CN114184166A - High-speed wire P/F wire C-shaped hook inclination detection method and device - Google Patents
High-speed wire P/F wire C-shaped hook inclination detection method and device Download PDFInfo
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Abstract
The invention discloses a high-speed wire P/F line C-shaped hook inclination detection method and a device thereof, relating to the technical field of high-speed wire production lines, wherein the high-speed wire P/F line C-shaped hook inclination detection method comprises the following steps: scanning the C-shaped hook by using a laser imaging device to obtain point cloud data of the C-shaped hook; dividing the point cloud data of the C-shaped hook to obtain point cloud data of an upper arm of the C-shaped hook; and calculating the inclination degree of the C-shaped hook according to the point cloud data of the upper arm of the C-shaped hook. The method and the device can efficiently and reliably detect the inclination of the C-shaped hook of the high-speed wire P/F wire.
Description
Technical Field
The invention relates to the technical field of high-speed wire production lines, in particular to a method and a device for detecting the inclination of a C-shaped hook of a P/F wire of a high-speed wire.
Background
The C-shaped hook is an important transportation device for high-speed wire P/F wires, and the C-shaped hook on the P/F wires receives coils conveyed by the coil conveying trolley. The C-shaped hook is powered by a driving device and a driving chain to move forward, the procedures of cooling, checking, head and tail cutting, sampling, pressing and bundling, weighing and tag hanging and the like of the coil are completed in the transportation process, and finally the coil is unloaded from the C-shaped hook by an uncoiler. Thereafter, the empty C-hook is returned again to the tucking station for the next cycle.
Among them, the C-shaped hook on the P/F line may incline after hanging the roll and during transportation, and when the situation is serious, the finished roll may drop, which may cause the following problems: firstly, the C-shaped hook is provided with a clamping device and a balance rail when being used at stations such as collecting, coiling, trimming, packing, weighing, listing and the like, and the center of gravity may shift to cause tipping accidents due to the fact that the middle of the C-shaped hook is cut off or broken. In the event of a tipping over at the station, there is a high probability of the gripper and the counter rail being damaged. Because the balance rail is welded with the main span beam on the P/F line through the support beam, the tipping can cause more beams to be knocked, and thus, a lot of time is needed for overhauling and maintenance; secondly, the C-shaped hook is overturned in the running process or the production is forced to be stopped, the production rhythm is seriously influenced, and even the production accidents such as forced rolling waste of the billet which is being rolled on the rolling line can be caused.
At present, besides the traditional manual monitoring scheme, a C-shaped hook inclination detection device also exists in the production line. As shown in fig. 1, the device mainly comprises an ink ribbon 14, a color sensor 13, a clamp 12 and other devices, wherein the ink ribbon 14 is crescent-shaped, the middle position is white, the upper end and the lower end are black, and the device is placed on the side surface of a C-shaped hook 11; the color sensor is arranged towards the color band and can identify the color of the color band at the positions with different inclination degrees; the clamp can be used for emergency braking. Thus, when the C-shaped hook 11 is in the horizontal position, the color sensor 13 faces the color white, i.e., is in the normal state; when the C-shaped hook 11 is inclined, the color sensor 13 changes to black facing color, and then an alarm is given to the control system to control the clamp to clamp the C-shaped hook 11 or brake in other ways so as to prevent accidents. The mature C-shaped hook is applied to the aspect of inclination identification, and the method mainly depends on a manual inspection method and is completely based on visual observation and the autonomous judgment of an operator. The scheme has the following defects that the number of the C-shaped hooks on the first P/F line and the P/F line is large, but equipment such as color bands, color sensors, clamps and the like needs to be installed on each C-shaped hook, so that the installation cost is high, and the maintenance is difficult; secondly, in the production process, the temperature of the C-shaped hook hanging coil is high and is usually higher than one hundred ℃, and the color sensor is a sensitive device, so that the performance of the C-shaped hook hanging coil is influenced by long-time high-temperature steaming and baking, and the C-shaped hook hanging coil is very easy to damage; thirdly, external factors such as light and shade, dust, etc. may affect the recognition result.
Disclosure of Invention
In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a method and an apparatus for detecting the inclination of a C-shaped hook of a P/F wire of a high-speed wire rod, which can efficiently and reliably detect the inclination of the C-shaped hook of the P/F wire of the high-speed wire rod.
The specific technical scheme of the embodiment of the invention is as follows:
a high-speed wire P/F line C-shaped hook inclination detection method comprises the following steps:
scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain point cloud data of the C-shaped hook;
dividing the point cloud data of the C-shaped hook to obtain point cloud data of an upper arm of the C-shaped hook;
and calculating the inclination degree of the C-shaped hook according to the point cloud data of the upper arm of the C-shaped hook.
Preferably, the method further comprises the following steps:
and identifying that the C-shaped hook enters a detection area before the point cloud data of the C-shaped hook is divided.
