An image data based cable length measurement device, method and apparatus

Abstract

The application discloses a kind of cable length measurement device, method and equipment based on image data, and the application belongs to the technical field of electric power facilities.The device comprises: image acquisition module, for collecting the radial image of cable that has been laid;Position acquisition module, for obtaining the position information and attitude information of robot in the process of collecting the radial image;Length solving module, for solving the actual length of cable that has been laid according to the position information, the attitude information and the shape information of cable in the radial image;Line roll data recording module, for recording the actual length of cable that has been laid of current line roll, after calculating the remaining length, associated storage is carried out with the number information of the line roll.The technical scheme, by the position and attitude information of robot and the radial image of cable that has been laid, determines the actual length and the remaining length of cable that has been laid of current line roll, and the length information of cable can be scientifically and accurately managed.

Description

Technical Field

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

[0002] When a cable is heated, the material expands, increasing its length; when the cable is cooled, the material contracts, decreasing its length. To address this issue, a certain length of arc is typically left between two fixed points during cable laying, creating a slight bend. This allows the laying environment and the cable to accommodate length changes caused by thermal expansion and contraction.

[0003] After reserving an arc segment, the actual length of the laid cable is no longer equal to the length of the cable's laying trajectory. Directly measuring the remaining length on the cable reel requires first winding the remaining cable out of the reel for measurement, and then winding the cable back in. This method is not only time-consuming and labor-intensive, but may also damage the remaining cable. Therefore, determining the actual length of the laid cable and the remaining length on the cable reel after laying 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 length measurement device, method, and equipment based on image data. The aim is to determine the actual length and remaining length of the cable on the current cable roll based on the robot's position and posture information and the radial image of the laid cable, so as to achieve scientific and accurate management of the cable length information during the cable laying process.

[0005] In a first aspect, embodiments of this application provide a cable length measuring device based on image data, the device comprising:

[0006] Image acquisition module, used to acquire radial images of laid cables;

[0007] The pose acquisition module is used to acquire the position and pose information of the robot during the process of acquiring the radial image;

[0008] The length calculation module is used to calculate the actual length of the laid cable based on the location information, the attitude information, and the shape information of the cable in the radial image.

[0009] The cable roll data recording module is used to record the actual length of the laid cable on the current cable roll, calculate the remaining length, and then associate and store it with the cable roll's number information.

[0010] Secondly, embodiments of this application provide a cable length measurement method based on image data, the method comprising:

[0011] Acquire radial images of the laid cables;

[0012] Acquire the robot's position and orientation information during the acquisition of the radial image;

[0013] Based on the location information, the attitude information, and the shape information of the cable in the radial image, the actual length of the laid cable is calculated.

[0014] Record the actual length of the laid cable on the current cable reel, calculate the remaining length, and then associate and store it with the cable reel's number information.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] In this embodiment, an image acquisition module is used to acquire radial images of the laid cable; a pose acquisition module is used to acquire the robot's position and posture information during the acquisition of the radial images; a length calculation module is used to calculate the actual length of the laid cable based on the position information, the posture information, and the shape information of the cable in the radial image; and a cable roll data recording module is used to record the actual length of the laid cable on the current cable roll, calculate the remaining length, and associate it with the cable roll's number information for storage. This image-based cable length measurement device, by determining the actual length and remaining length of the laid cable on the current cable roll based on the robot's position and posture information and the radial image of the laid cable, can achieve scientific and accurate management of cable length information during cable laying, facilitating the selection of suitable cables in subsequent use. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the cable length measuring device based on image data provided in Embodiment 1 of this application;

[0020] Figure 2This is a schematic diagram of the cable length measuring device based on image data provided in Embodiment 2 of this application;

[0021] Figure 3 This is a schematic diagram of the cable length measuring device based on image data provided in Embodiment 3 of this application;

[0022] Figure 4 This is a schematic diagram of the cable length measuring device based on image data provided in Embodiment 4 of this application;

[0023] Figure 5 This is a flowchart illustrating the cable length measurement method based on image data provided in Embodiment 5 of this application;

[0024] Figure 6 This is a schematic diagram of the structure of the electronic device provided in Embodiment Six of this application. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] The cable length measuring 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.

