A cable positioning onboarding device, method and apparatus based on image data

Abstract

The application discloses a kind of cable positioning network entry device based on image data, method and equipment, and the application belongs to the technical field of electric power facilities.The device comprises: image acquisition module, for obtaining the cable image of already erected cable;Calibration module is used to calibrate target cable in cable image, and determines the pixel position information of target cable according to cable image;Solving module is used to determine the spatial position information of target cable according to the pose data of image acquisition module and pixel position information;Data write-in module is used to obtain the spatial position information of target cable, and compared with the target cable data that has been recorded, if comparison is passed, then write-in operation is executed to the spatial position information of target cable.This technical solution can determine the position of cable by collecting the image of already erected cable, and record the information data of cable into the specified system, improve the convenience and accuracy of cable network entry.

Description

Technical Field

[0001] This application belongs to the field of power facility technology, and specifically relates to a cable positioning and network access device, method and equipment based on image data. Background Technology

[0002] With the development of technology, cables, as the main tool for transmitting electrical energy, are increasingly widely used. In the past, cable laying was not connected to the network, which had many drawbacks when obtaining information on laid cables. Retrieving cable information and checking cable routes were cumbersome and inefficient.

[0003] Currently, cable installation in the network is mostly done manually, which is not only complex but also prone to errors. Therefore, how to achieve simple and effective cable positioning and installation is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a cable positioning and network entry device, method, and equipment based on image data. By acquiring images of already installed cables, the spatial location of the cables can be determined, and relevant cable information can be entered into a specified system, thereby improving the convenience and accuracy of cable network entry.

[0005] In a first aspect, embodiments of this application provide a cable positioning and network entry device based on image data, the device comprising:

[0006] The image acquisition module is used to acquire images of the laid cables;

[0007] A calibration module is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image.

[0008] The calculation module is used to determine the spatial position information of the target cable based on the pose data of the image acquisition module and the pixel position information;

[0009] The data writing module is used to obtain the spatial location information of the target cable and compare it with the recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written.

[0010] Furthermore, the device also includes:

[0011] The motion control module is used to determine the motion control parameters of the robot equipped with the image acquisition module based on the cable image, so that the target cable remains in the cable image as the robot moves from the first acquisition point to the second acquisition point.

[0012] Furthermore, the calibration module is specifically used for:

[0013] In response to a calibration operation received by the display device, the target cable is determined;

[0014] Obtain the segment end trend of the target cable within the calibrated segment corresponding to the calibration operation in the cable image;

[0015] The target cable in the cable image is fully calibrated based on the trend at the end of the segment.

[0016] Furthermore, the device also includes:

[0017] A specific information recognition module is used to identify whether the target cable has specific information in the cable image; wherein, the specific information includes cross position information and corner position information;

[0018] The calibration module is also specifically used for:

[0019] When specific information is available, the cable calibration model is retrieved, and the cable image containing the specific information and the calibrated segments of the target cable in the cable image are input into the cable calibration model to perform complete calibration of the target cable in the cable image based on the cable calibration model.

[0020] Furthermore, the solution module is specifically used for:

[0021] Obtain the parameter data of the image acquisition module;

[0022] Based on the parameter data and pose data of the image acquisition module, as well as the pixel position information of the target cable, the spatial position information of the target cable is calculated.

[0023] Furthermore, the image acquisition module is also specifically used for:

[0024] Obtain an image of the cable tray pole for the target cable;

[0025] Accordingly, the solution module is also specifically used for:

[0026] Based on the parameter data and pose data of the image acquisition module, as well as the pixel position information of the cable support pole in the image, the spatial position information of the cable support pole is calculated.

[0027] The spatial location information of the target cable is verified based on the spatial location information of the cable support pole.

[0028] Secondly, embodiments of this application provide a cable positioning and network entry method based on image data, the method comprising:

[0029] Obtain images of the already laid cables;

[0030] The target cable in the cable image is calibrated, and the pixel position information of the target cable is determined based on the cable image;

[0031] Based on the pose data of the image acquisition module and the pixel position information, the spatial position information of the target cable is determined;

[0032] The spatial location information of the target cable is obtained and compared with the recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written.

[0033] Furthermore, after acquiring images of the already laid cables, the method further includes:

[0034] Based on the cable image, the movement control parameters of the robot equipped with the image acquisition module are determined so that the target cable remains in the cable image as the robot moves from the first acquisition point to the second acquisition point.

