Cable measurement method and device, cable measurement equipment and storage medium

Abstract

The invention discloses a cable measurement method and device, cable measurement equipment and a storage medium. The cable measuring method is applied to the cable measuring equipment, the cable measuring equipment comprises a binocular camera, the binocular camera is used for shooting a bent part of a cable to be measured to obtain a cable bent part image, and a three-dimensional cable stereoscopic image of the bent part is generated according to the cable bent part image; determining a first measurement point, a second measurement point and a third measurement point on the three-dimensional cable stereo image, and determining a first space coordinate, a second space coordinate and a third space coordinate corresponding to the first measurement point, the second measurement point and the third measurement point according to the first measurement point, the second measurement point and the third measurement point; and determining the bending degree corresponding to the bending part of the cable to be measured according to the first space coordinate, the second space coordinate and the third space coordinate. According to the invention, cable bending radian measurement work is more convenient and safer.

Description

Technical Field

[0001] The present invention relates to the field of cable technology, and in particular to a cable measuring method, a cable measuring device, a cable measuring equipment and a storage medium. Background Art

[0002] The development and application trend of cable technology is an evolving process. From traditional to modern, cable technology has undergone continuous innovation and improvement in materials, structures and manufacturing processes. The development and application trend of cable technology is of great significance to the development of society. It can not only improve energy efficiency and communication transmission speed, but also promote the intelligent development of the transportation field.

[0003] With the continuous increase in new cable projects, when inspecting whether the cable trench meets the turning radius requirements, the inspection personnel need to use a tape measure or a rubber measure to measure the turning radius of the cable trench. The inspection of this work requires the cooperation of two people. First, measure the length of the turning cable chord, then measure the corresponding height of the chord, and finally calculate it through a formula. That is, the inspection of the cable bending curvature cannot be obtained intuitively and simply; on the other hand, the measurement of the cable bending curvature on the terminal tower is more troublesome and dangerous, and the inspection work is difficult. It cannot be obtained directly, the efficiency is low, and the operation and maintenance cost is high. Summary of the invention

[0004] The present invention provides a cable measurement method, a device, a cable measurement equipment and a storage medium to solve the problems that the current cable bending curvature cannot be intuitively obtained and the measurement efficiency is low, and the manual measurement is inaccurate.

[0005] According to one aspect of the present invention, a cable measurement method is provided. The cable measurement method is applied to a cable measurement device. The cable measurement device includes a binocular camera. The cable measurement method includes:

[0006] Using the binocular camera to photograph the curved portion of the cable to be measured to obtain an image of the curved portion of the cable, and generating a three-dimensional cable stereo image of the curved portion based on the image of the curved portion of the cable;

[0007] Determine a first measuring point, a second measuring point and a third measuring point on the three-dimensional cable stereo image, and determine first spatial coordinates, second spatial coordinates and third spatial coordinates corresponding to the first measuring point, the second measuring point and the third measuring point according to the first measuring point, the second measuring point and the third measuring point;

[0008] The curvature corresponding to the curved portion of the cable to be measured is determined according to the first space coordinate, the second space coordinate and the third space coordinate.

[0009] Optionally, determining the first spatial coordinates, the second spatial coordinates, and the third spatial coordinates corresponding to the first measurement point, the second measurement point, and the third measurement point includes:

[0010] Acquire a first left pixel coordinate and a first right pixel coordinate of the first measuring point, a second left pixel coordinate and a second right pixel coordinate of the second measuring point, and a third left pixel coordinate and a third right pixel coordinate of the third measuring point;

[0011] The first spatial coordinates, the second spatial coordinates and the third spatial coordinates corresponding to the first measuring point, the second measuring point and the third measuring point are determined respectively according to the first left pixel coordinates, the first right pixel coordinates, the second left pixel coordinates, the second right pixel coordinates, the third left pixel coordinates and the third right pixel coordinates.

