Cable arrangement parameter automatic extraction method and device based on laser camera vision and medium

Abstract

The invention discloses a method and equipment for automatically extracting cable arrangement parameters based on laser camera vision and a medium, belongs to the technical field of machine vision, and aims to solve the technical problem of how to perform omnibearing scanning on a cable coil, automatically identify and analyze the arrangement layout and parameters of cables and improve the cable arrangement accuracy. According to the technical scheme, three-dimensional scanning and contour construction are carried out; identifying end points of the wire coil wall: on the target profile curve, determining coordinates of two end points of the wire coil wall by analyzing the depth value and the gradient information, and further identifying points of the inner wall of the wire coil; focusing a target circle distribution area: focusing the target circle area where the cable is distributed on the target profile curve by taking the inner wall point of the wire coil as a reference point; identifying a current line target circle: in the target circle area, identifying a first arc section corresponding to the current cable by calculating gradient information of each point, and performing circle fitting processing to obtain a first target circle and a first target source parameter; recognizing adjacent line target circles; and calculating the edge spacing and the flat cable spacing.

Description

Technical Field

[0001] The present invention relates to the technical field of machine vision, and specifically to an automatic extraction method, device and medium for cable wiring parameters based on laser camera vision. Background Art

[0002] In the current fields of industrial automation and intelligent manufacturing, the arrangement and wiring of cables are key and complex tasks. With the increasing complexity and integration of electronic devices, the number and types of cables have increased sharply, posing higher requirements for the accuracy and efficiency of cable arrangement. Traditional cable arrangement methods mainly rely on manual operation, which is not only inefficient but also easily affected by human factors, resulting in problems such as uneven cable arrangement and inconsistent spacing, thereby affecting the overall performance and reliability of the device.

[0003] Therefore, how to perform a full - range scan of the cable reel, automatically identify and analyze the arrangement layout and parameters of the cables is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0004] The technical task of the present invention is to provide an automatic extraction method, device and medium for cable wiring parameters based on laser camera vision to solve the problem of how to perform a full - range scan of the cable reel and automatically identify and analyze the arrangement layout and parameters of the cables.

[0005] The technical task of the present invention is achieved in the following way. An automatic extraction method for cable wiring parameters based on laser camera vision, the method is as follows:

[0006] Three - dimensional scanning and contour construction: Use a laser camera to project a laser beam and receive the reflected light to construct high - precision three - dimensional point cloud data of the cable surface, and then extract the target contour curve;

[0007] Identify the end points of the reel wall: On the target contour curve, by analyzing the depth value and gradient information, determine the coordinates of the two end points of the reel wall, and then accurately identify the points on the inner wall of the reel;

[0008] Focus on the target circle distribution area: Use the points on the inner wall of the reel as reference points to focus on the target circle area where the cables are distributed on the target contour curve, narrowing the scope of subsequent processing;

[0009] Identify the current line target circle: In the target circle area, identify the first arc segment corresponding to the current cable by calculating the gradient information of each point, and perform circle fitting to obtain the first target circle and the first target source parameters;

[0010] Identify adjacent line target circles: Determine the search path according to the wiring direction of the cable, design a suitable circle fitting window, move along the wiring direction and attempt circle fitting, continuously identify the second target circle and the third target circle, and then determine the parameters of the adjacent line target circles;

[0011] Calculate the distance to the edge and the wiring pitch: According to the positional relationship among the inner wall points of the wire reel, the current wire, and the adjacent wire, calculate the horizontal distance between the current wire target circle and the inner wall points of the wire reel to obtain the distance to the edge of the cable. At the same time, calculate the horizontal distance between the current wire target circle and the adjacent wire target circle, and combine the diameter information of the cable to obtain the difference between the horizontal distance of the adjacent wire target circle and the straight line of the cable, and then obtain the wiring pitch.

[0012] Preferably, the three-dimensional scanning and contour construction are specifically as follows:

[0013] Use a laser camera to scan and image the surface of the cable. In order to better identify the position of the currently wound cable using gradient features, place the laser camera above the wire reel at a preset tilt angle, and obtain the three-dimensional point cloud data of the outermost contour of the cable by projecting the laser beam onto the surface of the wire reel and receiving the reflected light;

[0014] Perform preprocessing operations such as filtering, denoising, and complementing on the obtained three-dimensional point cloud data to improve the data quality;

[0015] Project the preprocessed three-dimensional point cloud data onto a two-dimensional plane to obtain a target contour curve containing depth information.