[0035] Furthermore, the target cable in the cable image is calibrated, specifically including:

[0036] In response to a calibration operation received by the display device, the target cable is determined;

[0037] Obtain the segment end trend of the target cable within the calibrated segment corresponding to the calibration operation in the cable image;

[0038] The target cable in the cable image is fully calibrated based on the trend at the end of the segment.

[0039] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0040] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0041] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0042] In this embodiment, an image acquisition module is used to acquire images of the already laid cables; a calibration module is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image; a calculation module is used to determine the spatial position information of the target cable based on the pose data from the image acquisition module and the pixel position information; and a data writing module is used to acquire the spatial position information of the target cable and compare it with the previously recorded target cable data. If the comparison is successful, the spatial position information of the target cable is written. Through the above-described image-based cable positioning and network access device, the spatial position of the cable can be determined by acquiring images of the already laid cables, and the relevant cable information can be entered into a designated system, improving the convenience and accuracy of cable network access. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 1 of this application;

[0044] Figure 2 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 2 of this application;

[0045] Figure 3 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 3 of this application;

[0046] Figure 4 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 4 of this application;

[0047] Figure 5 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 5 of this application;

[0048] Figure 6 This is a flowchart illustrating the cable positioning and network entry method based on image data provided in Embodiment Six of this application;

[0049] Figure 7 This is a schematic diagram of the structure of the electronic device provided in Embodiment 7 of this application. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0051] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0052] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0053] The cable positioning and network access device, method and equipment based on image data provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0054] Example 1

[0055] Figure 1 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 1 of this application. Figure 1 As shown, the specific steps include the following:

[0056] Image acquisition module 110 is used to acquire images of the laid cables;

[0057] The calibration module 120 is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image.

[0058] The calculation module 130 is used to determine the spatial position information of the target cable based on the pose data of the image acquisition module and the pixel position information;

[0059] The data writing module 140 is used to obtain the spatial location information of the target cable and compare it with the recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written.

[0060] The calculation module 130 is specifically used to acquire the parameter data of the image acquisition module;

[0061] Based on the parameter data and pose data of the image acquisition module, as well as the pixel position information of the target cable, the spatial position information of the target cable is calculated.

[0062] This solution can be applied to scenarios where images of existing cables are captured, the target cable to be connected to the network is marked in the image, and its spatial location information is obtained. The information is then compared with previously entered cable data to verify its accuracy. If the verification is successful, the cable information is written to the corresponding location on the smart terminal. Specifically, the target cable marking, spatial location information acquisition, and target cable writing are all handled by [the system / component]. After writing the relevant information for the target cable, the required cable information and spatial location can be quickly obtained, improving retrieval efficiency.

[0063] Based on the above usage scenarios, it is understood that the executing entity of this application can be the smart terminal, or it can be a desktop computer, laptop computer, tablet computer, or interactive multimedia device running the smart terminal, etc., without further limitations here.

[0064] The image acquisition module 110 can be a mobile robot equipped with a digital camera, which can be positioned around the cable to be connected to the network to acquire digital images of the cable. Specifically, the method of acquiring images of the already laid cable can be to use the camera's convex lens to focus reflected light from points on the object onto corresponding points of the CCD or CMOS sensor in the camera, thereby projecting an inverted real image of the captured scene onto the sensor. Microlenses in the sensor collect the acquired light, and color filters absorb light of a fixed color, transmitting it to a photodiode. The photodiode converts the absorbed photons into electrons and stores them in a potential well. When the camera lens is closed, the analog front end reads electrons from the sensor's potential well and converts them into an analog signal. After amplifying the analog signal using an Analog Amplifier (Gain), the coordinates and amplitude of the image are sampled, and the coordinate and amplitude values ​​are quantized. Finally, the continuous curve is converted into several discrete sample points to obtain the corresponding digital image.