[0029] Example 1

[0030] Figure 1 This is a schematic diagram of the cable length measuring device based on image data provided in Embodiment 1 of this application. Figure 1 As shown, the specific steps include the following:

[0031] Image acquisition module 110 is used to acquire radial images of the laid cables;

[0032] The pose acquisition module 120 is used to acquire the position and pose information of the robot during the process of acquiring the radial image;

[0033] The length calculation module 130 is used to calculate the actual length of the laid cable based on the position information, the posture information and the shape information of the cable in the radial image;

[0034] The cable roll data recording module 140 is used to record the actual length of the laid cable of the current cable roll, calculate the remaining length, and then associate and store it with the number information of the cable roll.

[0035] This application applies to scenarios where the length of a laid cable is determined based on radial images of the cable acquired by a robot. Specifically, the calculation of the actual length of the laid cable, the calculation of the remaining length, and the associated storage of cable roll number information can be performed by a smart terminal device. Based on the associated stored information, staff can scientifically manage the remaining cable, facilitating the selection of appropriate cables for subsequent use.

[0036] Based on the above usage scenarios, it is understood that the executing entity of this application can be the smart terminal device, such as a desktop computer, laptop computer, mobile phone, tablet computer, and interactive multimedia device, etc., without further limitations.

[0037] The image acquisition module 110 may be composed of a computer microprocessor chip or the like, and is used to acquire radial images of the laid cable.

[0038] A cable can be a device used to transport electricity or signals, consisting of one or more conductors, insulation layers, a sheath, and connectors. A laid cable is a portion of the cable that has been installed and secured in a designated location.

[0039] Radial direction can be parallel to the cross-section of the cable. A radial image can be image data acquired by a robot positioned on one side of the cable, perpendicular to it. Image data can be image information represented digitally. In a computer, an image can be represented as an array of pixels, with each pixel containing color and brightness information.

[0040] Radial images can be acquired using a camera mounted on the robot. The camera is a common image acquisition device used to obtain real-time video or still image data. It converts optical signals into digital image data using an optical sensor and an image processor. The basic process of image data acquisition by the camera includes: an optical sensor behind the camera lens converts light entering through the lens into an electrical signal; a photosensitive element in the optical sensor detects the intensity and color of the light and converts it into a voltage signal; an analog-to-digital converter converts the continuously changing analog voltage signal into digital form for further processing and storage; the image processor processes and enhances the digital signal, including color correction, contrast adjustment, and noise reduction to improve image quality and clarity; the camera compresses the image data to reduce the space and bandwidth required for storage and transmission; and the processed and compressed image data is output to the computer's microprocessor chip via an interface (such as USB, HDMI, or Ethernet cable).

[0041] The pose acquisition module 120 may be composed of a computer microprocessor chip or the like, and is used to acquire the position and posture information of the robot during the process of acquiring the radial image.

[0042] Location information can be the robot's coordinates mapped onto a cable laying map. The cable laying map can be map data used to represent the cable laying trajectory. Map data can be a digital representation of geospatial information. A planar coordinate system projects the curved surface of the Earth onto a plane for representation on a map. Planar coordinate systems are commonly used for local map creation, such as city maps and regional maps. Common planar coordinate systems include the UTM coordinate system and the Gauss-Kruger coordinate system. Location information can be obtained by installing a GPS positioning module on the robot. The GPS positioning module receives signals from multiple GPS satellites. Each signal contains the transmission time T. The distance from the inspection robot to each GPS satellite is calculated based on the difference between time T and the reception time, thus obtaining the robot's location information.

[0043] The attitude information can include the height and angle of the camera mounted on the robot. The camera angle can include both horizontal and vertical angles. The horizontal angle can be expressed in degrees, with 0 degrees relative to true north and 0-360 degrees clockwise; the vertical angle can also be expressed in degrees, with 0 degrees relative to the direction perpendicular to the ground and 0-360 degrees clockwise.

[0044] Attitude information can be obtained by using a laser rangefinder to measure the distance between the camera and the ground, or by using a gyroscope to measure the camera's angle. A laser rangefinder is a device that uses a laser beam to measure the distance between a target and the rangefinder. It utilizes the characteristics of a laser beam to calculate the target distance by measuring the beam's propagation time or phase difference. A gyroscope is an instrument that uses the law of conservation of angular momentum to measure angular velocity and is commonly used in navigation, attitude control, and robotics.

