Method and device for determining installation position of cable accessory, and nonvolatile storage medium

Abstract

The invention discloses a method and device for determining the installation position of a cable accessory and a nonvolatile storage medium. The method comprises the following steps: acquiring initial point cloud data of a target cable and initial point cloud data of a to-be-installed cable accessory; performing geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the to-be-installed cable accessory to obtain first point cloud data of the target cable and first point cloud data of the to-be-installed cable accessory; registering the first point cloud data of the to-be-installed cable accessory with the first point cloud data of the target cable, and determining registered point cloud data of the to-be-installed cable accessory; and determining the installation position of the to-be-installed cable accessory relative to the target cable according to the registration point cloud data of the to-be-installed cable accessory. The technical problem that virtual assembly requirements of cable accessories cannot be met due to the fact that virtual assembly of existing cable accessory installation nodes cannot achieve a good registration effect is solved.

Description

Technical Field

[0001] The present invention relates to the field of cable accessory assembly, and in particular to a method, a device and a non-volatile storage medium for determining the installation position of a cable accessory. Background Art

[0002] Cable accessories are the key part of the seamless and safe connection of the intermediate and terminal of various cables in the cable line. They ensure the effective connection between cables, so that power or electrical signals can be transmitted smoothly without interruption due to connection problems. Cable accessories ensure the stable operation of cables in complex environments by restoring the original conductive core, insulation, shielding, closed protection and other functions of the cable. This is crucial to maintaining the overall stability of the power system. By installing cable accessories, cable branching, switching and other operations can be easily realized, improving the flexibility and scalability of the cable system. Virtual assembly of cable accessories can avoid frequent construction and modification, and has a unique role in new product development, product maintenance and operation training. Due to the complexity and diversity of cable accessory structures and the precision limitations of data processing in virtual environments, existing virtual assembly technologies often find it difficult to achieve ideal registration effects. This results in the inability to fully guarantee the matching accuracy and assembly quality between components during the virtual assembly process, thus affecting the reliability and practicality of the virtual assembly results.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, and non-volatile storage medium for determining the installation position of a cable accessory, so as to at least solve the technical problem that the existing virtual assembly of cable accessory installation nodes cannot achieve a good alignment effect and thus cannot meet the virtual assembly requirements of cable accessories.

[0005] According to one aspect of an embodiment of the present invention, a method for determining the installation position of a cable accessory is provided, comprising: acquiring initial point cloud data of a target cable and initial point cloud data of a cable accessory to be installed; performing geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed, respectively, to obtain first point cloud data of the target cable and first point cloud data of the cable accessory to be installed; registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed; and determining the installation position of the cable accessory to be installed relative to the target cable based on the registered point cloud data of the cable accessory to be installed.

[0006] Optionally, geometric parameter conversion is performed on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed respectively, to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed, including: determining a geometric model matching the target cable and a geometric model matching the cable accessory to be installed according to the respective geometric shapes of the target cable and the cable accessory to be installed; performing geometric parameter conversion on the initial point cloud data of the target cable according to the geometric model matching the target cable to obtain the first point cloud data of the target cable; performing geometric parameter conversion on the initial point cloud data of the cable accessory to be installed according to the geometric model matching the cable accessory to be installed to obtain the first point cloud data of the cable accessory to be installed.

[0007] Optionally, the first point cloud data of the cable accessory to be installed is registered with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed, including: placing the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable in a predetermined coordinate system; registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable in the predetermined coordinate system to determine the registered point cloud data of the cable accessory to be installed.

[0008] Optionally, registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable in a predetermined coordinate system to determine the registered point cloud data of the cable accessory to be installed, including: calculating an initial error between the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable in the predetermined coordinate system; adjusting the first point cloud data of the cable accessory to be installed according to the initial error to obtain the adjusted point cloud data of the cable accessory to be installed; optimizing the adjusted point cloud data of the cable accessory to be installed multiple times until the error value between the adjusted point cloud data of the cable accessory to be installed and the first point cloud data of the target cable is less than a predetermined first threshold, to obtain the registered point cloud data of the cable accessory to be installed.

[0009] Optionally, calculating the initial error between the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable, including: determining the point in the first point cloud data of the target cable that is the nearest neighbor to each data point in the first point cloud data of the cable accessory to be installed; averaging the distances between each data point in the first point cloud data of the cable accessory to be installed and its respective nearest neighbor point to obtain the initial error.