[0065] The calibration module 120 can be a program designed for a smart terminal to calibrate a target cable and obtain its pixel position information. Specifically, the calibration method for the target cable can involve performing grayscale conversion, median filtering, and Otsu thresholding on the acquired digital image of the laid cable to preserve the edge contour features of the target cable while maximizing the variance between the target cable image and the background. Then, the Canny edge detection algorithm is used, employing Gaussian filtering to reduce the influence of random noise in the image. The gradient value and direction of the filtered image are calculated using partial derivatives, and the image edges are refined using a non-maximum suppression algorithm. Noisy edges are removed using a double thresholding method, preserving the true edges of the target cable. The cable edges are then filtered using Hough transform, removing sharp points and small line segments by traversing the edge length. Adjusting the detection thresholds for curvature and length makes the cable contour extraction more accurate. Finally, the complete contour of the target cable is extracted, and the extracted cable is labeled accordingly.

[0066] One way to obtain the pixel position information of the target cable is to establish a pixel coordinate system with the top-left corner of the image plane as the origin, and the X and Y axes parallel to the two vertical edges of the image plane, respectively. The pixel coordinates of the target cable are then associated with the cable's label. A pixel can be the smallest element that makes up an image. Combining pixels allows for the display of a complete image on a computer. The pixel coordinate system can be a coordinate system without physical units. The coordinates in this system represent the row and column positions of the image in a storage array, where the image's color and grayscale information are stored.

[0067] The calculation module 130 can be a program designed by a smart terminal to determine the spatial location information of the target cable. Specifically, the pose data of the image acquisition module can be data information reflecting the position and attitude of the camera, such as the spatial position, shooting angle, and azimuth distance of the digital camera acquiring cable images. The spatial location information of the target cable can be the coordinate position of the target cable in the absolute coordinate system of the objective three-dimensional world.

[0068] The parameters of the image acquisition module can include basic parameters such as the camera's focal length, ISO, and aperture. These parameters can affect image sharpness and scale.

[0069] The spatial location information of the target cable can be determined through parameter data, pose data, and pixel position information from the image acquisition module. The following example is provided for reference:

[0070] If the coordinates of a point on the cable in the pixel coordinate system are (u1, v1), then the physical coordinates (x1, y1) of that point can be calculated first:

[0071]

[0072] Where (u0, v0) is the center point in the pixel coordinate system of the cable image. It is the camera's intrinsic parameter matrix, which contains parameters related to the camera's internal structure.

[0073] Then, based on the physical coordinates, obtain the scaling variable for converting pixel coordinates to spatial coordinates:

[0074]

[0075] Where f is the focal length of the camera, and h is the height of the camera. The camera attitude angle.

[0076] Finally, the spatial coordinates (x, y) of this point can be calculated. E y E , z E ):

[0077]

[0078]

[0079] in, For the installation error angle, This represents the spatial distance from the camera to the origin of the camera body's coordinate system.

[0080] Using a method similar to the one described above, the spatial location information of the target cable can be obtained. The following procedure for obtaining spatial location information is provided in this embodiment for reference:

[0081]

[0082]

[0083] The data writing module 140 is a program designed for smart terminals to verify the spatial location information of target cables and, upon successful verification, to input the spatial location information of target cables into the network. Specifically, the input target cable data can be related data information of cables already connected to the network and located near the target cable. The writing operation can be the input of the spatial location and other relevant information of the target cable into the database of the smart terminal.

[0084] The method of comparing the spatial location information of the target cable with the already recorded target cable data can be as follows: retrieve and analyze the spatial location data of cables surrounding the target cable to obtain patterns in the spatial location data of the surrounding cables, predict the spatial location of the target cable, and compare the calculated spatial location information of the target cable with the predicted spatial location information. If the calculated location data and the predicted location data have a high degree of similarity, then the calculated value of the target cable's spatial location can be written. For example, if the cable height data in the location data of cables surrounding the target cable is all 5 meters, and the predicted height of the target cable is 5 meters, but the calculated height of the target cable is 3 meters, then this data cannot be written.

[0085] The method for performing the write operation on the spatial location information of the target cable can be to obtain the spatial location information of the target cable that has passed the verification, associate it with the tag calibrated by the calibration module 120 on the target cable, and store them together in the corresponding location in the database. Accordingly, the tag can serve as a shortcut for retrieving the target cable data information.

[0086] In this embodiment, an image acquisition module is used to acquire images of the already laid cables; a calibration module is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image; a calculation module is used to determine the spatial position information of the target cable based on the pose data from the image acquisition module and the pixel position information; and a data writing module is used to acquire the spatial position information of the target cable and compare it with the previously recorded target cable data. If the comparison is successful, the spatial position information of the target cable is written. Through the above-described image-based cable positioning and network access device, the spatial position of the cable can be determined by acquiring images of the already laid cables, and the relevant cable information can be entered into a designated system, improving the convenience and accuracy of cable network access.