[0045] The length calculation module 130 may be composed of a computer microprocessor chip, etc., and is used to calculate the actual length of the laid cable based on the position information, attitude information and the shape information of the cable in the radial image.

[0046] Cable shape information can include straight segments, curved segments, and bending radii. Cables are mainly composed of straight segments, but they can have curved segments to bypass environmental obstacles or change their laying direction. The bending radius is one of the important parameters for evaluating curved segments.

[0047] One way to obtain the shape information of a cable is to use an edge detection algorithm to detect the edges of the cable and input the extracted edge features into a convolutional neural network model. The convolutional neural network model then analyzes the shape information based on the edge features.

[0048] Edge detection algorithms are used to detect the boundaries or contours of objects in an image. The detection process of an edge detection algorithm includes: preprocessing the original image, which may include grayscale conversion and noise reduction, to help reduce the impact of noise on edge detection and simplify subsequent calculations; using gradient operators to calculate the gradient value and direction of each pixel in the image. The gradient represents the region in the image where the grayscale change is most obvious and is generally related to the edge position; performing non-maximum suppression on the gradient image to refine the edges and suppress non-maximum points, which helps to extract the edges with the maximum gradient magnitude; by setting high and low thresholds, the pixels in the gradient image can be divided into strong edges and weak edges, which can determine which edges are true edges. Only strong edge pixels and their connected weak edge pixels are considered as the final edges; performing edge connection operations on the image to form continuous edge lines by connecting strong edges and adjacent weak edge pixels.

[0049] Below is a simple example code demonstrating how to implement an edge detection algorithm using Python and the OpenCV library:

[0050] import cv2

[0051] #Read image

[0052] image=cv2.imread('input.jpg',cv2.IMREAD_GRAYSCALE)

[0053] #Canny Edge Detection

[0054] edges = cv2.Canny(image, 100, 200) # Adjust the threshold parameter to obtain the desired edge effect

[0055] # Display results

[0056] cv2.imshow('Original Image',image)

[0057] cv2.imshow('Edges',edges)

[0058] cv2.waitKey(0)

[0059] cv2.destroyAllWindows()

[0060] The code above uses the `cv2.Canny()` function from the OpenCV library for Canny edge detection. First, the `cv2.imread()` function reads the input image (assuming the image name is 'input.jpg' in this example). Then, the image is converted to grayscale (using the `cv2.IMREAD_GRAYSCALE` parameter) and the Canny edge detection algorithm is applied. Finally, the `cv2.imshow()` function displays the original image and the edge images, `cv2.waitKey(0)` waits for key input, and `cv2.destroyAllWindows()` closes all windows.

[0061] Convolutional neural network models are a type of deep learning model that is particularly well-suited for processing data with a grid structure, such as image and video data, and perform exceptionally well in tasks such as image recognition, computer vision, and pattern recognition.

[0062] One method to calculate the actual length is to determine the spatial position data of the cable in the radial image based on the position information, attitude information, and the shape information of the cable in the radial image. Then, the spatial trajectory of the cable is calculated based on the spatial position data, and finally, the actual length of the laid cable is determined based on the spatial trajectory.

[0063] The cable roll data recording module 140 may be composed of a computer microprocessor chip, etc., and is used to record the actual length of the laid cable of the current cable roll, calculate the remaining length, and associate and store it with the cable roll number information.

[0064] To record the actual length, a relational database table can be created. This table uses the cable laying track number, laying start point, laying end point, cable roll number, and the actual length of the laid cable as fields, with the cable laying track number as the primary key. New records are added to this relational database table to record the actual length of the laid cable. The relational database uses a relational model to organize data, storing data in rows and columns for easy user understanding. Fields can be the headers of each column in the data table. The primary key can be a field or combination of fields that uniquely represents each record in the data table.

[0065] The remaining length can be calculated by looking up the total winding length corresponding to the wire roll in the wire roll record table based on the wire roll number information. The remaining length is the result of subtracting the already laid length from the total winding length.

[0066] The associated storage method can be achieved by creating a relational database table with the roll number, total winding length, and remaining length as fields, and the roll number as the primary key, to record information about each roll. Adding new records to this relational database table completes the associated storage of the roll number and remaining length.