[0016] More preferably, the identification of the end points of the wire reel wall is specifically as follows:

[0017] On the target contour curve, calculate the gradient value of each point, that is, the direction change rate, to quantify the slope change at each point on the target contour curve;

[0018] Set a first gradient threshold, and the first gradient threshold is used as a benchmark for judging whether there is a significant direction change at any point on the contour;

[0019] Select the point with the smallest depth value on the contour as the search base point; among them, in the three-dimensional point cloud data scanned by the laser camera, the depth value represents the distance from the point to the scanning plane, and the wire reel has a smaller depth value because it is close to the laser camera;

[0020] Starting from the search base point, search towards both ends of the target contour curve respectively; during the search process, check one by one whether the gradient value of each point is greater than the set first gradient threshold. Once the first point with a gradient value greater than the first gradient threshold is found at one end of the target contour curve, the point with a gradient value greater than the first gradient threshold is used as the significant boundary point between the wire reel wall and the background or the rest, and stop the search for the corresponding end;

[0021] Compare the positions of the two endpoints of the wire reel on the target contour curve, and the endpoint closer to the center of the target contour curve is used as the inner wall point of the wire reel.

[0022] Preferably, the target circle distribution area is focused as follows:

[0023] Taking the inner wall point of the wire reel as the boundary point, divide the target contour curve into two sub-contour curves; among them, the sub-contour curve does not include the endpoints of the wire reel;

[0024] Based on the fact that the cable occupies the main space of the entire target contour curve when rotating around the wire reel, distinguish the target circle distribution area from the two sub-contour curves.

[0025] Preferably, identify the current wire target circle as follows:

[0026] In the target circle distribution area, set the second gradient threshold to identify the point set corresponding to the current cable;

[0027] According to the second gradient threshold, identify the point set belonging to the current wire from the gradient value set, and find the first arc segment;

[0028] Perform circle fitting processing on the first arc segment to obtain the circle parameters corresponding to the current wire; among them, the circle parameters corresponding to the current wire include the center coordinates and the radius.

[0029] Preferably, identify the adjacent wire target circle as follows:

[0030] Design a suitable circle fitting window, the size and shape of the circle fitting window adapt to the cable diameter and arrangement spacing to ensure that the circular contour of the cable can be accurately captured and fitted;

[0031] Along the wire arrangement direction, search within the target circle distribution area, starting from the first identified target circle (i.e., the first cable circle parameter);

[0032] During the search process, move the circle fitting window at a preset search step length and try to perform circle fitting at each position;

[0033] According to the result of the circle fitting, evaluate whether there is a circular contour of the cable at the current position, and the evaluation criteria are the roundness of the fitted circle and the consistency of the radius with the current wire target circle parameters;

[0034] When the circle fitting is successful and meets the preset conditions, it means that the second target circle (i.e., the second arc segment contour) is found, and record the center coordinates of the second target circle;

[0035] Repeat the search and fitting process, taking the endpoints of the second arc segment as the new starting point, and along the wire arrangement direction, identify the subsequent third target circle;

[0036] From the second target circle and the third target circle, determine the target circle parameters corresponding to the adjacent lines.

[0037] An electronic device, comprising: a memory and at least one processor;

[0038] Wherein, a computer program is stored on the memory;

[0039] The at least one processor executes the computer program stored in the memory, so that the at least one processor executes the automatic extraction method of cable layout parameters based on laser camera vision as described above.

[0040] A computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the automatic extraction method of cable layout parameters based on laser camera vision as described above.

[0041] The automatic extraction method, device and medium of cable layout parameters based on laser camera vision of the present invention have the following advantages:

[0042] (1) The present invention performs an omni-directional scan of the cable reel through a high-precision laser camera, automatically identifies and analyzes the arrangement layout of the cables, and then extracts the edge information of the cable layout and the spacing information of the cable layout, which can provide accurate parameter support for the automatic cable layout system;

[0043] (2) The present invention can automatically extract cable layout parameters (such as the center position and radius of the cable circle, etc.), which is of great significance for improving the accuracy, efficiency and intelligent level of cable arrangement. It can extract the edge information of the cable layout and the spacing information of the cable layout, providing strong data support for realizing automatic cable layout;

[0044] (3) The present invention realizes the automatic extraction of cable layout parameters through laser camera vision technology, including the edge spacing and the cable layout spacing, and adopts advanced algorithms such as gradient analysis and circle fitting. It can accurately identify and extract the circular contour of the cable, and extract key parameters. Even in the case of a complex background or dense arrangement, it can maintain a high recognition rate, providing accurate parameter support for the automatic cable layout system, and having important application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The present invention will be further described below with reference to the accompanying drawings.

