A monitoring device for winch cable laying

Abstract

This application provides a monitoring device for winch cable laying, relating to the field of winch cable laying control technology. The winch includes a cable laying device and a cable storage drum. The cable laying device is disposed on one side of the cable storage drum and is equipped with a fixing device, which is rigidly connected to the cable laying device. The device includes: a first camera disposed on the fixing device for taking overhead images of a first detection area of ​​the cable storage drum, the first detection area including a section of cable led out by the cable laying device; and a first light source disposed on the fixing device for illuminating the first detection area. According to embodiments of this application, real-time measurement of the cable laying angle is possible.

Description

Technical Field

[0001] This application relates to the field of winch cable laying control technology, and more specifically, to a monitoring device for winch cable laying. Background Technology

[0002] When retrieving the cable, the cable guide of the automatic winch will guide the cable at a certain angle (i.e., the cable guide angle) so that the cable can be wound onto the cable storage drum of the automatic winch. During this process, the cable storage drum may experience abnormal cable guide phenomena due to the cable guide angle deviating too much from the set value.

[0003] Current methods for measuring cable routing angles are not intuitive, inconvenient for manual inspection, and difficult to detect errors. Common methods for detecting cable routing anomalies are limited by camera field of view or laser illumination angle, and have high hardware costs. Summary of the Invention

[0004] According to one aspect of this application, a monitoring device for winch cable laying is provided. The winch includes a cable laying device and a cable storage drum. The cable laying device is disposed on one side of the cable storage drum, and a fixing device is provided above the cable laying device. The fixing device is rigidly connected to the cable laying device. The device includes: a first camera disposed on the fixing device for taking a top-down view of a first detection area of ​​the cable storage drum, the first detection area including a section of cable led out by the cable laying device; and a first light source disposed on the fixing device for illuminating the first detection area.

[0005] According to some embodiments, the first light source includes two linear laser light sources that respectively illuminate the upper and lower parts of the first detection area, and the two laser lines formed by the first light source in the first detection area are both parallel to the axis of the cable storage drum.

[0006] According to some embodiments, the two laser lines formed by the first light source in the first detection area form at least two light spots on a section of cable led out by the cable laying device.

[0007] According to some embodiments, the device further includes: a second camera disposed on the fixed device for taking a flat shot of a second detection area of ​​the cable storage drum, the second detection area including the upper part of the cable storage drum; and a second light source disposed on the other side of the cable storage drum, opposite to the cable laying device.

[0008] According to some embodiments, the second light source is a flat backlight light source, the upper end of which is higher than the edge of the top of the cable storage drum, and the second light source is not connected to the cable storage drum.

[0009] According to one aspect of this application, a method for measuring the cable laying angle of a winch is provided, applied to the aforementioned apparatus, comprising: acquiring a grayscale image of a first detection area using a first camera and a first light source; acquiring a light spot formed by the first light source on a section of cable led out by the cable laying device based on the grayscale image of the first detection area; and calculating the cable laying angle based on the light spot.

[0010] According to some embodiments, obtaining the light spot formed by the first light source on a section of cable led out by the cable laying device based on the grayscale image of the first detection area includes: generating a binary image of the first detection area from the grayscale image of the first detection area; obtaining a white connected region formed by the first light source on the section of cable based on the binary image of the first detection area; and filtering the white connected region according to a preset first threshold to obtain the light spot.

[0011] According to some embodiments, calculating the cable routing angle based on the light spot includes: obtaining the line connecting the centroids of the light spot; calculating the angle between the line connecting the centroids of the light spot and the vertical axis of the grayscale image of the first detection area, as the cable routing angle.

[0012] According to some embodiments, the method further includes: acquiring a grayscale image of the second detection area using the second camera and the second light source; acquiring two points with approximately equal vertical coordinates on the top edge of the cable storage drum based on the grayscale image of the second detection area; and determining whether the winch has encountered an abnormality during the cable laying process based on the two points with approximately equal vertical coordinates.