[0067] Below is a sample code for associative storage:

[0068] SQL statement

[0069] --Create database tables

[0070] CREATE TABLE Scrolling Information (

[0071] Thread roll number INT PRIMARY KEY,

[0072] Total winding length (FLOAT)

[0073] Remaining length FLOAT );

[0075] Python statements

[0076] import sqlite3

[0077] # Connect to the database

[0078] conn=sqlite3.connect('your_database.db')

[0079] cursor = conn.cursor()

[0080] #Insert data

[0081] cursor.execute("INSERT INTO Wire Roller Information (Wire Roller Number, Total Length of Wire, Remaining Length) VALUES (1, 100.0, 50.0)")

[0082] cursor.execute("INSERT INTO Wire Roller Information (Wire Roller Number, Total Length of Wire, Remaining Length) VALUES (2, 150.0, 100.0)")

[0083] Optionally, in this solution, the device may further include:

[0084] A cable trajectory determination module is used to obtain the cable laying trajectory in the radial image;

[0085] The running direction determination module is used to determine the running trajectory of the robot based on the laying trajectory, so that the distance between the running trajectory and the laying trajectory in the radial direction remains a fixed value.

[0086] The cable laying trajectory in a radial image can be a smooth curve mapped onto the cable laying map plane. The trajectory can be obtained by marking points (x, y) on the cable laying map based on the spatial location data (x, y, z) in the radial image, and then using interpolation to fit each mark to a smooth curve. The resulting smooth curve is the cable laying trajectory. Interpolation can be a numerical analysis method used to estimate values ​​between discrete data points by constructing a continuous function. Common interpolation algorithms include linear interpolation, polynomial interpolation, spline interpolation, Kriging interpolation, and radial basis function interpolation.

[0087] The robot's trajectory can be a smooth curve mapped from its actual movement path in space onto the cable laying map plane. The trajectory can be determined by shifting the cable laying path radially by a certain distance. This "certain distance" can be a distance that ensures the robot can clearly acquire radial images, and could be 1 meter, 3 meters, or 5 meters, etc.

[0088] The advantage of this technical solution is that by determining the robot's running trajectory based on the laying trajectory, the radial distance between the running trajectory and the laying trajectory is kept constant. This ensures that the cable size in the radial image acquired by the robot is consistent, reduces the amount of data processing, and improves measurement efficiency.

[0089] In this application example, an image acquisition module is used to acquire radial images of the laid cable; a pose acquisition module is used to acquire the robot's position and posture information during the acquisition of the radial images; a length calculation module is used to calculate the actual length of the laid cable based on the position information, the posture information, and the shape information of the cable in the radial image; and a cable roll data recording module is used to record the actual length of the laid cable on the current cable roll, calculate the remaining length, and associate it with the cable roll's number information for storage. This technical solution, by determining the actual length and remaining length of the laid cable on the current cable roll based on the robot's position and posture information and the radial image of the laid cable, enables scientific and accurate management of cable length information during cable laying, facilitating the selection of appropriate cables in subsequent use.

[0090] Example 2

[0091] Figure 2This is a schematic diagram of the cable length measuring device based on image data provided in Embodiment 2 of this application. This solution makes further improvements based on the above embodiments, specifically: the length calculation module is used to: determine the spatial position data of the cable in the radial image based on the position information, the attitude information, and the shape information of the cable in the radial image; calculate the spatial trajectory of the cable based on the spatial position data; and determine the actual length of the laid cable based on the spatial trajectory.

[0092] like Figure 2 As shown, the device includes:

[0093] Image acquisition module 210 is used to acquire radial images of the laid cables;

[0094] The pose acquisition module 220 is used to acquire the position and pose information of the robot during the process of acquiring the radial image;

[0095] The length calculation module 230 is used to calculate the actual length of the laid cable based on the position information, the posture information and the shape information of the cable in the radial image;

[0096] The cable roll data recording module 240 is used to record the actual length of the laid cable of the current cable roll, calculate the remaining length, and then associate and store it with the cable roll number information.

