiently and reliably detect the inclination of the C-hook of the high-speed wire P / F line, a high-speed wire P / F line C-hook inclination detection method is proposed in the present application. The high-speed wire P / F line C-hook inclination detection method can be applied to any high-speed wire P / F line with a C-hook, and is mainly used to achieve efficient and reliable detection of the inclination of the C-hook. Figure 2 Flow chart of the steps of the method for detecting the tilt of the high-speed wire P / F line C-hook in the embodiment of the present application, as shown in FIG. Figure 2 As shown, the high-speed wire P / F line C-hook tilt detection method may include the following steps:

[0044] S101: Scan the C-hook using a three-dimensional laser imaging device to obtain point cloud data of the C-hook.

[0045] A 3D laser imaging device is installed near the location where the C-hook tilt detection is required. The 3D laser imaging device can detect and analyze the shape (geometric structure) and appearance data of objects or environments near the location where the C-hook tilt detection is required by laser. The 3D laser imaging device can be a 3D laser scanner.

[0046] During the installation process, adjust the installation position and installation angle of the 3D laser imaging device, and try to align the scanning direction of the 3D laser imaging device with the middle position of the upper arm of the C-hook, and be able to scan the entire upper arm of the C-hook. Optionally, the 3D laser imaging device can be connected to the tilt detection system through the network to achieve remote data analysis and data, and can also achieve remote control. A 3D laser imaging device can be aimed at only one C-hook. In this case, the 3D laser imaging device can only scan the C-hook. Since there are multiple C-hooks in the production line, and the multiple C-hooks are arranged in a row, a 3D laser imaging device can be at the front and highest point in the middle of the multiple C-hooks, so that all the C-hooks in a row can be scanned, and the degree of tilt of all the C-hooks in a row can be detected later. In general, Figure 3 Schematic diagram of the detection area of ​​the upper arm of the C-hook in the embodiment of the present application. Figure 3 As shown, since a coil is received on the lower arm of the C-hook and the coil blocks most of the lower arm, it is not easy to analyze the inclination of the C-hook through the point cloud data of the lower arm. Therefore, the scanning direction of the three-dimensional laser imaging device is aligned with the middle position of the upper arm of the C-hook after entering the detection area, and at least the entire upper arm of the C-hook can be scanned.

[0047] After the 3D laser imaging device is installed, the device calibration program is started. The 3D laser imaging device is used to scan the C-hook to obtain the point cloud data of the C-hook, and the point cloud data of the C-hook is calibrated, specifically including: rotating the horizontal plane of the point cloud data of the C-hook in the opposite direction by the angle between the 3D laser imaging device and the horizontal plane.

[0048] In the above steps, the system starts to read the point cloud data of the 3D laser imaging device in real time. When a normal C-hook (the C-hook remains horizontal and not tilted) enters the scanning area, the point cloud data at this time is saved and the detection area is set in the point cloud data. The system automatically calculates the angle between the 3D laser imaging device and the horizontal plane of the scanning area and generates corresponding calibration parameters. Afterwards, when the C-hook that really needs to be tilted enters the scanning area, the horizontal plane of the point cloud data of the C-hook scanned at this time is rotated in the opposite direction by the angle between the 3D laser imaging device and the horizontal plane, thereby achieving the goal of horizontal calibration.

[0049] The reason for the above operation is that due to the installation position and angle of the three-dimensional laser imaging device, the point cloud data formed has a certain rotation angle with the world coordinate XYZ, and has a certain angle with the horizontal plane. If the inclination angle calculated directly by the three-dimensional laser imaging device in the later stage does not match the inclination angle of the world coordinate system, it is impossible to accurately determine the inclination of the C-hook. Therefore, it is necessary to calibrate the point cloud data, and retain the ground point cloud data to be calibrated by setting the maximum and minimum values ​​of X, Y, and Z to filter, calculate the angle between this plane and the horizontal plane, and then rotate the horizontal plane of the point cloud data to be detected in the opposite direction by this angle, so that the point cloud data can remain horizontal, thereby preparing for the subsequent detection and determination of the inclination angle.

[0050] In addition, when the C-hook that really needs to be tilted enters the scanning area, the point cloud data of the C-hook scanned at this time can also be filtered. Specifically, it can include: calculating the average distance from each point in the point cloud data of the C-hook to its adjacent points, and the result obtained is Gaussian distribution, and deleting points whose average distance is outside the preset standard range from the point cloud data of the C-hook.