[0046] Attached Figure 1 is a flowchart of the automatic extraction method of cable layout parameters based on laser camera vision;

[0047] Attached Figure 2 is a cable contour diagram;

[0048] Attached Figure 3 is a diagram for extracting cable layout parameters. Detailed implementation manners

[0049] The automatic extraction method, device and medium for cable wiring parameters based on laser camera vision of the present invention will be described in detail below with reference to the accompanying drawings of the specification and specific embodiments.

[0050] Embodiment 1:

[0051] As shown in the Figure 1 accompanying drawings, this embodiment provides an automatic extraction method for cable wiring parameters based on laser camera vision, and the method is as follows:

[0052] S1. Three-dimensional scanning and contour construction: Use a laser camera to project a laser beam and receive the reflected light to construct high-precision three-dimensional point cloud data on the surface of the cable, and then extract the target contour curve;

[0053] S2. Identify the end points of the spool wall: On the target contour curve, determine the coordinates of the two end points of the spool wall by analyzing the depth value and gradient information, and then accurately identify the points on the inner wall of the spool;

[0054] S3. Focus on the target circle distribution area: Use the points on the inner wall of the spool as reference points to focus on the target circle area where the cables are distributed on the target contour curve, and narrow the scope of subsequent processing;

[0055] S4. Identify the current line target circle: In the target circle area, identify the first arc segment corresponding to the current cable by calculating the gradient information of each point, and perform circle fitting processing to obtain the first target circle and the first target source parameters;

[0056] S5. Identify adjacent line target circles: Determine the search path according to the wiring direction of the cables, design a suitable circle fitting window, move along the wiring direction and try circle fitting, continuously identify the second target circle and the third target circle, and then determine the parameters of the adjacent line target circles;

[0057] S6. Calculate the distance to the edge and the wiring distance: According to the positional relationship among the points on the inner wall of the spool, the current line and the adjacent line, calculate the horizontal distance between the current line target circle and the points on the inner wall of the spool to obtain the distance to the edge of the cable, and at the same time calculate the horizontal distance between the current line target circle and the adjacent line target circle. Combine the diameter information of the cable to obtain the difference between the horizontal distance of the adjacent line target circle and the cable straight line, and then obtain the wiring distance.

[0058] The three-dimensional scanning and contour construction in step S1 of this embodiment is specifically as follows:

[0059] S101. Use a laser camera to scan and image the surface of the cable. In order to better identify the position of the currently wound cable using gradient features, place the laser camera above the cable reel at a preset tilt angle, and obtain the three-dimensional point cloud data of the outermost contour of the cable by projecting a laser beam onto the surface of the cable reel and receiving the reflected light;

[0060] S102. Perform preprocessing operations such as filtering, denoising, and completion on the obtained three-dimensional point cloud data to improve data quality;

[0061] S103. Project the preprocessed three-dimensional point cloud data onto a two-dimensional plane to obtain a target contour curve containing depth information.

[0062] In this embodiment, in order to better utilize gradient features to identify the position of the currently wound cable, place the laser camera above the cable reel at a certain tilt angle so that the laser beam can directly irradiate the surface of the cable and generate clear three-dimensional point cloud data. Perform preprocessing on the original point cloud data set, including operations such as denoising and completion, and project the processed three-dimensional point cloud onto the two-dimensional XY plane to obtain a two-dimensional contour curve containing depth information.

[0063] As shown in the appendix Figure 2 According to the position and distance information of the target from the surface of the laser camera, the cable contour map can be reasonably partitioned: the near area mainly refers to the part of the cable reel wall. In the scenario of cable winding, as the structure supporting the cable, the edge of the cable reel wall usually forms an obvious boundary in the contour map; the middle area refers to the part where the cable is being wound; the far area includes the part of the cable that has been wound, and may also include some background interferences, such as reflections from other objects, walls, or the ground.