[0010] Optionally, before averaging the distances between each data point in the first point cloud data of the cable accessory to be installed and its respective nearest neighbor point to obtain the initial error, it further includes: if the distance between a target data point in the first point cloud data of the cable accessory to be installed and the corresponding nearest neighbor point is greater than a predetermined second threshold, then eliminating the target data point.

[0011] According to another aspect of the embodiments of the present invention, there is provided a device for determining the installation position of a cable accessory, including: an acquisition module configured to acquire the initial point cloud data of a target cable and the initial point cloud data of the cable accessory to be installed; a conversion module configured to perform geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed respectively, so as to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed; a registration module configured to register the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed; and a determination module configured to determine the installation position of the cable accessory to be installed relative to the target cable according to the registered point cloud data of the cable accessory to be installed.

[0012] According to another aspect of the embodiments of the present invention, there is provided a non-volatile storage medium storing multiple instructions, which are adapted to be loaded and executed by a processor to perform the method for determining the installation position of a cable accessory according to any one of the above.

[0013] According to another aspect of the embodiments of the present invention, there is provided an electronic device including one or more processors and a memory, where the memory is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method for determining the installation position of a cable accessory according to any one of the above.

[0014] According to still another aspect of the embodiments of the present invention, there is further provided a computer program product including a computer program, where when the computer program is executed by a processor, it implements the method for determining the installation position of a cable accessory according to any one of the above.

[0015] In the embodiments of the present invention, by acquiring the initial point cloud data of a target cable and the initial point cloud data of the cable accessory to be installed; performing geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed respectively to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed; registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed; and determining the installation position of the cable accessory to be installed relative to the target cable according to the registered point cloud data of the cable accessory to be installed, the purpose of accurately determining the installation position of the cable accessory on the target cable during the installation of the cable accessory is achieved, the technical problem that the virtual assembly of the installation nodes of the existing cable accessories cannot achieve a good registration effect and thus cannot meet the virtual assembly requirements of the cable accessories is solved, and the technical effect of improving the installation accuracy of the cable accessories is achieved. Description of the Drawings

[0016] The accompanying drawings described herein are used to provide a further understanding of the present invention and form a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 is a flowchart of a method for determining the installation position of a cable accessory according to an embodiment of the present invention;

[0018] Figure 2 is a schematic structural diagram of a point cloud K-D tree according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of a method for querying the nearest neighbor point according to an embodiment of the present invention;

[0020] Figure 4 is a flowchart of a device for determining the installation position of a cable accessory according to an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Embodiments

[0022] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such use can be interchanged under appropriate circumstances 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0024] According to an embodiment of the present invention, there is provided an embodiment of a method for determining the installation position of a cable accessory. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0025] Figure 1 is a flowchart of a method for determining the installation position of a cable accessory according to an embodiment of the present invention, as Figure 1 shown, the method includes the following steps:

[0026] Step S102, obtain the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed;

[0027] Optionally, use a 3D scanning device, such as a 3D laser scanner or a structured light scanning system, to scan the target cable and the cable accessory to be installed to obtain the three-dimensional point cloud data on their surfaces. The point cloud data consists of a series of point coordinates in three-dimensional space, and each point represents a position on the surface of the object.

[0028] Step S104, respectively perform geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed;

[0029] Optionally, the purpose of geometric parameter conversion is to convert this irregular point cloud data into a model with certain geometric parameters, so that the point cloud data can be better matched and registered. Through geometric parameter conversion, the initial point cloud of the target cable and the initial point cloud data of the cable accessory to be installed generate the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed. Geometric parameter conversion can be achieved through a variety of techniques, including but not limited to plane fitting, cylindrical or conical region detection, feature point recognition, etc.

[0030] In an optional embodiment, respectively performing geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed includes: determining the geometric model matching the target cable and the geometric model matching the cable accessory to be installed according to the respective geometric shapes of the target cable and the cable accessory to be installed; performing geometric parameter conversion on the initial point cloud data of the target cable according to the geometric model matching the target cable to obtain the first point cloud data of the target cable; performing geometric parameter conversion on the initial point cloud data of the cable accessory to be installed according to the geometric model matching the cable accessory to be installed to obtain the first point cloud data of the cable accessory to be installed.