[0012] Optionally, before determining the first spatial coordinates, the second spatial coordinates, and the third spatial coordinates corresponding to the first measuring point, the second measuring point, and the third measuring point, the method further includes:

[0013] Obtaining the baseline length and focal length of the binocular camera;

[0014] Determining first spatial coordinates, second spatial coordinates, and third spatial coordinates corresponding to the first measurement point, the second measurement point, and the third measurement point respectively according to the first left pixel coordinate, the first right pixel coordinate, the second left pixel coordinate, the second right pixel coordinate, the third left pixel coordinate, and the third right pixel coordinate, comprising:

[0015] The first spatial coordinate, the second spatial coordinate and the third spatial coordinate corresponding to the first measuring point, the second measuring point and the third measuring point are respectively determined according to the baseline length, the focal length, the first left pixel coordinate, the first right pixel coordinate, the second left pixel coordinate, the second right pixel coordinate, the third left pixel coordinate and the third right pixel coordinate.

[0016] Optionally, determining the curvature corresponding to the curved portion of the cable to be measured according to the first space coordinate, the second space coordinate, and the third space coordinate includes:

[0017] Determine a first measurement distance from the first measurement point to the second measurement point and a second measurement distance from the first measurement point to the third measurement point according to the first spatial coordinates, the second spatial coordinates, and the third spatial coordinates;

[0018] The curvature corresponding to the curved portion of the cable to be measured is determined according to the first measuring distance and the second measuring distance.

[0019] Optionally, determining a curvature corresponding to a curved portion of the cable to be measured according to the first measurement distance and the second measurement distance includes:

[0020] A chord height is determined according to the first measurement distance and the second measurement distance, and a curvature corresponding to the curved portion of the cable to be measured is determined according to the chord height and the second measurement distance.

[0021] Optionally, determining the curvature corresponding to the curved portion of the cable to be measured according to the first space coordinate, the second space coordinate, and the third space coordinate includes:

[0022] Determine a central axis corresponding to the curved portion of the cable to be measured and a second measuring distance from the first measuring point to the third measuring point according to the first spatial coordinate, the second spatial coordinate and the third spatial coordinate;

[0023] The curvature corresponding to the curved portion of the cable to be measured is determined according to the central axis and the second measuring distance.

[0024] Optionally, the cable measurement method further includes:

[0025] The first space coordinate, the second space coordinate, the third space coordinate and the curvature are displayed correspondingly in real time on the cable measuring device.

[0026] According to another aspect of the present invention, a cable measuring device is provided, the cable measuring device is applied to a cable measuring device, the cable measuring device includes a binocular camera, and the cable measuring device includes:

[0027] An image generation module, used for using the binocular camera to photograph the curved portion of the cable to be measured to obtain an image of the curved portion of the cable, and generating a three-dimensional cable stereo image of the curved portion according to the image of the curved portion of the cable;

[0028] a coordinate determination module, used for determining a first measurement point, a second measurement point and a third measurement point on the three-dimensional cable stereo image, and determining first spatial coordinates, second spatial coordinates and third spatial coordinates corresponding to the first measurement point, the second measurement point and the third measurement point according to the first measurement point, the second measurement point and the third measurement point;

[0029] The curvature determination module is used to determine the curvature corresponding to the curved portion of the cable to be measured according to the first space coordinate, the second space coordinate and the third space coordinate.

[0030] According to another aspect of the present invention, there is provided a cable measuring device, the cable measuring device comprising a binocular camera;

[0031] The cable measuring device also includes:

[0032] at least one processor; and,

[0033] a memory communicatively connected to the at least one processor; wherein,

[0034] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the cable measurement method described in any embodiment of the present invention.

[0035] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the cable measurement method described in any embodiment of the present invention when executed.

[0036] The technical solution of the embodiment of the present invention, the cable measurement method is applied to the cable measurement equipment, the cable measurement equipment includes a binocular camera, the binocular camera is used to shoot the bending part of the cable to be measured to obtain the image of the bending part of the cable, and a three-dimensional cable stereo image of the bending part is generated according to the image of the bending part of the cable; the first measurement point, the second measurement point and the third measurement point are determined on the three-dimensional cable stereo image, and the first spatial coordinates, the second spatial coordinates and the third spatial coordinates corresponding to the first measurement point, the second measurement point and the third measurement point are determined; the curvature corresponding to the bending part of the cable to be measured is determined according to the first spatial coordinates, the second spatial coordinates and the third spatial coordinates. The present invention solves the current problems that the curvature of the cable cannot be intuitively obtained and the measurement efficiency is low, and the problem of relying on manual measurement is inaccurate, so as to make the measurement of the curvature of the cable more convenient and safe, and improve the cable acceptance quality and the efficiency of cable measurement.