[0013] According to some embodiments, obtaining two points with approximately equal vertical coordinates on the top edge of the cable storage drum based on the grayscale image of the second detection area includes: generating a binary image of the second detection area using the grayscale image of the second detection area; determining the top edge of the cable storage drum based on the binary image of the second detection area; removing noise from the top edge of the cable storage drum; arranging the points on the top edge of the cable storage drum according to their horizontal coordinates; and selecting two points with approximately equal vertical coordinates from the points on the top edge of the cable storage drum that have been arranged according to their horizontal coordinates.

[0014] According to some embodiments, determining whether the winch has encountered an abnormality during cable laying based on two points with approximately equal ordinates includes: calculating the mean ordinate of the two points with approximately equal ordinates; calculating the difference between the ordinate of any point between the two points with approximately equal ordinates and the mean ordinate, to obtain the sum of the differences between all points between the two points with approximately equal ordinates and the mean ordinate; if the sum of the differences is greater than a preset second threshold, then it is determined that the winch has encountered an abnormality of cable riding during cable laying; if the sum of the differences is less than a preset third threshold, then it is determined that the winch has encountered an abnormality of excessive gap during cable laying.

[0015] According to embodiments of this application, image processing algorithms can be used to process high-contrast images obtained by a monitoring device for cable laying via a winch, thereby enabling real-time measurement of the cable laying angle and real-time detection of cable laying anomalies, which reduces costs while improving the accuracy of measurement and detection.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application.

[0018] Figure 1 A schematic diagram of a winch cable monitoring device according to an example embodiment of this application is shown.

[0019] Figure 2 This is a side view schematic diagram of a monitoring device for winch cable laying according to an example embodiment of this application.

[0020] Figure 3 This is a top view schematic diagram of a winch cable monitoring device according to an example embodiment of this application.

[0021] Figure 4 This diagram illustrates a method for measuring the cable laying angle using a monitoring device that monitors cable laying via a winch, according to an example embodiment of this application.

[0022] Figure 5 A grayscale image of the first detection region according to an example embodiment of this application is shown.

[0023] Figure 6A , Figure 6B A binary map of the first detection region according to an example embodiment of this application is shown.

[0024] Figure 7A grayscale image showing the calculation of the cable routing angle according to an example embodiment of this application is displayed.

[0025] Figure 8 This diagram illustrates a method for detecting cable laying anomalies using a monitoring device that monitors cable laying via a winch, according to an example embodiment of this application.

[0026] Figure 9 A grayscale image of the second detection region according to an example embodiment of this application is shown.

[0027] Figure 10 A binary map of the second detection region according to an example embodiment of this application is shown.

[0028] Figure 11 A schematic diagram showing a winch experiencing a cable-laying anomaly according to an example embodiment of this application.

[0029] Figure 12 A schematic diagram showing a cable laying abnormality with excessive gaps in a winch according to an example embodiment of this application.

[0030] Figure 13 A block diagram of an electronic device according to an example embodiment of this application is shown. Detailed Implementation

[0031] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0032] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of these specific details, or other methods, components, materials, apparatus, or operations may be employed. In these cases, well-known structures, methods, apparatuses, implementations, materials, or operations will not be shown or described in detail.

[0033] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0034] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0035] This application provides a monitoring device for winch cable laying, which is used to realize real-time measurement of the cable laying angle and real-time detection of cable laying abnormalities during the winch cable laying process.

[0036] The following is a detailed description of a winch cable laying monitoring device according to an embodiment of the present application, with reference to the accompanying drawings.

[0037] Figure 1 A schematic diagram of a winch cable monitoring device according to an example embodiment of this application is shown.

[0038] like Figure 1 As shown, the winch includes a cable reel 10 and a cable storage drum 20. The cable reel 10 is located on one side of the cable storage drum 20 and is used to guide the retrieved underwater robot cable and wind it onto the cable storage drum 20. A fixing device 11 is installed above the cable reel 10 and is rigidly connected to the cable reel 10.

[0039] The monitoring device for winch cable laying (hereinafter referred to as the monitoring device) includes a first camera 30, a first light source 40, a second camera 50, and a second light source 60.

[0040] The first camera 30 is fixed to the fixing device 11 and rigidly connected to the fixing device 11. The first camera 30 focuses on the first detection area of ​​the cable storage drum 20 at a preset downward angle. Figure 1 A top-down image (not shown) is taken to form a grayscale image of the first detection area. The first detection area includes a section of cable extended from the cable laying device 10.