[0087] Example 2

[0088] Figure 2 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 2 of this application. This solution makes a further improvement on the above embodiment, specifically: the device further includes a motion control module, used to determine the motion control parameters of the robot equipped with the image acquisition module based on the cable image, so that the target cable remains within the cable image during the robot's movement from the first acquisition point to the second acquisition point.

[0089] like Figure 2 As shown, it specifically includes the following:

[0090] Image acquisition module 210 is used to acquire images of the laid cables;

[0091] The calibration module 220 is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image.

[0092] The calculation module 230 is used to determine the spatial position information of the target cable based on the pose data of the image acquisition module and the pixel position information;

[0093] The data writing module 240 is used to obtain the spatial location information of the target cable and compare it with the recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written.

[0094] The motion control module 250 is used to determine the motion control parameters of the robot equipped with the image acquisition module based on the cable image, so that the target cable is always in the cable image during the process of the robot moving from the first acquisition point to the second acquisition point.

[0095] The motion control module 250 can be a program designed by an intelligent terminal to control a robot to capture images of a target cable from different angles. The motion control parameters are program parameters that control the robot to move from a first acquisition point to a second acquisition point. The first acquisition point can be the acquisition position where the robot can capture a complete image of the target cable, and the second acquisition point can be the acquisition position where the robot can supplement the image of the target cable from different angles.

[0096] To ensure the target cable remains within the cable image, one method is to extract feature information such as the cable's outline from the image captured by the first acquisition point, analyze the cable's path and orientation, calculate the position of the second acquisition point, and generate movement control parameter commands. Once the image from the second acquisition point is successfully captured, it is compared and filtered based on the feature information. If no matching image is found, the image from that second acquisition point is discarded, and the position of the second acquisition point is recalculated for re-capturing, continuing until the target cable image is fully acquired.

[0097] The advantage of this setup is that it allows the robot to accurately capture images of the target cable from different acquisition points when taking multi-angle photos, preventing other images from interfering with subsequent target cable image processing and affecting the calculation results.

[0098] Example 3

[0099] Figure 3 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 3 of this application. This solution makes a further improvement on the above embodiment, specifically: the calibration module is specifically used for: responding to a calibration operation received by the display device, determining the target cable; obtaining the segment end trend of the target cable within the calibrated segment corresponding to the calibration operation in the cable image; and performing complete calibration of the target cable in the cable image based on the segment end trend.

[0100] like Figure 3 As shown, it specifically includes the following:

[0101] Image acquisition module 310 is used to acquire images of the laid cables;

[0102] The calibration module 320 is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image.

[0103] The calculation module 330 is used to determine the spatial position information of the target cable based on the pose data of the image acquisition module and the pixel position information;

[0104] The data writing module 340 is used to obtain the spatial location information of the target cable and compare it with the recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written.

[0105] Specifically, the calibration module 320 is used to determine the target cable in response to the calibration operation received by the display device;

[0106] Obtain the segment end trend of the target cable within the calibrated segment corresponding to the calibration operation in the cable image;

[0107] The target cable in the cable image is fully calibrated based on the trend at the end of the segment.

[0108] The target cable within the calibrated segment corresponding to the calibration operation can be a segment of the same cable that has already been entered and is adjacent to the cable segment to be entered. The trend of the segment end in the cable image can be data information such as the spatial position and angular curvature of the cable at the end of the segment.

[0109] The methods for identifying the target cable include: extracting its outline from an image and displaying it on a screen; having staff make detailed adjustments to the outline using the screen; and then labeling the adjusted cable image as the target cable. The method for obtaining the segment end trends can be to predict the segment end trends based on the cable's position coordinates and turning radius at the image edges, as well as the trends of the cable segments in the image. The method for fully labeling the target cable in the cable image can be to adjust the angle of the target cable image based on the trends of adjacent segment ends; when the target cable's trend matches the predicted trend, the two segments are labeled as the same cable.

[0110] The advantage of this scheme is that it allows for complete calibration of the target cable based on the trend at the end of each segment, providing a theoretical basis for the subsequent segmentation of the combined cable and improving the accuracy of cable integration.