[0037] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 is a flow chart of a cable measurement method provided according to an embodiment of the present invention;

[0040] Figure 2 is a schematic structural diagram of an exemplary binocular camera used in conjunction with a tripod according to an embodiment of the present invention;

[0041] Figure 3 It is a schematic diagram of the calculation principle of the curvature corresponding to the curved portion of the cable to be measured provided by an embodiment of the present invention;

[0042] Figure 4 is a structural schematic diagram of a cable measuring device provided according to an embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of the structure of a cable measuring device for implementing the cable measuring method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] Figure 1 A flow chart of a cable measurement method is provided for an embodiment of the present invention. This embodiment is applicable to the situation of convenient, safe and intelligent measurement of the curvature of a cable bend. The cable measurement method can be performed by a cable measurement device. The cable measurement device can be implemented in the form of hardware and / or software. The cable measurement device can be configured in a cable measurement device. The cable measurement method is applied to the cable measurement device. The cable measurement device includes a binocular camera. The binocular camera can be implemented using existing binocular camera technology. This embodiment does not impose any restrictions on the specific model and size of the binocular camera. For example, Figure 2 As shown, the binocular camera can be installed on the top of the tripod. In this embodiment, the binocular camera is arranged toward the curved portion of the cable to be measured, and the binocular camera corresponds to the middle of the curved portion to ensure that the visual field of the binocular camera overlaps and can completely cover the curved portion of the cable to be measured.

[0047] like Figure 1 As shown, the cable measurement method includes:

[0048] S110, using a binocular camera to photograph a curved portion of the cable to be measured to obtain an image of the curved portion of the cable, and generating a three-dimensional cable stereo image of the curved portion according to the image of the curved portion of the cable.

[0049] Among them, the image of the bent part of the cable includes two images of the bent part of the cable to be measured taken by a binocular camera from two different perspectives. The image of the bent part of the cable can be an image of the bent part of the cable to be measured taken from two perspectives, a left perspective and a right perspective. It can be seen that the image of the bent part of the cable is a three-dimensional image.

[0050] The three-dimensional cable stereo image of the curved part is generated by matching the cable curved part image with the existing image processing algorithm to generate a three-dimensional model image of the curved part of the cable to be measured. This embodiment does not make too much explanation and limitation on the specific image processing algorithm.

[0051] S120, determining a first measuring point, a second measuring point, and a third measuring point on the three-dimensional cable stereo image, and determining first spatial coordinates, second spatial coordinates, and third spatial coordinates corresponding to the first measuring point, the second measuring point, and the third measuring point according to the first measuring point, the second measuring point, and the third measuring point.

[0052] Among them, the first measuring point, the second measuring point and the third measuring point are three discontinuous measuring points arbitrarily selected on the three-dimensional cable stereo image, and are key measuring points for calculating the curvature corresponding to the curved part of the cable to be measured, such as the bending starting point, the bending midpoint and the bending end point of the curved part of the cable to be measured, so as to accurately measure the curvature corresponding to the curved part of the cable to be measured.

[0053] The first measurement point, the second measurement point and the third measurement point can usually be selected using a stereo matching algorithm in computer vision, such as SIFT (scale invariant feature transform), SURF (Speeded Up Robust Features), ORB (Oriented Fast and Rotated Brief) and other matching algorithms, and this embodiment does not impose any limitation on this.

[0054] Preferably, Figure 3 As shown, the first measuring point A is the bending starting point of the bending portion of the cable to be measured, the second measuring point B is the bending midpoint of the bending portion of the cable to be measured, and the third measuring point C is the bending end point of the bending portion of the cable to be measured. The specific selection of the bending starting point, the bending midpoint and the bending end point can be determined based on the experience of technicians in this field or other existing setting selection methods, and this embodiment does not impose any special restrictions on this.