[0041] According to some embodiments, the optical axis of the first camera 30 may be perpendicular or approximately perpendicular to a section of cable led out by the cable laying device 10.

[0042] The first light source 40 is fixed to the fixing device 11 and is rigidly connected to the fixing device 11. The first light source 40 illuminates the first detection area of ​​the cable storage drum 20 at a preset angle to form a grayscale image of the first detection area.

[0043] According to some embodiments, the first light source 40 may be a linear laser light source.

[0044] The second camera 50 is fixed to the fixing device 11 and is rigidly connected to the fixing device 11. The second camera 50 detects the second detection area of ​​the cable storage drum 20 in the horizontal direction. Figure 1 (Not shown in the image) A flat photograph is taken to form a grayscale image of the second detection area. The second detection area includes the upper part of the cable storage drum 20.

[0045] The second light source 60 is located on the other side of the cable storage drum 20, opposite to the cable laying device 10.

[0046] According to some embodiments, the second light source 60 is a flat panel backlight source to form a grayscale image of the second detection area.

[0047] Since the first camera 30, the first light source 40, and the second camera 50 are all rigidly connected to the fixing device 11, and the fixing device 11 is rigidly connected to the cable laying device 10, during the process of the cable laying device 10 moving along the track to lay the cable, the first camera 30, the first light source 40, and the second camera 50 move together with the cable laying device 10, and the shooting angles of the first camera 30 and the second camera 50 and the illumination angle of the first light source 40 remain unchanged.

[0048] Furthermore, as the cable laying device 10 moves, the first camera 30 and the second camera 50 can maintain continuous shooting of the first detection area and the second detection area.

[0049] It is understood that, according to some other embodiments of this application, the monitoring device may include only a first camera 30 and a first light source 40, and according to other embodiments, the monitoring device may include only a second camera 50 and a second light source 60.

[0050] According to the embodiments of this application, the technical solution of this application can detect changes in the cable laying angle of the cable laying device and changes in the appearance of the cable storage drum in real time by using two cameras to take real-time pictures of the area of ​​the cable storage drum opposite the cable laying device. This reduces costs while improving the accuracy of measurement and detection.

[0051] Figure 2 This is a side view schematic diagram of a monitoring device for winch cable laying according to an example embodiment of this application.

[0052] like Figure 2 As shown, the winch includes a cable laying device 10 and a cable storage drum 20. The cable laying device 10 is disposed on one side of the cable storage drum 20, and a fixing device 11 is installed above the cable laying device 10, which is rigidly connected to the cable laying device 10.

[0053] The monitoring device includes a first camera 30, a first light source 40, a second camera 50, and a second light source 60.

[0054] The first camera 30 is fixed to the fixing device 11 and rigidly connected to the fixing device 11. The first camera 30 focuses on the first detection area of ​​the cable storage drum 20 at a preset downward angle. Figure 2 (Not shown in the image) A top-down view was taken. The first inspection area includes a section of cable led out by the cable laying device 10.

[0055] According to some embodiments, the optical axis of the first camera 30 may be perpendicular or approximately perpendicular to a section of cable led out by the cable laying device 10.

[0056] The first light source 40 is fixed to the fixing device 11 and is rigidly connected to the fixing device 11. The first light source 40 illuminates the first detection area of ​​the cable storage drum 20 at a preset angle.

[0057] The second camera 50 is fixed to the fixing device 11 and is rigidly connected to the fixing device 11. The second camera 50 detects the second detection area of ​​the cable storage drum 20 in the horizontal direction. Figure 2 (Not shown in the image) is inspected flat. The second inspection area includes the upper part of the cable storage drum 20.

[0058] The second light source 60 is located on the other side of the cable storage drum 20, opposite to the cable laying device 10.

[0059] According to some embodiments, the upper end of the second light source 60 is higher than the top edge of the cable storage drum 20.

[0060] It is understood that, according to some other embodiments of this application, the monitoring device may include only a first camera 30 and a first light source 40, and according to other embodiments, the monitoring device may include only a second camera 50 and a second light source 60.

[0061] Figure 3 This is a top view schematic diagram of a winch cable monitoring device according to an example embodiment of this application.

