带约束的凹凸点检测算法在线缆成卷过程中的应用  

Application of Concave-bump Detection Algorithm with Constraint in Cable Winding Process

作　　者：王华[1,2] 王新海 张爽[2] 高金刚[2] 刘孝峰 Wang Hua;Wang Xinhai;Zhang Shuang;Gao Jingang;Liu Xiaofeng(College of Mechanical and Electrical Engineering,Changchun University of Technology,Changchun,Jilin 130012 China;School of Mechatronic Engineering,Changchun Institute of Technology,Changchun,Jilin 130103 China;CRRC Changchun Rail Bus Co.,Ltd.Industrial Planning and Development Department,Changchun,Jilin 130062 China)

机构地区：[1]长春工业大学机电工程学院,吉林长春130012 [2]长春工程学院机电工程学院,吉林长春130103 [3]中车长春轨道客车股份有限公司工业规划发展部,吉林长春130062

出　　处：《应用激光》2022年第6期96-101,共6页Applied Laser

基　　金：吉林省科技发展计划项目(20200401107GX);吉林省科技发展计划项目(20210201047GX)。

摘　　要：针对目前线缆缠线机存在的到边反向不及时、效率低、依赖人工反向等问题,采用线激光传感器对缠线机的线缆到边情况进行实时动态检测,根据结果及时调整缠线机横向运动方向。首先根据线缆与挡板交点的特殊位置,应用带约束的凹凸点检测算法对点云进行数据分割;其次利用RANSAC算法对挡板的数据进行直线拟合,然后使用斜率特点在线缆数据中找到待测线缆,对待测线缆点云数据进行整体最小二乘法拟合圆;最后计算出待测线缆到挡板处的相对位置。试验证明,带约束的凹凸点算法能准确地找到数据分割点,并计算出待测线缆到挡板处的距离,实现线缆成卷过程中到边反向的实时检测。In view of the problems existing in the current cable winding machine,such as the untimely return to the edge,low efficiency and reliance on manual reverse,a line laser sensor is used to detect the real-time dynamic situation of the cable arriving to the edge of the cable winding machine,and the lateral movement direction of the winding machine is adjusted timely according to the results.Firstly,according to the cable and the special position of the baffle node,the segmentation of point cloud data was achieved via concave and convex constrained point detection algorithm.Secondly,using RANSAC algorithm of baffle linear fitting,the data after using slope characteristics were found in cable data cable under test,with measuring cable the overall least square circle.Finally,the relative position of the cable was calculated to the damper under test.Experimental results show that the algorithm can accurately find the data segmentation point and calculate the distance between the cable to be tested and the baffle,which realizes the real-time detection of the reverse to the edge during the winding process of the cable.

关 键 词：线激光传感器 凹凸点检测算法 数据分割 到边反向 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]