[0055] After determining the first measurement point, the second measurement point and the third measurement point, the coordinates of the first measurement point, the second measurement point and the third measurement point in the 3D space can be calculated by using the camera parameters of the binocular camera and combining the triangulation principle, that is, the first left pixel coordinate (x1L, y1L) and the first right pixel coordinate (x1R, y1R) of the first measurement point, the second left pixel coordinate (x2L, y2L) and the second right pixel coordinate (x2R, y2R) of the second measurement point, and the third left pixel coordinate (x3L, y3L) and the third right pixel coordinate (x3R, y3R) of the third measurement point are obtained.

[0056] Among them, the camera parameters of the binocular camera can ensure that the image of the curved part of the cable to be measured obtained by shooting the curved part of the cable to be measured can accurately reflect the three-dimensional data information in the curved part space of the cable to be measured. The camera parameters of the binocular camera may include but are not limited to parameters such as baseline length and focal length. The camera parameters can be pre-calibrated before using the binocular camera, and this embodiment does not impose any restrictions on this.

[0057] Further, the first spatial coordinates (x1, y1, z1), the second spatial coordinates (x2, y2, z2) and the third spatial coordinates (x3, y3, z3) corresponding to the first measurement point, the second measurement point and the third measurement point are respectively determined according to the first left pixel coordinate (x1L, y1L), the first right pixel coordinate (x1R, y1R), the second left pixel coordinate (x2L, y2L), the second right pixel coordinate (x2R, y2R), the third left pixel coordinate (x3L, y3L) and the third right pixel coordinate (x3R, y3R).

[0058] in, f is the focal length and B is the baseline length.

[0059] It can be understood that the first spatial coordinate, the second spatial coordinate and the third spatial coordinate corresponding to the first measuring point, the second measuring point and the third measuring point can be derived using z1, z2, z3 and the first left pixel coordinate, the first right pixel coordinate, the second left pixel coordinate, the second right pixel coordinate, the third left pixel coordinate and the third right pixel coordinate.

[0060] S130. Determine a curvature corresponding to a curved portion of the cable to be measured according to the first space coordinate, the second space coordinate, and the third space coordinate.

[0061] In one embodiment, see Figure 3 As shown, according to the first space coordinate, the second space coordinate and the third space coordinate, a first measurement distance AB from the first measurement point A to the second measurement point B and a second measurement distance AC from the first measurement point A to the third measurement point C can be calculated.

[0062] After obtaining the first measurement distance AB and the second measurement distance AC, the chord height method or other geometric methods are used to calculate the curvature corresponding to the curved portion of the cable to be measured. For example, see Figure 3 As shown, the chord height (H) is the length of the perpendicular line from the midpoint B of the curve to AC. The chord height is determined according to the first measured distance and the second measured distance. The chord height H can be obtained using the cosine theorem, specifically:

[0063]

[0064] Determine the curvature corresponding to the curved portion of the cable to be measured according to the chord height and the second measurement distance, specifically:

[0065]

[0066] In another embodiment, the central axis corresponding to the curved portion of the cable to be measured and the second measurement distance from the first measurement point to the third measurement point are determined according to the first spatial coordinate, the second spatial coordinate and the third spatial coordinate. Further, the distances between the points on the central axis are compared, and the curvature corresponding to the curved portion of the cable to be measured is determined by the distance in combination with the above-mentioned chord height method.

[0067] On the basis of the above embodiment, the first spatial coordinate, the second spatial coordinate, the third spatial coordinate and the curvature are displayed in real time on the cable measuring device. Furthermore, according to the first spatial coordinate, the second spatial coordinate, the third spatial coordinate and the curvature displayed in real time on the cable measuring device, the cable measuring device can perform corresponding actions based on the above information and inform the cable acceptance personnel that the measurement is completed. In addition, during the cable measurement process, the cable measuring device can also store any of the above information obtained in real time for subsequent traceability.