[0062] like Figure 3 As shown, the winch includes a cable feeder 10 and a cable storage drum 20. The cable feeder 10 is located on one side of the cable storage drum 20. A fixing device 11 is installed above the cable feeder 10, and the fixing device 11 is rigidly connected to the cable feeder 10.

[0063] The monitoring device includes a first camera 30, a first light source 40 and 40', a second camera 50, and a second light source 60.

[0064] The first camera 30 is fixed to the fixing device 11 and rigidly connected to the fixing device 11. The first camera 30 focuses on the first detection area of ​​the cable storage drum 20 at a preset downward angle. Figure 3 (Not shown in the image) A top-down view was taken. The first inspection area includes a section of cable led out by the cable laying device 10.

[0065] The first light sources 40 and 40' can be linear laser light sources, respectively fixed to the fixing device 11 and rigidly connected to the fixing device 11. The first light sources 40 and 40' respectively irradiate the upper and lower parts of the first detection area of ​​the cable storage drum 20 at a preset angle to form two laser lines within the first detection area. The two laser lines formed by the first light sources 40 and 40' within the first detection area are both parallel to the axis of the cable storage drum 20.

[0066] According to some embodiments, the two laser lines formed by the first light sources 40 and 40' within the first detection area can form at least two light spots on a section of cable led out by the cable arranger 10. Figure 3 (Not shown in the image).

[0067] The second camera 50 is fixed to the fixing device 11 and is rigidly connected to the fixing device 11. The second camera 50 detects the second detection area of ​​the cable storage drum 20 in the horizontal direction. Figure 3 (Not shown in the image) is used for flat shooting.

[0068] The second light source 60 is located on the other side of the cable storage drum 20, opposite to the cable laying device 10. The second light source 60 is not connected to the cable storage drum 20.

[0069] According to some embodiments, during the process of the cable laying device 10 moving horizontally along the track to lay cables, the first camera 30, the first light sources 40 and 40' and the second camera 50 all move together with the cable laying device 10, and the shooting angles of the first camera 30 and the second camera 50 and the illumination angles of the first light sources 40 and 40' remain unchanged.

[0070] It is understood that, according to some other embodiments of this application, the monitoring device may only include a first camera 30 and a first light source 40, 40', and according to other embodiments, the monitoring device may only include a second camera 50 and a second light source 60.

[0071] Figure 4 This diagram illustrates a method for measuring the cable laying angle using a monitoring device that monitors cable laying via a winch, according to an example embodiment of this application.

[0072] like Figure 4 As shown, in step S110, the monitoring device acquires a grayscale image of the first detection area through the first camera and the first light source.

[0073] For example, in step S110, the monitoring device illuminates the cable reel with a first light source and captures a first detection area of ​​the cable reel with a first camera to form a grayscale image of the first detection area.

[0074] The monitoring device controls two linear laser sources in the first light source to illuminate the upper and lower parts of the first detection area, respectively, forming two laser lines parallel to the axis of the cable storage drum. The first detection area also includes a section of cable led out by the cable laying device; understandably, the two laser lines formed by the first light source also pass through this section of cable.

[0075] The monitoring device adjusts the aperture and exposure time of the first camera to increase the contrast between the laser-illuminated area and the background within the first detection area, making the background appear almost completely dark. Figure 5 As shown. The monitoring device uses this as the grayscale image of the first detection area.

[0076] In step S120, based on the grayscale image of the first detection area, the monitoring device acquires the light spot formed by the first light source on a section of cable led out by the cable laying device.

[0077] For example, in step S120, the monitoring device obtains a binary image of the first detection area based on the grayscale image of the first detection area, and obtains the light spot formed by the first light source on the cable led out by the cable laying device by filtering the white connected regions in the binary image of the first detection area.

[0078] The monitoring device performs a thresholding operation on the grayscale image of the first detection area, setting the foreground pixel value of the grayscale image of the first detection area to 1 and the background pixel value of the grayscale image of the first detection area to 0, thereby forming a binary image of the first detection area, such as... Figure 6A As shown.

[0079] The monitoring device extracts straight line features from the binary image of the first detection area and sets the neighboring pixel values ​​of the straight line to 0 to obtain the white connected region formed by the first light source on a section of cable led out by the cable laying device, such as... Figure 6B As shown.