[0051] Figure 4 is the point cloud data before filtering in the embodiment of the present application, such as Figure 4 As shown, since the point cloud data obtained by laser scanning has a large coverage area, it covers all the environments and equipment around the C-hook. It is not necessary to detect all point cloud data, but to perform C-hook tilt detection on the space within a pre-set range. This can improve the speed and accuracy of detection. Therefore, it is necessary to set the area that needs to be detected and analyzed first, that is, set the maximum and minimum values ​​of X, Y, and Z in the space. The system only retains the point cloud data in the area of ​​detection and analysis according to the maximum and minimum value filtering method, in preparation for further filtering. The point cloud data obtained by scanning with a three-dimensional laser imaging device is usually uneven in density. In addition, errors in measurement will produce sparse outliers, thereby generating some noise data. If these noise data are not processed, it will affect the subsequent algorithm effect. The basic idea proposed in this application is to perform a statistical analysis of the neighborhood of each point in the point cloud data and delete those points that do not meet certain standards. In a specific embodiment, the average distance from each point in the point cloud data of the C-hook to its neighboring points is calculated, and the result is a Gaussian distribution whose shape is determined by the mean and the standard deviation. Points whose average distance is outside the preset standard range are defined as outliers and deleted from the point cloud data. Figure 5 The point cloud data after filtering in the embodiment of the present application is as follows: Figure 5 As shown, in this figure, it is clear that only the point cloud data including the C-hook and the coil can be obtained.

[0052] S102: Identify that the C-hook enters the detection area.

[0053] When the tilt detection of the C-hook is really needed, it is necessary to first identify whether the C-hook has entered the detection area. In the step of identifying whether the C-hook has entered the detection area, Figure 6 Schematic diagram of the spatial position below the C-hook connection in the embodiment of the present application as the detection area for the C-hook to enter, as shown in Figure 6 As shown, the spatial position below the C-hook lifting point is defined as the detection area for the C-hook to enter. If the number of point clouds in the detection area exceeds a preset value, it is determined that the C-hook has reached the detection area.

[0054] In order to reduce the amount of calculation, tilt recognition is performed only when the C-hook enters the detection area, so it is necessary to first determine whether the C-hook has entered the detection area. Since the spatial position below the lifting point of the C-hook remains basically unchanged, regardless of whether the C-hook is tilted, the position of the C-hook below the lifting point does not change much. The spatial position of this position can be defined as the detection area for whether the C-hook has arrived, that is, the maximum and minimum values ​​of X, Y, and Z in the space are set. The system only retains the point cloud data within the maximum and minimum range of X, Y, and Z through the maximum and minimum value filtering method, and deletes the point cloud data outside this range. If the point cloud data in this set area exceeds a certain number, it is determined that the C-hook has reached the detection area.

[0055] S103: dividing the point cloud data of the C-hook to obtain point cloud data of the upper arm of the C-hook.

[0056] After determining that the C-hook reaches the detection area, the point cloud data of the C-hook obtained by scanning the C-hook by the three-dimensional laser imaging device is obtained. The point cloud data of the C-hook can be the point cloud data after the filtering and calibration mentioned above.

[0057] like Figure 7 As shown, redundant data in front of and behind the C-hook in the point cloud data of the C-hook are deleted according to spatial features, and then a clustering segmentation algorithm is used to divide the remaining point cloud data of the C-hook to segment the point cloud data of the upper arm of the C-hook.

[0058] S104: Calculate the inclination degree of the C-hook through the point cloud data of the upper arm of the C-hook.

[0059] In this step, the linear regression calculation is performed by the least square method based on the point cloud data of the upper arm of the C-hook to obtain the value of a in y=ax+b when the linear equation is used, and the corresponding value of b can also be obtained. The degree of inclination of the C-hook is determined based on the value of a. The angle between the upper arm of the C-hook and the horizontal plane is equal to arctan(a). If the inclination angle of the C-hook, arctan(a), is greater than the set warning angle, an alarm is issued to prompt the user to handle it to avoid causing greater losses.

[0060] The present application also proposes a high-speed wire P / F line C-hook inclination detection device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the following steps are implemented: a high-speed wire P / F line C-hook inclination detection method as described in any of the above.

[0061] In this embodiment, the memory may include a physical device for storing information, which is usually a device for digitizing information and then storing it in a medium using electrical, magnetic or optical methods. The memory described in this embodiment may also include: a device for storing information using electrical energy, such as RAM, ROM, etc.; a device for storing information using magnetic energy, such as a hard disk, a floppy disk, a magnetic tape, a magnetic core memory, a magnetic bubble memory, a USB flash drive; a device for storing information using optical means, such as a CD or a DVD. Of course, there are other types of memory, such as quantum memory, graphene memory, etc.

[0062] In this embodiment, the processor may be implemented in any suitable manner. For example, the processor may take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, a logic gate, a switch, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller, etc.

[0063] The specific functions implemented by the processor and memory of the server provided in the implementation manner of this specification can be explained in comparison with the aforementioned implementation manner in this specification.