[0111] Example 4

[0112] Figure 4 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 4 of this application. This solution makes a further improvement on the above embodiment, specifically: the device further includes: a specific information identification module, used to identify whether the target cable has specific information in the cable image; wherein, the specific information includes cross position information and corner position information; the calibration module is further specifically used to: in the case of the existence of specific information, retrieve a cable calibration model, input the cable image containing the specific information and the calibrated segments of the target cable in the cable image into the cable calibration model, so as to perform complete calibration of the target cable in the cable image based on the cable calibration model.

[0113] like Figure 4 As shown, it specifically includes the following:

[0114] Image acquisition module 410 is used to acquire images of the laid cables;

[0115] The calibration module 420 is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image.

[0116] The calculation module 430 is used to determine the spatial position information of the target cable based on the pose data of the image acquisition module and the pixel position information;

[0117] The data writing module 440 is used to obtain the spatial location information of the target cable and compare it with the recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written.

[0118] The specific information identification module 450 is used to identify whether the target cable has specific information in the cable image; wherein, the specific information includes cross position information and corner position information.

[0119] Specifically, the calibration module 420 is used to determine the target cable in response to the calibration operation received by the display device;

[0120] Obtain the segment end trend of the target cable within the calibrated segment corresponding to the calibration operation in the cable image;

[0121] The target cable in the cable image is fully calibrated based on the trend at the end of the segment.

[0122] Correspondingly, the calibration module 420 is also used to retrieve the cable calibration model when specific information exists, and input the cable image containing the specific information and the calibrated segments of the target cable in the cable image into the cable calibration model, so as to perform complete calibration of the target cable in the cable image based on the cable calibration model.

[0123] The specific information recognition module 450 can be a program designed by a smart terminal to identify whether specific information exists in a cable image. Specifically, the method of recognizing specific information can be to identify all cable positions in the image, determine whether the image includes intersection information by judging whether the pixel positions of the cables overlap, and determine corner position information by identifying cable areas with large corner curvatures.

[0124] A cable calibration model can be a big data model that calibrates cable segments containing specific information. Correspondingly, a complete calibration method for a target cable can involve inputting a cable image containing specific information, along with the already calibrated segments of the target cable within that image, into the cable calibration model. The model then predicts the trend of the calibrated segments based on the already calibrated segments, stitches the image of the calibrated segments together with the image of the already calibrated segments according to the predicted trend, connects two segments of the same target cable, identifies the contour edges of the target cable, extracts the target cable from the intersection points for position calibration, and identifies and calibrates corner positions based on the corner radius, thereby completing the complete calibration of the entire cable.

[0125] The advantage of this scheme is that it allows for the combination of calibrated cable segments to achieve complete calibration of the target cable, which is beneficial for integrating cable information and makes it easier for staff to grasp the path and trend of the target cable.

[0126] Example 5

[0127] Figure 5 This is a schematic diagram of the cable positioning and network entry device based on image data provided in Embodiment 5 of this application. This solution makes further improvements to the above embodiments, specifically: the image acquisition module is further configured to: acquire an image of the cable support pole of the target cable; correspondingly, the calculation module is further configured to: calculate the spatial position information of the cable support pole based on the parameter data and pose data of the image acquisition module, and the pole pixel position information in the cable support pole image; and verify the spatial position information of the target cable based on the spatial position information of the cable support pole.

[0128] like Figure 5 As shown, it specifically includes the following:

[0129] Image acquisition module 510 is used to acquire images of the laid cables;

[0130] The calibration module 520 is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image.

[0131] The calculation module 530 is used to determine the spatial position information of the target cable based on the pose data of the image acquisition module and the pixel position information;

[0132] The data writing module 540 is used to obtain the spatial location information of the target cable and compare it with the recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written.

[0133] The calculation module 530 is specifically used to acquire the parameter data of the image acquisition module.

[0134] Based on the parameter data and pose data of the image acquisition module, as well as the pixel position information of the target cable, the spatial position information of the target cable is calculated.

[0135] The image acquisition module 510 is specifically used to acquire images of the cable rack pole of the target cable;

[0136] Correspondingly, the calculation module 530 is also specifically used to calculate the spatial position information of the cable frame pole based on the parameter data and pose data of the image acquisition module, as well as the pixel position information of the cable frame pole in the image.