[0080] According to some embodiments, the Hough transform can be used to extract linear features from the binary image of the first detection region.

[0081] The monitoring device calculates the area of ​​each white connected region and compares the calculation result with a preset first threshold. If the area of ​​a certain white connected region is approximately equal to the preset first threshold, the monitoring device identifies this white connected region as a light spot formed by the first light source on a section of cable led out by the cable laying device.

[0082] According to some embodiments, the preset first threshold can be set as the product of the line width of the laser line and the diameter of the cable in the binary image of the first detection area.

[0083] In step S130, the monitoring device calculates the cable laying angle based on the light spot.

[0084] For example, in step S130, the monitoring device calculates the cable laying angle by connecting the light spots formed on a section of cable led out by the cable laying device.

[0085] The monitoring device acquires the light spot formed by the first light source on a section of cable led out by the cable laying device, as well as the line connecting the centroids of the light spot.

[0086] According to embodiments of this application, such as Figure 7 As shown, the first light source forms two light spots on a section of cable led out by the cable laying device, and the monitoring device acquires the line connecting the centroids of these two light spots. Since the shooting angle of the first camera and the illumination angle of the first light source remain unchanged during the cable laying process of the winch, the angle change of the line connecting the centroids of these two light spots in the grayscale image of the first detection area is equal to the change in the cable laying angle.

[0087] In the embodiments of this application, a planar coordinate system is established with the vertical direction as the x-axis (vertical coordinate axis) and the horizontal direction as the y-axis (horizontal coordinate axis).

[0088] The monitoring device calculates the angle between the line connecting the centroids of the light spots and the vertical axis of the grayscale image of the first detection area, and uses this angle as the cable routing angle, such as... Figure 7 As shown.

[0089] According to the embodiments of this application, the monitoring device can use a first camera to take real-time pictures of the cable storage drum area opposite the cable laying device, and detect the change of the cable laying angle of the cable laying device in real time, thereby reducing costs and improving measurement accuracy.

[0090] Figure 8 This diagram illustrates a method for detecting cable laying anomalies using a monitoring device that monitors cable laying via a winch, according to an example embodiment of this application.

[0091] like Figure 8 As shown, in step S210, the monitoring device acquires a grayscale image of the second detection area through the second camera and the second light source.

[0092] For example, in step S210, the monitoring device uses the second light source as the backlight source for the cable storage reel and captures the second detection area of ​​the cable storage reel with the second camera to form a grayscale image of the second detection area.

[0093] The monitoring device uses a second light source located on the other side of the cable storage drum as the backlight source for the cable storage drum. The second light source illuminates the cable storage drum on the side opposite to the cable laying device, and the upper end of the second light source is higher than the top edge of the cable storage drum, that is, the edge of the cable wound on the cable storage drum.

[0094] The monitoring device adjusts the aperture and exposure time of the second camera so that the images of the cable storage drum area and the area of ​​the cable wound on the cable storage drum are nearly dark areas, while the image of the second light source area, which is not blocked by the cable storage drum and the cable wound on the cable storage drum, is a bright area. Figure 9 As shown. The monitoring device uses this as the grayscale image of the second detection area.

[0095] In step S220, based on the grayscale image of the second detection area, the monitoring device acquires two points with approximately equal vertical coordinates on the top edge of the cable reel.

[0096] For example, in step S220, the monitoring device obtains a binary image of the second detection area based on the grayscale image of the second detection area, and determines the top edge of the cable storage drum using the binary image of the second detection area. The monitoring device selects two points with approximately equal vertical coordinates on the top edge of the cable storage drum, and uses these points to determine whether a cable routing abnormality has occurred.

[0097] The monitoring device performs a thresholding operation on the grayscale image of the second detection area, setting the foreground pixel value of the grayscale image of the second detection area to 0 and the light source / background pixel value of the grayscale image of the second detection area to 1, thereby forming a binary image of the second detection area, such as... Figure 10 As shown.

[0098] The monitoring device extracts edge features of the foreground and background of the image in the binary image of the second detection area using an edge detection algorithm to obtain the top edge of the cable reel (i.e. the edge of the cable wound on the cable reel), wherein the top edge of the cable reel contains multiple points.