[0068] On the basis of the above, the cable measuring equipment also includes a database. Different cables have different turning size requirements. By establishing a database, the turning sizes corresponding to various cables can be recorded. After completing the above cable measurement, the specific model data of the cable to be measured (such as diameter, specific cable model, etc.) will be identified, and then the corresponding cable turning size requirements will be matched in the database and displayed on the cable measuring equipment for staff to view.

[0069] The technical solution of the embodiment of the present invention is that the cable measurement method is applied to the cable measurement equipment, the cable measurement equipment includes a binocular camera, and the cable measurement method includes: using the binocular camera to shoot the bending part of the cable to be measured to obtain the image of the bending part of the cable, and generating a three-dimensional cable stereo image of the bending part according to the image of the bending part of the cable; determining the first measurement point, the second measurement point and the third measurement point on the three-dimensional cable stereo image, and determining the first spatial coordinates, the second spatial coordinates and the third spatial coordinates corresponding to the first measurement point, the second measurement point and the third measurement point; determining the curvature corresponding to the bending part of the cable to be measured according to the first spatial coordinates, the second spatial coordinates and the third spatial coordinates. The present invention solves the problems that the curvature of the cable cannot be intuitively obtained and the measurement efficiency is low, and the problem that manual measurement is inaccurate, and realizes that the measurement of the curvature of the cable is more convenient, and can greatly improve the safety and accuracy of the measurement, and at the same time, improve the cable acceptance quality and the efficiency of cable measurement.

[0070] Based on the same inventive concept, Figure 4 The present invention provides a schematic diagram of the structure of a cable measuring device. The cable measuring device is applied to a cable measuring device, and the cable measuring device includes a binocular camera, such as Figure 4 As shown, the cable measuring device comprises:

[0071] The image generation module 210 is used to use a binocular camera to shoot the bending part of the cable to be measured to obtain an image of the bending part of the cable, and generate a three-dimensional cable stereo image of the bending part according to the image of the bending part of the cable;

[0072] A coordinate determination module 220 is used to determine a first measurement point, a second measurement point and a third measurement point on the three-dimensional cable stereo image, and determine the first spatial coordinates, the second spatial coordinates and the third spatial coordinates corresponding to the first measurement point, the second measurement point and the third measurement point according to the first measurement point, the second measurement point and the third measurement point;

[0073] The curvature determination module 230 is used to determine the curvature corresponding to the curved portion of the cable to be measured according to the first space coordinate, the second space coordinate and the third space coordinate.

[0074] Optionally, determining the first spatial coordinates, the second spatial coordinates, and the third spatial coordinates corresponding to the first measurement point, the second measurement point, and the third measurement point is specifically used for:

[0075] Acquire a first left pixel coordinate and a first right pixel coordinate of a first measuring point, a second left pixel coordinate and a second right pixel coordinate of a second measuring point, and a third left pixel coordinate and a third right pixel coordinate of a third measuring point;

[0076] The first spatial coordinates, the second spatial coordinates and the third spatial coordinates corresponding to the first measuring point, the second measuring point and the third measuring point are determined respectively according to the first left pixel coordinates, the first right pixel coordinates, the second left pixel coordinates, the second right pixel coordinates, the third left pixel coordinates and the third right pixel coordinates.

[0077] Optionally, the cable measuring device further comprises:

[0078] A camera parameter acquisition module is used to obtain the baseline length and focal length of the binocular camera;

[0079] Determine the first spatial coordinate, the second spatial coordinate and the third spatial coordinate corresponding to the first measurement point, the second measurement point and the third measurement point respectively according to the first left pixel coordinate, the first right pixel coordinate, the second left pixel coordinate, the second right pixel coordinate, the third left pixel coordinate and the third right pixel coordinate:

[0080] The first spatial coordinate, the second spatial coordinate and the third spatial coordinate corresponding to the first measuring point, the second measuring point and the third measuring point are determined respectively according to the baseline length, the focal length, the first left pixel coordinate, the first right pixel coordinate, the second left pixel coordinate, the second right pixel coordinate, the third left pixel coordinate and the third right pixel coordinate.