[0064] The specific steps for identifying the endpoints of the cable reel wall in step S2 of this embodiment are as follows:

[0065] S201. On the target contour curve, calculate the gradient value t i = D i - D i-1 where D i represents the depth value of the i-th point on the curve;

[0066] S202. Set the first gradient threshold T grad1 , which is used as a benchmark for judging whether there is a significant direction change at a certain point on the contour;

[0067] S203. Select the point with the smallest depth value on the contour as the search base point; among them, in the three-dimensional point cloud data scanned by the laser camera, the depth value represents the distance from the point to the scanning plane, and the cable reel has a smaller depth value because it is close to the laser camera;

[0068] S204. Starting from the search base point, search towards both ends of the contour curve respectively; during the search process, check one by one whether the gradient value of each point is greater than the set first gradient threshold; once the first point with a gradient value greater than the threshold T is found at one end of the contour, this point is considered as the significant boundary point between the wire spool wall and the background or other parts, and the coordinates of the two end points of the wire spool wall W(x,y) and W(x,y) are obtained. grad1 The point is regarded as the significant boundary point between the wire spool wall and the background or other parts, and the coordinates of the two end points of the wire spool wall W(x,y) and W(x,y) are obtained. 1 (x w1 ,y w1 ) and W 2 (x w2 ,y w2 )

[0069] S205. For the two end points W and W, check their positions relative to the predefined region (right or left side of the contour region). If both end points are located in the "right region" of the contour, the end point W is considered as the inner wall point of the wire spool. If both end points are located in the "left region" of the contour, the end point W is considered as the inner wall point of the wire spool. Otherwise, it is determined to be invalid. 1 and W 2 , check their positions relative to the predefined region (right or left side of the contour region). If both end points are located in the "right region" of the contour, the end point W is considered as the inner wall point of the wire spool. If both end points are located in the "left region" of the contour, the end point W is considered as the inner wall point of the wire spool. Otherwise, it is determined to be invalid. 1 is considered as the inner wall point of the wire spool. If both end points are located in the "left region" of the contour, the end point W 2 is considered as the inner wall point of the wire spool. Otherwise, it is determined to be invalid.

[0070] The focusing of the target circle distribution region in step S3 of this embodiment is specifically as follows:

[0071] S301. Taking the inner wall point of the wire spool as the boundary point, divide the target contour curve into two sub - contour curves; among them, the sub - contour curve does not include the end points of the wire spool.

[0072] S302. Based on the fact that the cable occupies the main space of the entire target contour curve when rotating around the wire spool, distinguish the target circle distribution region from the two sub - contour curves.

[0073] The identification of the current line target circle in step S4 of this embodiment is specifically as follows:

[0074] S401. Set the second gradient threshold T in the target circle distribution region. grad2 ;

[0075] S402. Identify the first arc segment subset S belonging to the current line from the gradient value set according to the second gradient threshold, and ensure that this subset contains at least 3 points. c and ensure that this subset contains at least 3 points.

[0076] S403. Use the least - squares method to perform circle fitting on the first arc segment subset S to obtain the first target circle parameters, that is, the center coordinates (x,y) and the radius r. c Perform circle fitting on the first arc segment subset S to obtain the first target circle parameters, that is, the center coordinates (x,y) and the radius r. 1 ,y 1 ) and radius r 1 .

[0077] In step S4 of this embodiment, due to the specific placement position of the laser camera, except for the wire reel, the currently wound cable is the closest to the camera surface. Utilize this feature to determine the position of the current wire.

[0078] The identification of the adjacent wire target circle in step S5 of this embodiment is specifically as follows:

[0079] S501. Design a suitable circle fitting window, and the window width can be set to half of the cable diameter d outer (known value);

[0080] S502. Along the wire arrangement direction of the cable, start searching within the target circle distribution area from the currently identified current wire target circle;

[0081] S503. Move the circle fitting window along the wire arrangement direction with a preset search step size step = 1. At each position, use the point set within the window as the input for circle fitting, and the fitting radius used is fixed and equal to r 1 ;

[0082] S504. Evaluate the result of the circle fitting, mainly focusing on the roundness of the fitted circle and the consistency of the radius with the parameters of the current wire target circle;

[0083] S505. When the circle fitting is successful and meets the preset conditions, it is considered that the second arc segment contour (i.e., the second target circle) is found, and the coordinates of the center of the second target circle (x 2 , y 2 ) are obtained;

[0084] S506. Take the endpoints of the second arc segment as the new starting points, continue to search along the wire arrangement direction, and repeat the above search and fitting process to identify the subsequent third target circle, and obtain the coordinates of the center of the third target circle (x 3 , y 3 );