[0097] Specifically, the length calculation module 230 is used to: determine the spatial position data of the cable in the radial image based on the position information, the posture information, and the shape information of the cable in the radial image; calculate the spatial trajectory of the cable based on the spatial position data; and determine the actual length of the laid cable based on the spatial trajectory.

[0098] Spatial location data can be the coordinates (x, y, z) of the cable mapped onto a cable laying map. The spatial location data can be determined by identifying each point individually within the radial image, or by first identifying marker points and their spatial location data, then determining the relative positions of other points relative to the marker points, and finally using this data to determine the cable's spatial location within the radial image. Points can be locations on the cable within the radial image at regular intervals used to determine spatial location data, and marker points can be points located at the junctions of straight and curved sections.

[0099] One way to calculate the spatial trajectory of a cable is to use interpolation to fit each point to a smooth curve, and the resulting smooth curve is the spatial trajectory of the cable.

[0100] One way to determine the actual length of a laid cable is to use a suitable function to express the spatial trajectory of the cable, then find the derivative equation of the function, find the arc differential expression of the function based on the derivative equation, and finally solve the definite integral of the arc differential expression. The result is the actual length of the laid cable.

[0101] The advantage of this technical solution is that by determining the spatial location data of the cable in the radial image and calculating the spatial trajectory of the cable based on the location information, attitude information, and the shape information of the cable in the radial image, the actual length of the laid cable can be determined, providing a data basis for calculating the remaining length.

[0102] Example 3

[0103] Figure 3 This is a schematic diagram of the cable length measuring device based on image data provided in Embodiment 3 of this application. This solution makes further improvements based on the above embodiments, specifically: the length calculation module is used to: determine the spatial position data of the cable in the radial image point by point according to the position information, the attitude information, and the shape information of the cable in the radial image; or, determine marker points according to the shape information of the cable in the radial image; determine the spatial position data of the marker points according to the position information and the attitude information; determine the relative position data of other points besides the marker points relative to the marker points according to the shape information of the cable in the radial image; and determine the spatial position data of the cable in the radial image according to the spatial position data of the marker points and the relative position data of the other points.

[0104] like Figure 3 As shown, the device includes:

[0105] Image acquisition module 310 is used to acquire radial images of the laid cables;

[0106] The pose acquisition module 320 is used to acquire the position and pose information of the robot during the process of acquiring the radial image;

[0107] The length calculation module 330 is used to calculate the actual length of the laid cable based on the position information, the posture information and the shape information of the cable in the radial image;

[0108] The cable roll data recording module 340 is used to record the actual length of the laid cable of the current cable roll, calculate the remaining length, and then associate and store it with the cable roll number information.

[0109] Specifically, the length calculation module 330 is used to: determine the spatial position data of the cable in the radial image point by point based on the position information, the attitude information, and the shape information of the cable in the radial image; or, determine the marker point based on the shape information of the cable in the radial image; determine the spatial position data of the marker point based on the position information and the attitude information; determine the relative position data of other points relative to the marker point based on the shape information of the cable in the radial image; and determine the spatial position data of the cable in the radial image based on the spatial position data of the marker point and the relative position data of other points.

[0110] The spatial location data of a point can be determined by acquiring the pixel positions of the cable edge lines in the radial image (i.e., coordinates on the image). Based on the pixel positions of the edge lines, the size of the cable in the radial image is determined. By comparing the size of the cable in the radial image with its size in actual space, and using the camera's internal parameters, the distance between the cable and the robot in actual space is determined. Finally, based on this distance, the pixel positions of the point, the camera's internal parameters, and the robot's position and attitude information, the spatial coordinates of the point on the cable laying map are calculated. The camera's internal parameters may include focal length and optical center.

[0111] One method for determining marker points is to use the points located at the junction of the straight and curved sections of the cable as marker points.

[0112] Relative position data can include the distances between other points and the marker point, as well as the orientation of other points relative to the marker point. Methods for determining the relative position data of other points relative to the marker point include: calculating the distance between two adjacent marker points based on their spatial position data; calculating the pixel distance between two marker points based on their pixel positions; calculating the distance between the current point and the current marker point based on the distance between their spatial positions and pixel distances, as well as the pixel distance between the current point and one of the marker points; and directly determining the orientation of the current point relative to the current marker point based on their pixel positions.