[0031] Optionally, based on the actual geometries of the target cable and the cable accessory to be installed, a suitable geometric model is selected for matching. These models can be planar models, cylindrical models, spherical models, conical models, etc., or combinations thereof, to most accurately describe the surface features of the cable and the accessory. For the target cable, a determined geometric model is used to transform its initial point cloud data, parameterize the irregular point cloud data, extract key features of the cable surface, such as curvature, normal vector, center point, etc., and represent these features with mathematical formulas. The first point cloud data of the transformed target cable not only contains the original three-dimensional coordinate information but also adds parameters associated with the cable geometry. For the cable accessory to be installed, similarly, the initial point cloud data is transformed according to the geometric model of the accessory, and features of the accessory surface, such as the position and orientation of the plane, the center and radius of the cylinder or cone, etc., are extracted, thereby obtaining the first point cloud data of the accessory to be installed. The first point cloud data after geometric parameter transformation provides a more accurate position description, enabling the registration process to be based on more reliable features, thus improving the assembly accuracy of the cable accessory to be installed.

[0032] Step S106: Register the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed;

[0033] Optionally, by registering the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable, an optimal transformation strategy (such as rotation and translation) is obtained, so that the first point cloud data of the cable accessory to be installed can be aligned with the first point cloud data of the target cable as precisely as possible.

[0034] In an optional embodiment, registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed includes: placing the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable in a predetermined coordinate system; in the predetermined coordinate system, registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed.

[0035] Optionally, before registering the first point cloud data of the cable accessory to be installed and the target cable, it is necessary to first place the first point cloud data of the cable accessory to be installed and the target cable in a unified three-dimensional space coordinate system to ensure the comparability of the point coordinates in the two point cloud data. This three-dimensional space coordinate system can be the world coordinate system, the local coordinate system of the target cable, or other reference coordinate systems.

[0036] In an alternative embodiment, in a predetermined coordinate system, registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed includes: calculating an initial error between the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable in the predetermined coordinate system; adjusting the first point cloud data of the cable accessory to be installed according to the initial error to obtain the adjusted point cloud data of the cable accessory to be installed; and optimizing the adjusted point cloud data of the cable accessory to be installed multiple times until the error value between the adjusted point cloud data of the cable accessory to be installed and the first point cloud data of the target cable is less than a predetermined first threshold, thereby obtaining the registered point cloud data of the cable accessory to be installed.

[0037] Optionally, in a common coordinate system, a point cloud registration algorithm (such as the Iterative Closest Point, ICP algorithm) is used to adjust the first point cloud data of the cable accessory to be installed to align it as closely as possible with the first point cloud data of the target cable. The registration algorithm calculates one or more geometric transformations (such as rotation and translation) and applies these transformations to minimize the distance or error between the two point clouds. When the registration process converges, that is, when the error between the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable reaches the minimum or meets a preset threshold, the point cloud data of the cable accessory to be installed at this time is referred to as the "registered point cloud data".

[0038] In an alternative embodiment, calculating the initial error between the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable includes: determining the point in the first point cloud data of the target cable that is the closest neighbor to each data point in the first point cloud data of the cable accessory to be installed; and averaging the distances between each data point in the first point cloud data of the cable accessory to be installed and its respective nearest neighbor point to obtain the initial error.

[0039] Optionally, the algorithm finds the closest neighbor point for each data point in the first point cloud data of the cable accessory to be installed in the first point cloud data of the target cable by constructing a k-d tree (k-dimensional tree). A k-d tree is an efficient data structure for searching and managing multi-dimensional space data. By dividing the space into multiple sub-spaces, it can quickly locate the region where the nearest neighbor point is located, thereby reducing the computational complexity of the search. After finding the closest neighbor point for each data point in the first point cloud data of the cable accessory to be installed, the distances between all data points in the first point cloud data of the cable accessory to be installed and their respective nearest neighbor points are summed, and then divided by the total number of points in the point cloud data to obtain an average error value, that is, the initial error value.

[0040] In an alternative embodiment, before obtaining the initial error by averaging the distances between each data point in the first point cloud data of the cable accessory to be installed and their respective nearest neighbor points, the method further includes: if the distance between a target data point in the first point cloud data of the cable accessory to be installed and its corresponding nearest neighbor point is greater than a predetermined second threshold, the target data point is removed.