Preferably, in the step of recognizing that the C-shaped hook enters the detection area, the spatial position below the hanging position of the C-shaped hook is defined as the detection area where the C-shaped hook enters, and if the point cloud data in the detection area exceeds a preset value, it is determined that the C-shaped hook reaches the detection area.
Preferably, in the step of dividing the point cloud data of the C-shaped hook to obtain the point cloud data of the upper arm of the C-shaped hook, redundant data right in front of and right behind the C-shaped hook in the point cloud data of the C-shaped hook is deleted according to spatial features, and then the remaining point cloud data of the C-shaped hook is divided by adopting a clustering segmentation algorithm to segment the point cloud data of the upper arm of the C-shaped hook.
Preferably, in the step of calculating the inclination degree of the C-shaped hook through the point cloud data of the upper arm of the C-shaped hook, a linear regression calculation is performed according to the point cloud data of the upper arm of the C-shaped hook by a least square method to obtain a value of y ═ ax + a in b when the point cloud data is linear, and the inclination degree of the C-shaped hook is judged based on the value of a.
Preferably, the step of judging the inclination degree of the C-shaped hook based on the value of a, the angle between the upper arm of the C-shaped hook and the horizontal plane is equal to arctan (a).
Preferably, in the step of scanning the C-shaped hook by using the three-dimensional laser imaging device to obtain the point cloud data of the C-shaped hook, the method includes:
scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain point cloud data of the C-shaped hook;
calibrating the point cloud data of the C-shaped hook, and specifically comprises the following steps: and rotating the horizontal plane of the point cloud data of the C-shaped hook in the opposite direction to form an included angle between the three-dimensional laser imaging device and the horizontal plane.
Preferably, in the step of scanning the C-shaped hook by using the three-dimensional laser imaging device to obtain the point cloud data of the C-shaped hook, the method includes:
scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain point cloud data of the C-shaped hook;
filtering the point cloud data of the C-shaped hook, and specifically comprises the following steps: and calculating the average distance from each point in the point cloud data of the C-shaped hook to the adjacent point thereof, wherein the obtained result is in Gaussian distribution, and deleting the points with the average distance out of the preset standard range from the point cloud data of the C-shaped hook.
Preferably, the three-dimensional laser imaging device includes a 3D laser scanner, and a scanning direction of the three-dimensional laser imaging device is aligned with a middle position of an upper arm of the C-shaped hook after entering the detection area, and is capable of scanning at least the entire upper arm of the C-shaped hook.
A high-speed wire P/F line C-shaped hook inclination detection device comprises a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the following steps when being executed by the processor: the method for detecting the inclination of the C-shaped hook of the high-speed wire P/F wire.
The technical scheme of the invention has the following remarkable beneficial effects:
firstly, the mode of identifying the C-shaped hook through the point cloud data scanned by the three-dimensional laser imaging device is not influenced by light difference in daytime and at night, is not influenced by cleaning degree and color difference of the C-shaped hook, can detect in real time and timely judge the inclination angle of the C-shaped hook, and if the inclination angle is found to exceed the safe angle range, a control system and an operator can be informed to timely take corresponding emergency measures, so that economic loss caused by rollover accidents can be effectively prevented.
Secondly, can just utilize a three-dimensional laser image device to detect the inclination of a row of C type hook in this application, greatly reduced the cost that C type hook slope detected like this.
Thirdly, filtering operation can be carried out on the point cloud data of the C-shaped hook to obtain the point cloud data only comprising the C-shaped hook and the disc volume, so that the detection speed and accuracy are improved; in addition, the point cloud data of the C-shaped hook can be calibrated to eliminate an included angle between the three-dimensional laser imaging device and a horizontal plane during installation, and therefore accuracy of detecting the inclination of the C-shaped hook in the later period is improved.
Fourthly, the remaining point cloud data of the C-shaped hook can be divided by adopting a clustering segmentation algorithm in the application to segment the point cloud data of the upper arm of the C-shaped hook, and then the inclination degree of the C-shaped hook is obtained through the point cloud data of the upper arm of the C-shaped hook, so that the interference of the coil received on the lower arm of the C-shaped hook can be eliminated, and the inclination degree of the C-shaped hook can be more accurately calculated only through the point cloud data of the upper arm of the C-shaped hook.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for facilitating the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. Those skilled in the art, having the benefit of the teachings of this invention, may choose from the various possible shapes and proportional sizes to implement the invention as a matter of case.
FIG. 1 is a schematic structural diagram of a C-shaped hook inclination detecting device in the prior art;
FIG. 2 is a flow chart of the steps of the method for detecting the inclination of the C-shaped hook of the high-speed P/F wire in the embodiment of the present application;
FIG. 3 is a schematic diagram of the detection area of the upper arm of the C-shaped hook in the embodiment of the present application;
FIG. 4 is a point cloud data before filtering in the embodiment of the present application;
FIG. 5 is a filtered point cloud data according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of a space position below the hanging position of the C-shaped hook as a detection area for the C-shaped hook to enter in the embodiment of the present application;
fig. 7 is a schematic view of the upper arm of the C-shaped hook under the point cloud data in the embodiment of the present application.