[0085] S507. Calculate the vertical coordinate difference q 1 = |y 2 - y 3 |, the vertical coordinate difference q 2 = |y 2 - y 1 | between the second target circle and the first target circle, and the vertical coordinate difference q 3 = |y 3 - y 1 | between the third target circle and the first target circle;

[0086] When q 1 > d outer , the second target circle is marked as the adjacent wire target circle;

[0087] When q1 <d outer , and q 2 <q 3 , the second target circle is marked as the adjacent line target circle;

[0088] In other cases, the third target circle is marked as the adjacent line target circle;

[0089] In the appendix Figure 2 , the upper cable arc segment is identified as the second target circle, and the adjacent cable arc segment is identified as the third target circle.

[0090] In step S6 of this embodiment, according to the positional relationship among the inner disk wall point, the current line, and the adjacent line, calculate the distance to the edge and the cable arrangement distance. As shown in the appendix Figure 3 shown, including:

[0091] S601. Calculate the horizontal distance between the current line target circle and the inner wall point of the wire reel to obtain the distance to the edge, that is, E = |x 1 -x wk |, where k is 1 or 2;

[0092] S602. Calculate the horizontal distance d x = |x 1 -x j |, where j is 2 or 3, and then obtain the difference between this horizontal distance and the cable diameter d outer , that is, the cable arrangement distance S = |d x -d outer |.

[0093] Embodiment 2:

[0094] This embodiment also provides an electronic device, including: a memory and a processor;

[0095] Among them, the memory stores computer execution instructions;

[0096] The processor executes the computer execution instructions stored in the memory, so that the processor executes the method for automatically extracting cable arrangement parameters based on laser camera vision in any embodiment of the present invention.

[0097] The processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0098] The memory can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory and invoking the data stored in the memory, the processor realizes various functions of the electronic device. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory can also include high-speed random access memory, and can also include non-volatile memory, such as hard disks, memory, plug-in hard disks, smart media cards (SMC), secure digital (SD) cards, flash memory cards, at least one magnetic disk storage period, flash memory devices, or other volatile solid-state storage devices.

[0099] Embodiment 3:

[0100] This embodiment also provides a computer-readable storage medium, which stores multiple instructions. The instructions are loaded by the processor to make the processor execute the method for automatically extracting cable wiring parameters based on laser camera vision in any embodiment of the present invention. Specifically, a system or device equipped with a storage medium can be provided. On this storage medium, software program codes for realizing the functions in any one of the above embodiments are stored, and the computer (or CPU or MPU) of the system or device reads and executes the program codes stored in the storage medium.

[0101] In this case, the program code read from the storage medium itself can realize the functions in any one of the above embodiments. Therefore, the program code and the storage medium storing the program code constitute a part of the present invention.

[0102] Examples of storage media for providing program codes include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer through a communication network.

[0103] In addition, it should be clear that not only can the actual operations be completed in part or in whole by executing the program codes read by the computer, but also by making the operating system etc. operating on the computer based on the instructions of the program codes, so as to realize the functions in any one of the above embodiments.

[0104] In addition, it can be understood that the program code read out from the storage medium is written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion unit connected to the computer, and then based on the instructions of the program code, the CPU or the like installed on the expansion board or the expansion unit is made to execute part or all of the actual operations, thereby implementing the functions of any one of the above embodiments.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically extracting cable wiring parameters based on laser camera vision, characterized in that: The method is as follows: 3D scanning and contour construction: Use a laser camera to project a laser beam and receive reflected light to construct 3D point cloud data on the cable surface, and then extract the target contour curve; Identify the endpoints of the wire drum wall: On the target contour curve, determine the coordinates of the two endpoints of the wire drum wall by analyzing the depth value and gradient information, and then identify the points on the inner wall of the wire drum; Focusing on the target circular distribution area: Taking the inner wall point of the cable drum as the reference point, focus on the target circular area of ​​the cable distribution on the target contour curve; Identify the current line target circle: In the target circle area, the first arc segment corresponding to the current cable is identified by calculating the gradient information of each point, and a circle fitting process is performed to obtain the first target circle and the first target source parameters; Identify adjacent line target circles: determine the search path according to the cable arrangement direction, design a suitable circle fitting window, move along the cable arrangement direction and try to fit the circle, continuously identify the second target circle and the third target circle, and then determine the adjacent line target circle parameters; Calculate the edge spacing and cable spacing: According to the positional relationship between the inner wall point of the cable drum, the current line and the adjacent line, calculate the horizontal distance between the current line target circle and the inner wall point of the cable drum to obtain the edge spacing of the cable. At the same time, calculate the horizontal spacing between the current line target circle and the adjacent line target circle. Combined with the cable diameter information, obtain the difference between the horizontal spacing of the adjacent line target circles and the cable straight line, and then obtain the cable spacing.