[0041] Optionally, due to reasons such as noise and surface defects during scanning, there may be some points in the point cloud data that are significantly deviated from the main body of the point cloud, i.e., outliers. These outliers may introduce large errors when calculating the average distance, thus affecting the accuracy of registration. To avoid the adverse effects caused by these outliers, a predetermined second threshold is set. When the distance between a data point in the first point cloud data of the cable accessory to be installed and its nearest neighbor point in the first point cloud data of the target cable exceeds this second threshold, these points are considered outliers and need to be removed from the first point cloud data of the cable accessory to be installed. After removing the outliers, the calculated initial error can more accurately reflect the relative position difference between the two point clouds, thus providing a more reliable data basis for subsequent precise registration.

[0042] Step S108: Determine the installation position of the cable accessory to be installed relative to the target cable according to the registered point cloud data of the cable accessory to be installed.

[0043] Optionally, since the registration process involves geometric transformations such as rotation and translation, each point in the registered point cloud data reflects the result after these transformations. By analyzing the registered point cloud data, the ideal installation position of the cable accessory relative to the target cable can be determined.

[0044] By obtaining the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed; respectively performing geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed; registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed; and determining the installation position of the cable accessory to be installed relative to the target cable according to the registered point cloud data of the cable accessory to be installed, the object of accurately determining the installation position of the cable accessory on the target cable during the installation of the cable accessory is achieved, the technical problem that the virtual assembly of the existing cable accessory installation node cannot achieve a good registration effect and thus cannot meet the virtual assembly requirements of the cable accessory is solved, and the technical effect of improving the installation accuracy of the cable accessory is achieved.

[0045] Based on the above embodiments and alternative embodiments, the present invention proposes an alternative implementation manner.

[0046] Step S1: Use a 3D scanner to scan the point cloud data of the target cable and the point cloud data of the attachment to be installed.

[0047] Step S2: Perform reverse modeling on the scanned point cloud data to achieve geometric parameterization conversion of the point cloud data.

[0048] Common geometric parameterizations include the following.

[0049] Sphere model: (x - x 0 ) 2 +(y - y 0 ) 2 +(z - z 0 ) 2 =R 2

[0050] Plane model: ax + by + cz + d = 0

[0051] Cylinder model:

[0052] Cone model: x 2 +y 2 =z 2 tanα 0 < α < π / 2

[0053] Through the combination of multiple parameter models, the spatial pose expression of the target cable can be finally calculated:

[0054] M pos =[n x n y n z p c

[0055] Step S3: Use the parameter model to match the target cable and the cable attachment to be installed, and use the ICP algorithm to achieve precise registration of the point clouds;

[0056] The process of the ICP algorithm is as follows:

[0057] S31: The initial point cloud data of the cable attachment to be installed forms the first point cloud data after geometric transformation.

[0058] S32: Establish a k-d tree, find the corresponding point subset of the first point cloud data of the cable attachment to be installed in the first point cloud data of the target cable through nearest neighbor search, and then remove the outlier points according to the formula and calculate the error L m (T) between the first point cloud data of the cable attachment to be installed and the first point cloud data of the target cable.

[0059] ​The k-d tree is a binary tree where each node is a k-dimensional point. Taking two-dimensional data points as an example, after organizing points A(2, 3), B(5, 4), C(9, 6), D(4, 7), E(8, 1), and F(7, 2) through a k-d tree, approximately 1 / 2 of the data points are on the left side of the tree and 1 / 2 on the right side. When there is only one node in the space, the construction process of the k-d tree ends. See Figure 2 Calculate the closest distance between the first point cloud data of the attachment to be installed and the first point cloud data of the target cable by searching for the closest point through the k-d tree. See Figure 3 .

[0060] S33. Determine whether the error is less than the threshold. If so, retain the registered point cloud; otherwise, repeat steps S32 and S33 until the registered point cloud data of the cable attachment to be installed that meets the requirements is iterated.

[0061] The ICP algorithm includes an outlier removal stage and an error minimization stage. These two stages can be summarized as estimating the transformation matrix T by minimizing the objective function. Minimize the objective function as follows:

[0062]

[0063] In the formula, ρ(·) is the cost function; p i , q j are respectively the first point cloud data of the cable attachment to be installed and the point in the first point cloud data Q of the target cable; n j is the normal vector of q j ; T is the transformation matrix.