[0099] The monitoring device smooths the top edge of the extracted cable reel to remove noise interference at various points.

[0100] According to some embodiments, a one-dimensional median filter can be used to smooth the top edge of the extracted cable reel.

[0101] In the embodiments of this application, a planar coordinate system is established with the vertical direction as the x-axis (vertical coordinate axis) and the horizontal direction as the y-axis (horizontal coordinate axis).

[0102] The monitoring device arranges the points on the top edge of the cable reel, which has been freed from noise interference, according to the horizontal coordinate of each point in the image, and selects two points whose vertical coordinates are approximately equal.

[0103] For example, the monitoring device acquires the nth point p on the top edge of the cable reel. n and the (n+t)th point p t, where n = 1, 2, 3, 4…Nt, N is the total number of points on the top edge of the cable reel, and t is a positive integer. If p n and p t If the vertical coordinates of the two points are approximately equal, then these two points are the two points with approximately equal vertical coordinates selected by the monitoring device.

[0104] In step S230, based on two points with approximately equal vertical coordinates, the monitoring device determines whether the winch has encountered any abnormalities during the cable laying process.

[0105] For example, in step S230, the monitoring device acquires two points with approximately equal ordinates on the top edge of the cable storage drum, as well as the ordinates of all points between the two points, and performs calculations based on these. The results are then used to determine whether a cable routing abnormality has occurred.

[0106] The monitoring device calculates the average ordinate of two points with approximately equal ordinates on the top edge of the cable reel, denoted as x. m .

[0107] Furthermore, the monitoring device calculates the ordinate of any point between two points on the top edge of the cable reel that have approximately equal ordinates and the x-coordinate. m The difference is then used to obtain all points between two points with approximately equal ordinates on the top edge of the cable reel and x. m The sum of the differences is denoted as d.

[0108] The monitoring device obtains a preset second threshold T h and the preset third threshold T l And by judging the sum of the differences d and T h T l The relationship is used to determine whether the winch experiences any abnormalities during the cable laying process.

[0109] For example, if d > T h Then point p n and p t A section of the curve clearly bulges upwards, and the monitoring device can determine that the winch experienced an abnormal cable-laying situation during the cable-laying process, such as cable riding. Figure 11 As shown.

[0110] For example, if d < T l Then point p n and p t A section of the curve clearly dips downwards, and the monitoring device can determine that the winch experienced an abnormal cable laying situation with excessively large gaps during the cable laying process. Figure 12 As shown.

[0111] According to some embodiments, a preset second threshold T h and the preset third threshold T l This is an empirical threshold and can be adjusted according to actual needs.

[0112] According to an embodiment of this application, the monitoring device can use a second camera to take real-time pictures of the cable storage drum area opposite the cable laying device, and detect in real-time the area where the appearance of the cable storage drum changes, thereby reducing costs and improving detection accuracy.

[0113] Figure 13 A block diagram of an electronic device according to an example embodiment of this application is shown.

[0114] like Figure 13 As shown, the electronic device 600 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0115] like Figure 13 As shown, the electronic device 600 is manifested in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), a display unit 640, etc. The storage unit stores program code, which can be executed by the processing unit 610, causing the processing unit 610 to perform the methods described in this specification according to the various exemplary embodiments of this application. For example, the processing unit 610 can perform, for example... Figure 4 or Figure 8 The method shown.

[0116] Storage unit 620 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include a read-only memory (ROM) 6203.

[0117] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0118] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0119] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0120] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. The technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this application.

[0121] Software products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0122] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0123] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0124] The aforementioned computer-readable medium carries one or more programs, which, when executed by a device, cause the computer-readable medium to perform the aforementioned functions.

[0125] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0126] According to some embodiments of this application, the measurement of cable routing angle and the detection of cable routing abnormalities in the technical solution of this application only require one camera, resulting in low hardware costs. Furthermore, the method of providing illumination through a light source in the technical solution of this application makes it easy to obtain high-contrast images, reducing the difficulty of image processing and improving the accuracy of measurement and detection.