[0113] The spatial location data of other points can be calculated based on the spatial location data of the marker point and the relative position data of other points to the marker point.

[0114] The advantage of this technical solution is that by determining the spatial position data of the cable in the radial image based on the relative position data of other points besides the marker point, and based on the spatial position data of the marker point and the relative position data of other points, the number of points that need to be calculated for spatial position data can be reduced, thereby reducing the amount of data processing and improving measurement efficiency.

[0115] Optionally, the length calculation module 330 is specifically used for:

[0116] Before determining the spatial location data of the cable in the radial image point by point based on the location information, the attitude information, and the shape information of the cable in the radial image, the distance between each point is also determined based on the shape information of the cable in the radial image.

[0117] The method for determining the distance between each point can be to use a reference distance to determine the distance between each point on a straight line segment, to determine the first distance between each point where the bending radius exceeds a preset bending radius threshold, and the second distance between each point where the bending radius does not exceed the preset bending radius threshold.

[0118] The reference distance can be selected according to the length of the straight segment, such as 1 meter, 3 meters and 5 meters. It can be understood that the longer the straight segment is, the longer the corresponding reference distance is, and the shorter the straight segment is, the shorter the corresponding reference distance is.

[0119] The advantage of this technical solution is that by determining the distance between each point before determining the spatial location data of the cable in the radial image point by point, a data basis can be provided for determining the spatial location data of each point.

[0120] Example 4

[0121] Figure 4 This is a schematic diagram of the cable length measuring device based on image data provided in Embodiment 4 of this application. This solution makes further improvements based on the above embodiments. Specifically, the length calculation module is used to: determine the first distance between points where the bending radius exceeds a preset bending radius threshold, and the second distance between points where the bending radius does not exceed the preset bending radius threshold, based on the cable shape information in the radial image.

[0122] like Figure 4 As shown, the device includes:

[0123] Image acquisition module 410 is used to acquire radial images of the laid cables;

[0124] The pose acquisition module 420 is used to acquire the position and pose information of the robot during the process of acquiring the radial image;

[0125] The length calculation module 430 is used to calculate the actual length of the laid cable based on the position information, the posture information and the shape information of the cable in the radial image;

[0126] The cable roll data recording module 440 is used to record the actual length of the laid cable of the current cable roll, calculate the remaining length, and then associate and store it with the number information of the cable roll.

[0127] Specifically, the length calculation module 430 is used to: calculate the first distance between points where the bending radius exceeds a preset bending radius threshold, and the second distance between points where the bending radius does not exceed the preset bending radius threshold, based on the shape information of the cable in the radial image.

[0128] The bending radius can be the radius of the circle corresponding to the bent section of the cable. The preset radius threshold can be determined according to accuracy requirements, and can be 0.5 meters, 1 meter, or 3 meters, etc.

[0129] Understandably, the first distance and the second distance should be less than the reference distance. We can determine that the first distance is 30% of the reference distance and the second distance is 60% of the reference distance.

[0130] For example, when the baseline distance of a straight line segment is determined to be 1 meter, the first distance between points where the bending radius exceeds the preset bending radius threshold is determined to be 0.3 meters, and the second distance between points where the bending radius does not exceed the preset bending radius threshold is determined to be 0.6 meters.

[0131] The advantage of this technical solution is that by determining the distance between each point based on the bending radius, the amount of data processing at points with larger bending radii can be reduced, while the measurement accuracy at points with smaller bending radii can be improved.

[0132] Example 5

[0133] Figure 5 This is a flowchart illustrating the cable length measurement method based on image data provided in Embodiment 5 of this application. Figure 5 As shown, the specific steps include the following:

[0134] S501. Acquire radial images of the laid cables;

[0135] S502. Obtain the position and attitude information of the robot during the process of acquiring the radial image;

[0136] S503. Calculate the actual length of the laid cable based on the location information, the attitude information, and the shape information of the cable in the radial image.

[0137] S504. Record the actual length of the laid cable of the current cable roll, calculate the remaining length, and then associate and store it with the cable roll number information.