2. The method for automatically extracting cable wiring parameters based on laser camera vision according to claim 1, characterized in that: The details of 3D scanning and contour construction are as follows: Use a laser camera to scan and image the cable surface. Place the laser camera above the cable drum at a preset tilt angle. Project the laser beam onto the cable drum surface and receive reflected light to obtain the three-dimensional point cloud data of the outermost contour of the cable. Perform pre-processing operations such as filtering, denoising and completion on the acquired 3D point cloud data; The preprocessed 3D point cloud data is projected onto a 2D plane to obtain the target contour curve containing depth information.

3. The method for automatically extracting cable wiring parameters based on laser camera vision according to claim 1 or 2, characterized in that: Identify the end points of the drum wall as follows: On the target contour curve, the gradient value of each point, that is, the direction change rate, is calculated to quantify the slope change at each point on the target contour curve; Setting a first gradient threshold, which is used as a reference for determining whether any point on the contour has a significant direction change; Select the point with the smallest depth value on the contour as the search base point; wherein, in the three-dimensional point cloud data scanned by the laser camera, the depth value represents the distance from the point to the scanning plane; Starting from the search base point, search towards both ends of the target contour curve respectively; during the search process, check whether the gradient value of each point is greater than the set first gradient threshold value one by one. Once the first point with a gradient value greater than the first gradient threshold value is found at one end of the target contour curve, the point greater than the first gradient threshold value is used as a significant boundary point between the coil wall and the background or the rest, and the search at the corresponding end is stopped; Compare the positions of the two endpoints of the wire drum on the target contour curve, and take the endpoint close to the center of the target contour curve as the inner wall point of the wire drum.

4. The method for automatically extracting cable wiring parameters based on laser camera vision according to claim 3 is characterized in that: The target circle distribution area focus is as follows: The target contour curve is divided into two sub-contour curves with the inner wall point of the wire drum as the boundary point; wherein the sub-contour curve does not include the end point of the wire drum; According to the main space occupied by the cable in the entire target contour curve when the cable rotates around the cable drum, the target circle distribution area is distinguished from the two sub-contour curves.

5. The method for automatically extracting cable wiring parameters based on laser camera vision according to claim 4, characterized in that: Identify the current line target circle as follows: In the target circle distribution area, a second gradient threshold is set to identify the point set corresponding to the current cable; Identify a point set corresponding to the current line from the gradient value set according to the second gradient threshold, and find the first arc segment; Perform circle fitting processing on the first arc segment to obtain circle parameters corresponding to the current line; wherein the circle parameters corresponding to the current line include the coordinates of the center of the circle and the radius.

6. The method for automatically extracting cable wiring parameters based on laser camera vision according to claim 5, characterized in that: Identifying adjacent line target circles is as follows: Design a suitable circular fitting window. The size and shape of the circular fitting window should be adapted to the cable diameter and arrangement spacing to ensure that the circular contour of the cable can be accurately captured and fitted. Search along the line direction in the target circle distribution area, starting from the first identified target circle; During the search process, the circle fitting window is moved at a preset search step size and a circle fitting is attempted at each position; According to the result of circle fitting, it is evaluated whether there is a circular contour of the cable at the current position. The evaluation criteria are the consistency of the roundness and radius of the fitting circle with the parameters of the current line target circle; When the circle fitting is successful and meets the preset conditions, it means that the second target circle is found, and the center coordinates of the second target circle are recorded; Repeat the search and fitting process, taking the endpoint of the second arc segment as a new starting point, and identify the subsequent third target circle along the line arrangement direction; From the second target circle and the third target circle, the target circle parameters corresponding to the adjacent lines are determined.

7. An electronic device, characterized in that: include: memory and at least one processor; Wherein, the memory stores a computer program; The at least one processor executes the computer program stored in the memory, so that the at least one processor performs the method for automatically extracting cable wiring parameters based on laser camera vision as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which can be executed by a processor to implement the method for automatically extracting cable wiring parameters based on laser camera vision as described in any one of claims 1 to 6.

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