[0127] The embodiments of this application have been described in detail above. These descriptions are solely for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, its specific implementation methods, and its application scope, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A monitoring device for winch cable laying, the winch comprising a cable laying device and a cable storage drum, the cable laying device being disposed on one side of the cable storage drum and a fixing device being disposed above the cable laying device, the fixing device being rigidly connected to the cable laying device, characterized in that, The monitoring device includes: A first camera, mounted on the fixed device, is used to take a top-down view of the first detection area of ​​the cable storage drum, the first detection area including a section of cable led out by the cable distributor; A first light source, disposed on the fixed device, is used to irradiate the first detection area, including two linear laser light sources, which respectively irradiate the upper and lower parts of the first detection area; and the two laser lines formed by the first light source in the first detection area are both parallel to the axis of the cable storage drum. The two laser lines formed by the first light source in the first detection area form two light spots on a section of cable led out by the cable laying device; The monitoring device calculates the cable routing angle based on the two light spots, including: A grayscale image of the first detection area is acquired using the first camera and the first light source; The two light spots are obtained based on the grayscale image of the first detection area; Obtain the line connecting the centroids of the two light spots; Calculate the angle between the line connecting the centroids of the two light spots and the vertical axis of the grayscale image of the first detection area, and use it as the cable laying angle.

2. The apparatus according to claim 1, characterized in that, Also includes: A second camera is mounted on the fixed device and is used to take a flat shot of the second detection area of ​​the cable storage drum, the second detection area including the upper part of the cable storage drum; The second light source is located on the other side of the cable storage drum, opposite to the cable laying device.

3. The apparatus according to claim 2, characterized in that, The second light source is a flat backlight light source, the upper end of which is higher than the edge of the top of the cable storage drum, and the second light source is not connected to the cable storage drum.

4. A method for measuring the cable laying angle of a winch, applied to the apparatus as described in any one of claims 2 or 3, characterized in that, include: A grayscale image of the first detection area is acquired using the first camera and the first light source; Based on the grayscale image of the first detection area, obtain the light spot formed by the first light source on a section of cable led out by the cable laying device; The cable angle is calculated based on the light spot.

5. The method according to claim 4, characterized in that, Based on the grayscale image of the first detection area, the light spot formed by the first light source on a section of cable led out by the cable laying device is obtained, including: A binary image of the first detection region is generated from the grayscale image of the first detection region; The white connected region formed by the first light source on the section of cable is obtained from the binary image of the first detection area; The white connected regions are filtered according to a preset first threshold to obtain the light spot.

6. The method according to claim 4, characterized in that, Calculating the cable routing angle based on the light spot includes: Obtain the line connecting the centroids of the light spot; Calculate the angle between the line connecting the centroids of the light spot and the vertical axis of the grayscale image of the first detection area, and use it as the cable routing angle.

7. The method according to claim 4, characterized in that, Also includes: The grayscale image of the second detection area is acquired using the second camera and the second light source; Based on the grayscale image of the second detection area, obtain two points with approximately equal vertical coordinates on the top edge of the cable storage drum; Based on two points with approximately equal vertical coordinates, determine whether the winch malfunctions during cable laying.

8. The method according to claim 7, characterized in that, Based on the grayscale image of the second detection area, obtain two points with approximately equal vertical coordinates on the top edge of the cable storage drum, including: A binary image of the second detection region is generated from the grayscale image of the second detection region; The top edge of the cable storage drum is determined based on the binary image of the second detection area; Remove noise from the top edge of the cable storage drum; Arrange the points on the top edge of the cable storage drum according to the horizontal coordinate; Select two points with approximately equal vertical coordinates from the points on the top edge of the cable reel that have been arranged according to the horizontal coordinate.

9. The method according to claim 7, characterized in that, Based on two points with approximately equal vertical coordinates, determine whether the winch experiences any abnormalities during cable laying, including: Calculate the mean of the ordinates of two points whose ordinates are approximately equal; Calculate the difference between the ordinate of any point between two points whose ordinates are approximately equal and the mean of the ordinates, so as to obtain the sum of the differences between all points between the two points whose ordinates are approximately equal and the mean of the ordinates; If the sum of the differences is greater than a preset second threshold, it is determined that the winch has an abnormality of cable riding during the cable laying process; If the sum of the differences is less than a preset third threshold, it is determined that the winch has an abnormality of excessive gap during the cable laying process.

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