[0137] The spatial location information of the target cable is verified based on the spatial location information of the cable rack pole.

[0138] Cable support poles are towers used for overhead cables to maintain a safe distance between cables and between cables and the ground.

[0139] One method for acquiring the spatial location information of the cable support pole of the target cable is to control a robot to move to a suitable position and acquire an image of the cable support pole when it is detected in a captured image of the target cable. The image is converted into an analog signal using components such as the camera's convex lens, queue sensor, photodiode, and analog front-end. The analog signal is then amplified using an Analog Amplifier, and the coordinates and amplitude of the image are sampled, quantized, and the corresponding digital image is obtained. The acquired digital image of the cable support pole is then processed with grayscale conversion, median filtering, and the Canny edge detection algorithm to extract the complete outline of the cable support pole. A pixel coordinate system is established with the top-left corner of the image plane as the origin, and the X and Y axes are parallel to the two vertical edges of the image plane, respectively, and the pixel coordinates of the cable support pole are acquired. Based on the conversion relationship between pixel coordinates and spatial coordinates, the spatial location coordinates of the cable support pole of the target cable are calculated.

[0140] The method for verifying the spatial location information of the target cable can be to obtain the spatial coordinates of the connection point between the cable rack and the target cable, match the height of the connection point with the height of the target cable, and retrieve the coordinate value of the connection point in the spatial coordinates of the target cable. When the height of the connection point matches the height of the target cable and the coordinate value of the connection point exists in the spatial coordinates of the target cable, the spatial location information of the target cable passes the verification.

[0141] The advantage of this scheme is that it allows for the verification of the spatial location information of the target cable based on the spatial location information of the cable rack pole, effectively improving the accuracy of the target cable's spatial location information.

[0142] Example 6

[0143] Figure 6 This is a schematic flowchart of the cable positioning and network entry method based on image data provided in Embodiment Six of this application. Figure 6 As shown, the specific steps include the following:

[0144] S601. Obtain an image of the installed cable.

[0145] S602. The target cable in the cable image is calibrated, and the pixel position information of the target cable is determined based on the cable image.

[0146] S603. Determine the spatial position information of the target cable based on the pose data of the image acquisition module and the pixel position information;

[0147] S604. Obtain the spatial location information of the target cable and compare it with the recorded target cable data. If the comparison is successful, perform a write operation on the spatial location information of the target cable.

[0148] Accordingly, after acquiring the cable image of the laid cable, the method further includes determining the movement control parameters of the robot equipped with the image acquisition module based on the cable image, so that the target cable is always in the cable image during the process of the robot moving from the first acquisition point to the second acquisition point.

[0149] Accordingly, the target cable in the cable image is calibrated, specifically including determining the target cable in response to the calibration operation received by the display device;

[0150] Obtain the segment end trend of the target cable within the calibrated segment corresponding to the calibration operation in the cable image;

[0151] The target cable in the cable image is fully calibrated based on the trend at the end of the segment.

[0152] In this embodiment, an image of an already laid cable is acquired; the target cable in the cable image is calibrated, and the pixel position information of the target cable is determined based on the cable image; the spatial position information of the target cable is determined based on the pose data of the image acquisition module and the pixel position information; the spatial position information of the target cable is acquired and compared with the previously recorded target cable data; if the comparison is successful, the spatial position information of the target cable is written. Through the above-described cable positioning and network entry method based on image data, the spatial position of the cable can be determined by acquiring an image of the already laid cable, and the relevant cable information can be entered into a designated system, improving the convenience and accuracy of cable network entry.

[0153] The cable positioning and network entry method based on image data provided in this application corresponds to the cable positioning and network entry device based on image data provided in the above embodiments. It has the same functional modules and beneficial effects, and will not be described again here to avoid repetition.

[0154] Example 7

[0155] like Figure 7 As shown, this application embodiment also provides an electronic device 700, including a processor 701, a memory 702, and a program or instructions stored in the memory 702 and executable on the processor 701. When the program or instructions are executed by the processor 701, they implement the various processes of the above-described cable positioning and network access device embodiment based on image data and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0156] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0157] Example 7

[0158] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described cable positioning and network access device embodiment based on image data and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0159] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0160] Example 8

[0161] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described cable positioning and network access device embodiment based on image data, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0162] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0163] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0164] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0165] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0166] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.