[0064] To simplify the double summation in the formula, usually a subset of corresponding points is used to approximate. Here, the closest neighbor of each p i is used for approximation. The cost function ρ(·) is decomposed into a weight ω and a squared error term to iteratively solve for the optimal transformation matrix T. Each iteration assigns the previous transformation to the last estimated transformation until convergence. After simplification:

[0065]

[0066] L m (T) = min||(Tp m - q m )·n m || 2

[0067] where p m is the registered point cloud data of the cable attachment to be installed.

[0068] The essence of ICP optimized based on the Huber loss function is an improvement to the ω function in the above formula. The following formula is Huber's implementation of ω: k is a set hyperparameter;

[0069]

[0070] Step S4: Simulate multiple times to find the optimal assembly relationship.

[0071] The above optional implementation manners achieve at least the following effects: The purpose of accurately determining the installation position of the cable accessory on the target cable during the installation of the cable accessory is achieved, solving the technical problem that the virtual assembly of the installation node of the existing cable accessory cannot achieve a good registration effect, and thus cannot meet the virtual assembly requirements of the cable accessory, and achieving the technical effect of improving the installation accuracy of the cable accessory.

[0072] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0073] In this embodiment, a device for determining the installation position of a cable accessory is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, the terms "module" and "device" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0074] According to an embodiment of the present invention, a device embodiment for implementing the method of determining the installation position of a cable accessory is also provided. Figure 4 A schematic diagram of a device for determining the installation position of a cable accessory according to an embodiment of the present invention is shown in Figure 4 As shown, the above device for determining the installation position of a cable accessory includes an acquisition module 41, a conversion module 42, a registration module 43, and a determination module 44. The device will be described below.

[0075] The acquisition module 41 is configured to acquire the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed;

[0076] The conversion module 42 is connected to the acquisition module 41 and is configured to perform geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed respectively, to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed;

[0077] A registration module 43, connected to the conversion module 42, is configured to register the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable, and determine the registered point cloud data of the cable accessory to be installed;

[0078] A determination module 44, connected to the registration module 43, is configured to determine the installation position of the cable accessory to be installed relative to the target cable according to the registered point cloud data of the cable accessory to be installed.

[0079] In the device for determining the installation position of a cable accessory provided by an embodiment of the present invention, by setting an acquisition module for acquiring the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed; a conversion module for respectively performing geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed; a registration module for registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed; and a determination module for determining the installation position of the cable accessory to be installed relative to the target cable according to the registered point cloud data of the cable accessory to be installed, the purpose of accurately determining the installation position of the cable accessory on the target cable during the installation of the cable accessory is achieved, the technical problem that the virtual assembly of the installation nodes of the existing cable accessories cannot achieve a good registration effect and thus cannot meet the virtual assembly requirements of the cable accessories is solved, and the technical effect of improving the installation accuracy of the cable accessories is achieved.

[0080] It should be noted that the above-mentioned various modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following manner: the above-mentioned various modules can be located in the same processor; or, the above-mentioned various modules are located in different processors in any combination.

[0081] It should be noted here that the above-mentioned acquisition module 41, conversion module 42, registration module 43, and determination module 44 correspond to steps S102 to S108 in the embodiment. The examples and application scenarios implemented by the above-mentioned modules and the corresponding steps are the same, but are not limited to the content disclosed in the above-mentioned embodiment. It should be noted that the above-mentioned modules, as part of the device, can run in a computer terminal.

[0082] It should be noted that the optional or preferred implementation manners of this embodiment can be referred to the relevant descriptions in the embodiment, and will not be repeated here.

[0083] The above-mentioned device for determining the installation position of a cable accessory may further include a processor and a memory. The acquisition module 41, conversion module 42, registration module 43, determination module 44, etc. are all stored in the memory as program units, and the above-mentioned program units stored in the memory are executed by the processor to implement the corresponding functions.

[0084] The processor contains cores, which retrieve corresponding program units from the memory. One or more cores can be set. The memory may include non-permanent memory in a computer-readable medium, forms such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0085] An embodiment of the present invention provides a non-volatile storage medium, on which a program is stored, and when the program is executed by a processor, a method for determining the installation position of a cable accessory is implemented.

[0086] As Figure 5 As shown, an embodiment of the present invention provides an electronic device. The electronic device 10 includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, the following steps are implemented: The memory is used to store a computer program. When the computer program is executed by the processor, the processor is enabled to implement the above-mentioned acquisition of the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed; geometric parameter conversion is respectively performed on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed; the first point cloud data of the cable accessory to be installed is registered with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed; according to the registered point cloud data of the cable accessory to be installed, the installation position of the cable accessory to be installed relative to the target cable is determined. The device herein can be a server, a PC, etc.