[0081] Optionally, the curvature determination module 230 is specifically configured to:

[0082] Determine a first measurement distance from the first measurement point to the second measurement point and a second measurement distance from the first measurement point to the third measurement point according to the first spatial coordinate, the second spatial coordinate and the third spatial coordinate;

[0083] The curvature corresponding to the curved portion of the cable to be measured is determined according to the first measuring distance and the second measuring distance.

[0084] Optionally, determining the curvature corresponding to the curved portion of the cable to be measured according to the first measurement distance and the second measurement distance is specifically used for:

[0085] The chord height is determined according to the first measurement distance and the second measurement distance, and the curvature corresponding to the curved portion of the cable to be measured is determined according to the chord height and the second measurement distance.

[0086] Optionally, the curvature determination module 230 is specifically configured to:

[0087] Determine the central axis corresponding to the curved portion of the cable to be measured and a second measuring distance from the first measuring point to the third measuring point according to the first spatial coordinate, the second spatial coordinate and the third spatial coordinate;

[0088] The curvature corresponding to the curved portion of the cable to be measured is determined according to the central axis and the second measuring distance.

[0089] Optionally, the cable measuring device further comprises:

[0090] The display module is used to display the first space coordinate, the second space coordinate, the third space coordinate and the curvature on the cable measuring device in real time.

[0091] The cable measuring device provided in the embodiment of the present invention can execute the cable measuring method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the cable measuring method.

[0092] Based on the same inventive concept, the cable measuring device includes a binocular camera, Figure 5 FIG. 3 is a schematic diagram showing a structure of a cable measuring device 310 that can be used to implement an embodiment of the present invention. Figure 5 As shown, the cable measuring device 310 includes at least one processor 311, and a memory connected to the at least one processor 311, such as a read-only memory (ROM 312), a random access memory (RAM 313), etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 311 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM 312) or the computer program loaded from the storage unit 318 to the random access memory (RAM 313). In RAM 313, various programs and data required for the operation of the cable measuring device 310 can also be stored. The processor 311, ROM 312 and RAM 313 are connected to each other through a bus 314. An I / O (input / output) interface 315 is also connected to the bus 314.

[0093] A number of components in the cable measuring device 310 are connected to the I / O interface 315, including: an input unit 316, such as a keyboard, a mouse, etc.; an output unit 317, such as various types of displays, speakers, etc.; a storage unit 318, such as a disk, an optical disk, etc.; and a communication unit 319, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 319 allows the cable measuring device 310 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0094] The processor 311 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 311 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 311 executes the various methods and processes described above, such as the cable measurement method.

[0095] In some embodiments, the cable measurement method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 318. In some embodiments, part or all of the computer program may be loaded and / or installed on the cable measurement device 310 via the ROM 312 and / or the communication unit 319. When the computer program is loaded into the RAM 313 and executed by the processor 311, one or more steps of the cable measurement method described above may be performed. Alternatively, in other embodiments, the processor 311 may be configured to perform the cable measurement method in any other suitable manner (e.g., by means of firmware).

[0096] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0098] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0099] To provide interaction with a user, the systems and techniques described herein may be implemented on a cable measurement device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the cable measurement device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0100] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0101] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0102] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0103] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cable measurement method, characterized in that: The cable measurement method is applied to a cable measurement device, the cable measurement device includes a binocular camera, and the cable measurement method includes: Using the binocular camera to photograph the curved portion of the cable to be measured to obtain an image of the curved portion of the cable, and generating a three-dimensional cable stereo image of the curved portion based on the image of the curved portion of the cable; Determine a first measuring point, a second measuring point and a third measuring point on the three-dimensional cable stereo image, and determine first spatial coordinates, second spatial coordinates and third spatial coordinates corresponding to the first measuring point, the second measuring point and the third measuring point according to the first measuring point, the second measuring point and the third measuring point; The curvature corresponding to the curved portion of the cable to be measured is determined according to the first space coordinate, the second space coordinate and the third space coordinate.