Claims

1. A cable positioning and network entry device based on image data, characterized in that, The device includes: The image acquisition module is used to acquire images of the laid cables; A calibration module is used to calibrate the target cable in the cable image and determine the pixel position information of the target cable based on the cable image. The calculation module is used to determine the spatial location information of the target cable based on the parameter data, pose data and pixel position information of the image acquisition module; The data writing module is used to acquire the spatial location information of the target cable and compare it with the previously recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written. The previously recorded target cable data is the relevant data information of cables that are already connected to the network and are adjacent to the target cable. The comparison is performed by retrieving the spatial location data of the surrounding cables of the target cable, analyzing and integrating it, obtaining the spatial location data pattern of the surrounding cables, predicting the spatial location information of the target cable, and comparing the spatial location information of the target cable with the predicted spatial location information.

2. The cable positioning and network entry device based on image data according to claim 1, characterized in that, The device further includes: The motion control module is used to determine the motion control parameters of the robot equipped with the image acquisition module based on the cable image, so that the target cable remains in the cable image as the robot moves from the first acquisition point to the second acquisition point.

3. The cable positioning and network entry device based on image data according to claim 1, characterized in that, The calibration module is specifically used for: In response to a calibration operation received by the display device, the target cable is determined; Obtain the segment end trend of the target cable within the calibrated segment corresponding to the calibration operation in the cable image; The target cable in the cable image is fully calibrated based on the trend at the end of the segment.

4. The cable positioning and network entry device based on image data according to claim 3, characterized in that, The device further includes: A specific information recognition module is used to identify whether the target cable has specific information in the cable image; wherein, the specific information includes cross position information and corner position information; The calibration module is also specifically used for: When specific information is available, the cable calibration model is retrieved, and the cable image containing the specific information and the calibrated segments of the target cable in the cable image are input into the cable calibration model to perform complete calibration of the target cable in the cable image based on the cable calibration model.

5. The cable positioning and network entry device based on image data according to claim 1, characterized in that, The solution module is specifically used for: Obtain the parameter data of the image acquisition module; Based on the parameter data and pose data of the image acquisition module, as well as the pixel position information of the target cable, the spatial position information of the target cable is calculated.

6. The cable positioning and network entry device based on image data according to claim 5, characterized in that, The image acquisition module is also specifically used for: Obtain an image of the cable tray pole for the target cable; Accordingly, the solution module is also specifically used for: Based on the parameter data and pose data of the image acquisition module, as well as the pixel position information of the cable support pole in the image, the spatial position information of the cable support pole is calculated. The spatial location information of the target cable is verified based on the spatial location information of the cable support pole.

7. A cable positioning and network insertion method based on image data, characterized in that, The method includes: Obtain images of the already laid cables; The target cable in the cable image is calibrated, and the pixel position information of the target cable is determined based on the cable image; Based on the parameter data, pose data, and pixel position information of the image acquisition module, the spatial position information of the target cable is determined; The spatial location information of the target cable is obtained and compared with the previously recorded target cable data. If the comparison is successful, the spatial location information of the target cable is written. The previously recorded target cable data refers to the relevant data information of cables that are already connected to the network and are adjacent to the target cable. The comparison is performed by retrieving and analyzing the spatial location data of the surrounding cables of the target cable, obtaining the spatial location data patterns of the surrounding cables, predicting the spatial location information of the target cable, and comparing the spatial location information of the target cable with the predicted spatial location information.

8. The cable positioning and network insertion method based on image data according to claim 7, characterized in that, After acquiring images of the laid cables, the method further includes: Based on the cable image, the movement control parameters of the robot equipped with the image acquisition module are determined so that the target cable remains in the cable image as the robot moves from the first acquisition point to the second acquisition point.

9. The cable positioning and network insertion method based on image data according to claim 7, characterized in that, The target cable in the cable image is calibrated, specifically including: In response to a calibration operation received by the display device, the target cable is determined; Obtain the segment end trend of the target cable within the calibrated segment corresponding to the calibration operation in the cable image; The target cable in the cable image is fully calibrated based on the trend at the end of the segment.

10. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the cable positioning and network insertion method based on image data as described in any one of claims 7-9.

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