[0087] The present invention also provides a computer program product, which, when executed on a processing device, is adapted to execute a program initialized with the following method steps: The computer instructions are executed by the processor to acquire the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed; geometric parameter conversion is respectively performed on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed; the first point cloud data of the cable accessory to be installed is registered with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed; according to the registered point cloud data of the cable accessory to be installed, the installation position of the cable accessory to be installed relative to the target cable is determined.

[0088] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0089] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable processing devices generate means for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0090] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0091] These computer program instructions can also be loaded onto a computer or other programmable processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0092] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0093] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0094] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or others. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated signals and carrier waves.

[0095] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0096] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as a method, system or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0097] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A method for determining the installation position of a cable accessory, characterized in that: include: Acquire initial point cloud data of the target cable and initial point cloud data of the cable accessories to be installed; Performing geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed, respectively, to obtain first point cloud data of the target cable and first point cloud data of the cable accessory to be installed; Registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed; The installation position of the cable accessory to be installed relative to the target cable is determined according to the registered point cloud data of the cable accessory to be installed.

2. The method according to claim 1, characterized in that: The step of performing geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed comprises: Determining a geometric model matching the target cable and a geometric model matching the cable accessory to be installed according to respective geometric shapes of the target cable and the cable accessory to be installed; According to a geometric model matching the target cable, geometric parameter conversion is performed on the initial point cloud data of the target cable to obtain first point cloud data of the target cable; According to a geometric model matching the cable accessory to be installed, geometric parameter conversion is performed on the initial point cloud data of the cable accessory to be installed to obtain first point cloud data of the cable accessory to be installed.

3. The method according to claim 1, characterized in that Registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed, including: Placing the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable in a predetermined coordinate system; In the predetermined coordinate system, the first point cloud data of the cable accessory to be installed is registered with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed.

4. The method according to claim 3, characterized in that In the predetermined coordinate system, registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable to determine the registered point cloud data of the cable accessory to be installed, including: In the predetermined coordinate system, calculating an initial error between the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable; According to the initial error, adjusting the first point cloud data of the cable accessory to be installed to obtain the adjusted point cloud data of the cable accessory to be installed; The adjusted point cloud data of the cable accessory to be installed is optimized multiple times until the error value between the adjusted point cloud data of the cable accessory to be installed and the first point cloud data of the target cable is less than a predetermined first threshold, thereby obtaining the registered point cloud data of the cable accessory to be installed.

5. The method according to claim 4, characterized in that The calculating an initial error between the first point cloud data of the cable accessory to be installed and the first point cloud data of the target cable comprises: Determine the point in the first point cloud data of the target cable that is closest to each data point in the first point cloud data of the cable accessory to be installed; The distances between each data point in the first point cloud data of the cable accessory to be installed and its respective nearest neighbor point are averaged to obtain the initial error.

6. The method according to claim 5, characterized in that Before averaging the distances between each data point in the first point cloud data of the cable accessory to be installed and its respective nearest neighbor point to obtain the initial error, the method further includes: If the distance between a target data point in the first point cloud data of the cable accessory to be installed and the corresponding nearest neighbor point is greater than a predetermined second threshold, the target data point is removed.

7. A device for determining the installation position of a cable accessory, characterized in that: include: An acquisition module, used to acquire initial point cloud data of the target cable and initial point cloud data of the cable accessories to be installed; A conversion module, used to perform geometric parameter conversion on the initial point cloud data of the target cable and the initial point cloud data of the cable accessory to be installed, respectively, to obtain the first point cloud data of the target cable and the first point cloud data of the cable accessory to be installed; A registration module, used for registering the first point cloud data of the cable accessory to be installed with the first point cloud data of the target cable, and determining the registered point cloud data of the cable accessory to be installed; The determination module is used to determine the installation position of the cable accessory to be installed relative to the target cable according to the registration point cloud data of the cable accessory to be installed.

8. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the method for determining the installation position of a cable accessory according to any one of claims 1 to 6.

9. An electronic device, characterized in that: include: One or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the installation position of a cable accessory as described in any one of claims 1 to 6.

10. A computer program product comprising computer instructions, characterized in that: The computer instructions are executed by the processor to implement the method for determining the installation position of a cable accessory as claimed in any one of claims 1 to 6.

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