2. The cable measurement method according to claim 1, characterized in that: Determining the first spatial coordinates, the second spatial coordinates, and the third spatial coordinates corresponding to the first measuring point, the second measuring point, and the third measuring point includes: Acquire a first left pixel coordinate and a first right pixel coordinate of the first measuring point, a second left pixel coordinate and a second right pixel coordinate of the second measuring point, and a third left pixel coordinate and a third right pixel coordinate of the third measuring point; The first spatial coordinates, the second spatial coordinates and the third spatial coordinates corresponding to the first measuring point, the second measuring point and the third measuring point are determined respectively according to the first left pixel coordinates, the first right pixel coordinates, the second left pixel coordinates, the second right pixel coordinates, the third left pixel coordinates and the third right pixel coordinates.

3. The cable measurement method according to claim 2, characterized in that: Before determining the first spatial coordinates, the second spatial coordinates and the third spatial coordinates corresponding to the first measuring point, the second measuring point and the third measuring point, the method further includes: Obtaining the baseline length and focal length of the binocular camera; Determining first spatial coordinates, second spatial coordinates, and third spatial coordinates corresponding to the first measurement point, the second measurement point, and the third measurement point respectively according to the first left pixel coordinate, the first right pixel coordinate, the second left pixel coordinate, the second right pixel coordinate, the third left pixel coordinate, and the third right pixel coordinate, comprising: The first spatial coordinate, the second spatial coordinate and the third spatial coordinate corresponding to the first measuring point, the second measuring point and the third measuring point are respectively determined according to the baseline length, the focal length, the first left pixel coordinate, the first right pixel coordinate, the second left pixel coordinate, the second right pixel coordinate, the third left pixel coordinate and the third right pixel coordinate.

4. The cable measurement method according to claim 1, characterized in that: Determining the curvature corresponding to the curved portion of the cable to be measured according to the first space coordinate, the second space coordinate, and the third space coordinate includes: Determine a first measurement distance from the first measurement point to the second measurement point and a second measurement distance from the first measurement point to the third measurement point according to the first spatial coordinates, the second spatial coordinates, and the third spatial coordinates; The curvature corresponding to the curved portion of the cable to be measured is determined according to the first measuring distance and the second measuring distance.

5. The cable measurement method according to claim 4, characterized in that: Determining the curvature corresponding to the curved portion of the cable to be measured according to the first measuring distance and the second measuring distance includes: A chord height is determined according to the first measurement distance and the second measurement distance, and a curvature corresponding to the curved portion of the cable to be measured is determined according to the chord height and the second measurement distance.

6. The cable measurement method according to claim 1, characterized in that: Determining the curvature corresponding to the curved portion of the cable to be measured according to the first space coordinate, the second space coordinate, and the third space coordinate includes: Determine a central axis corresponding to the curved portion of the cable to be measured and a second measuring distance from the first measuring point to the third measuring point according to the first spatial coordinate, the second spatial coordinate and the third spatial coordinate; The curvature corresponding to the curved portion of the cable to be measured is determined according to the central axis and the second measuring distance.

7. The cable measurement method according to claim 1, characterized in that: The cable measurement method further comprises: The first space coordinate, the second space coordinate, the third space coordinate and the curvature are displayed correspondingly in real time on the cable measuring device.

8. A cable measuring device, characterized in that: The cable measuring device is applied to a cable measuring device, the cable measuring device includes a binocular camera, and the cable measuring device includes: An image generation module, used for using the binocular camera to photograph the curved portion of the cable to be measured to obtain an image of the curved portion of the cable, and generating a three-dimensional cable stereo image of the curved portion according to the image of the curved portion of the cable; a coordinate determination module, used for determining a first measurement point, a second measurement point and a third measurement point on the three-dimensional cable stereo image, and determining first spatial coordinates, second spatial coordinates and third spatial coordinates corresponding to the first measurement point, the second measurement point and the third measurement point according to the first measurement point, the second measurement point and the third measurement point; The curvature determination module is used to determine the curvature corresponding to the curved portion of the cable to be measured according to the first space coordinate, the second space coordinate and the third space coordinate.

9. A cable measuring device, characterized in that: The cable measuring device includes a binocular camera; The cable measuring device also includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the cable measuring method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the cable measurement method according to any one of claims 1 to 7 when executed.

Images