[0064] The high-speed wire P / F line C-hook tilt detection method and device in this application can achieve the following beneficial effects:

[0065] First, the method of identifying the C-hook through point cloud data scanned by a three-dimensional laser imaging device is not affected by the light difference between day and night, nor is it affected by the cleanliness and color difference of the C-hook. It can detect and judge the inclination angle of the C-hook in real time. If it is found that the inclination angle exceeds the safe angle range, the control system and the operator can be notified to take corresponding emergency measures in time, which can effectively prevent the economic losses caused by the occurrence of rollover accidents.

[0066] Second, in the present application, the tilt angle of a row of C-hooks can be detected by using only one three-dimensional laser imaging device, which greatly reduces the cost of detecting the tilt of the C-hooks.

[0067] Third, in the present application, the point cloud data of the C-hook can be filtered to obtain point cloud data that only includes the C-hook and the coil, thereby improving the speed and accuracy of detection; in addition, the point cloud data of the C-hook can also be calibrated to eliminate the angle between the three-dimensional laser imaging device and the horizontal plane when it is installed, thereby improving the accuracy of subsequent detection of the inclination of the C-hook.

[0068] Fourth, in the present application, a clustering segmentation algorithm can be used to divide the remaining point cloud data of the C-hook to segment the point cloud data of the upper arm of the C-hook, and then the inclination degree of the C-hook is obtained through the point cloud data of the upper arm of the C-hook. This can eliminate the interference of the coil received on the lower arm of the C-hook, and the inclination degree of the C-hook can be more accurately calculated only through the point cloud data of the upper arm of the C-hook.

[0069] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of ... " describing a combination should include determined elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combination of elements, ingredients, parts or steps here also contemplates the implementation method consisting essentially of these elements, ingredients, parts or steps. Here, by using the term "may", it is intended to illustrate that any attribute described that "may" includes is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "one" used to describe an element, ingredient, part or step is not said to exclude other elements, ingredients, parts or steps.

[0070] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. The above embodiments are only for illustrating the technical concept and features of the present invention. The purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A method for detecting the inclination of a high-speed wire P / F line C-hook, characterized in that: The high-speed wire P / F line C-hook tilt detection method comprises the following steps: Scanning the C-hook with a three-dimensional laser imaging device to obtain point cloud data of the C-hook includes: scanning the C-hook with a three-dimensional laser imaging device to obtain point cloud data of the C-hook; filtering the point cloud data of the C-hook, specifically including: calculating the average distance from each point in the point cloud data of the C-hook to its adjacent points, the result obtained is Gaussian distribution, and deleting points whose average distance is outside a preset standard range from the point cloud data of the C-hook; The point cloud data of the C-hook is divided to obtain the point cloud data of the upper arm of the C-hook, including: deleting redundant data in front of and behind the C-hook in the point cloud data of the C-hook according to the spatial features, and then dividing the remaining point cloud data of the C-hook by using a clustering segmentation algorithm to divide the point cloud data of the upper arm of the C-hook; The inclination degree of the C-hook is calculated by using the point cloud data of the upper arm of the C-hook; The following steps are also included: Before dividing the point cloud data of the C-hook, identify that the C-hook has entered the detection area. In the step of identifying that the C-hook has entered the detection area, the spatial position below the C-hook's lifting point is defined as the detection area for the C-hook to enter. If the point cloud data in the detection area exceeds a preset value, it is determined that the C-hook has reached the detection area.

2. The high-speed wire P / F line C-hook tilt detection method according to claim 1, characterized in that: In the step of calculating the degree of inclination of the C-hook through the point cloud data of the upper arm of the C-hook, a linear regression calculation is performed using the least squares method based on the point cloud data of the upper arm of the C-hook to obtain the value of a in y=ax+b when linear, and the degree of inclination of the C-hook is judged based on the value of a.

3. The high-speed wire P / F line C-hook tilt detection method according to claim 2, characterized in that: In the step of determining the degree of inclination of the C-hook based on the value of a, the angle between the upper arm of the C-hook and the horizontal plane is equal to arctan(a).

4. The high-speed wire P / F line C-hook tilt detection method according to claim 1, characterized in that: The step of scanning the C-hook with a three-dimensional laser imaging device to obtain point cloud data of the C-hook includes: A three-dimensional laser imaging device is used to scan the C-hook to obtain point cloud data of the C-hook; Calibrating the point cloud data of the C-hook specifically includes: rotating the horizontal plane of the point cloud data of the C-hook in the opposite direction by the angle between the three-dimensional laser imaging device and the horizontal plane.

5. The high-speed wire P / F line C-hook tilt detection method according to claim 1, characterized in that: The three-dimensional laser imaging device includes a 3D laser scanner. The scanning direction of the three-dimensional laser imaging device is aligned with the middle position of the upper arm of the C-hook after entering the detection area, and can at least scan the entire upper arm of the C-hook.

6. A high-speed wire P / F line C-hook tilt detection device, characterized in that: It comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the following steps are implemented: a high-speed wire P / F line C-hook tilt detection method as described in any one of claims 1 to 5.

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