[0138] In this embodiment, a radial image of the laid cable is acquired; the robot's position and posture information during the acquisition of the radial image are obtained; the actual length of the laid cable is calculated based on the position information, the posture information, and the shape information of the cable in the radial image; the actual length of the laid cable on the current cable roll is recorded, and the remaining length is calculated and associated with the cable roll's number information for storage. This image-based cable length measurement method, by determining the actual and remaining length of the laid cable on the current cable roll based on the robot's position and posture information and the radial image of the laid cable, enables scientific and accurate management of cable length information during cable laying, facilitating the selection of appropriate cables in subsequent use.

[0139] The cable length measurement method based on image data provided in this application corresponds to the cable length measurement 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.

[0140] Example 6

[0141] like Figure 6 As shown, this application embodiment also provides an electronic device 600, including a processor 601, a memory 602, and a program or instructions stored in the memory 602 and executable on the processor 601. When the program or instructions are executed by the processor 601, they implement the various processes of the above-described cable length measuring device embodiment based on image data and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0142] 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.

[0143] Example 7

[0144] 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 length measuring device embodiment based on image data and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0145] 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.

[0146] Example 8

[0147] 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 length measuring device embodiment based on image data, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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 length measuring device based on image data, characterized in that, The device includes: Image acquisition module, used to acquire radial images of laid cables; The pose acquisition module is used to acquire the position and pose information of the robot during the process of acquiring the radial image; The length calculation module is used to determine the spatial position data of the cable in the radial image based on the position information, the attitude information and the shape information of the cable in the radial image, calculate the spatial trajectory of the cable based on the spatial position data, and determine the actual length of the laid cable based on the spatial trajectory. The cable roll data recording module is used to record the actual length of the laid cable on the current cable roll, calculate the remaining length, and then associate and store it with the cable roll's number information. Specifically, the length calculation module is used to: determine the spatial position data of the cable in the radial image point by point based on the position information, the attitude information, and the shape information of the cable in the radial image; before determining each point, determine the first distance between points where the bending radius exceeds a preset bending radius threshold and the second distance between points where the bending radius does not exceed the preset bending radius threshold based on the shape information of the cable in the radial image, wherein the first distance is 30% of the reference distance and the second distance is 60% of the reference distance; or, determine the marker point located at the connection between the straight segment and the curved segment of the cable based on the shape information of the cable in the radial image, determine the spatial position data of the marker point based on the position information and the attitude information, determine the relative position data of other points relative to the marker point based on the shape information of the cable in the radial image, and determine the spatial position data of the cable in the radial image based on the spatial position data of the marker point and the relative position data of other points. The length calculation module is specifically used to: express the spatial trajectory of the cable using a function, obtain the arc differential expression by differentiation, solve the definite integral of the arc differential expression, and the result is the actual length of the laid cable.

2. A method for measuring cable length based on image data, characterized in that, The method includes: Acquire radial images of the laid cables; Acquire the robot's position and orientation information during the acquisition of the radial image; Based on the location information, the posture information, and the shape information of the cable in the radial image, the spatial location data of the cable in the radial image is determined, the spatial trajectory of the cable is calculated based on the spatial location data, and the actual length of the laid cable is determined based on the spatial trajectory. Record the actual length of the cable already laid on the current cable reel, calculate the remaining length, and then associate and store it with the cable reel's number information; The determination of the spatial position data of the cable in the radial image includes: determining the spatial position data of the cable in the radial image point by point based on the position information, the attitude information, and the shape information of the cable in the radial image; before determining each point, determining a first distance between points where the bending radius exceeds a preset bending radius threshold and a second distance between points where the bending radius does not exceed the preset bending radius threshold based on the shape information of the cable in the radial image, wherein the first distance is 30% of the reference distance and the second distance is 60% of the reference distance; or, determining a marker point located at the connection between the straight segment and the curved segment of the cable based on the shape information of the cable in the radial image, determining the spatial position data of the marker point based on the position information and the attitude information, determining the relative position data of other points relative to the marker point based on the shape information of the cable in the radial image, and determining the spatial position data of the cable in the radial image based on the spatial position data of the marker point and the relative position data of other points. Determining the actual length of the laid cable based on the spatial trajectory includes: expressing the spatial trajectory of the cable using a function, obtaining the arc differential expression by differentiation, solving the definite integral of the arc differential expression, and the result is the actual length of the laid cable.

3. 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 length measurement method based on image data as described in claim 2.

Images