Reference numerals of the above figures:
11. a C-shaped hook; 111. an upper arm; 12. clamping; 13. a color sensor; 14. a color ribbon.
Detailed Description
The details of the present invention can be more clearly understood in conjunction with the accompanying drawings and the description of the embodiments of the present invention. However, the specific embodiments of the present invention described herein are for the purpose of illustration only and are not to be construed as limiting the invention in any way. Any possible variations based on the present invention may be conceived by the skilled person in the light of the teachings of the present invention, and these should be considered to fall within the scope of the present invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, indirect connections through intermediaries, and the like. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In order to efficiently and reliably detect the inclination of the C-shaped hook of the high-speed wire P/F wire, the invention provides a high-speed wire P/F wire inclination detection method. Fig. 2 is a flowchart illustrating a method for detecting C-shaped hook inclination of a high-speed wire P/F line according to an embodiment of the present invention, and as shown in fig. 2, the method for detecting C-shaped hook inclination of a high-speed wire P/F line may include the following steps:
s101: and scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain point cloud data of the C-shaped hook.
The three-dimensional laser imaging device is installed near the position needing C-shaped hook inclination detection, and the three-dimensional laser imaging device can be used for detecting and analyzing the shape (geometric construction) and appearance data of an object or environment near the position needing C-shaped hook inclination detection through laser. The three-dimensional laser imaging device may employ a 3D laser scanner.
In the installation process, the installation position and the installation angle of the three-dimensional laser imaging device are adjusted, the scanning direction of the three-dimensional laser imaging device is aligned to the middle position of the upper arm of the C-shaped hook as far as possible, and the whole upper arm of the C-shaped hook can be scanned. Optionally, the three-dimensional laser imaging device may be connected to the tilt detection system through a network, so as to implement remote data analysis and data, and also implement remote control. A three-dimensional laser imaging device may be aligned with only one C-hook, in which case the three-dimensional laser imaging device may scan only the C-hook. Since there are a plurality of C-shaped hooks in the production line, and the plurality of C-shaped hooks are all arranged in a row, one three-dimensional laser imaging device can be at the highest position of the most front of the middle positions of the plurality of C-shaped hooks, so that all the C-shaped hooks in a row can be scanned, and the inclination degree of all the C-shaped hooks in a row can be detected subsequently. In summary, fig. 3 is a schematic diagram of a detection area of an upper arm of a C-shaped hook in an embodiment of the present application, as shown in fig. 3, since a coil is received on a lower arm of the C-shaped hook, and the coil covers most of the lower arm, it is not easy to analyze the inclination degree of the C-shaped hook through point cloud data of the lower arm, so that the scanning direction of the three-dimensional laser imaging device is aligned with the middle position of the upper arm of the C-shaped hook after entering the detection area, and at least the entire upper arm of the C-shaped hook can be scanned.
And starting an equipment calibration program after the three-dimensional laser imaging device is installed. The method comprises the following steps of scanning a C-shaped hook by using a three-dimensional laser imaging device to obtain point cloud data of the C-shaped hook, and calibrating the point cloud data of the C-shaped hook, and specifically comprises the following steps: and rotating the horizontal plane of the point cloud data of the C-shaped hook in the opposite direction to form an included angle between the three-dimensional laser imaging device and the horizontal plane.
In the steps, the system starts to read the point cloud data of the three-dimensional laser imaging device in real time, when a normal C-shaped hook (the C-shaped hook is kept horizontal and not inclined) enters a scanning area, the point cloud data at the moment is stored, a detection area is set in the point cloud data, the system automatically calculates the included angle between the three-dimensional laser imaging device and the horizontal plane of the scanning area, and corresponding calibration parameters are generated. And then, after the C-shaped hook which really needs to be subjected to inclination detection enters a scanning area, rotating the horizontal plane of the point cloud data of the C-shaped hook obtained by scanning at the moment in the opposite direction by an included angle between the three-dimensional laser imaging device and the horizontal plane, thereby achieving the aim of horizontal calibration.
The reason for the above operation is that the formed point cloud data has a certain rotation angle with respect to XYZ of world coordinates and a certain included angle with respect to a horizontal plane due to the installation position and angle of the three-dimensional laser imaging device. If the inclination angle calculated by directly adopting the three-dimensional laser imaging device at the later stage is not matched with the inclination angle of the world coordinate system, the inclination of the C-shaped hook cannot be accurately judged. Therefore, point cloud data needs to be calibrated, ground point cloud data to be calibrated is reserved by setting a filtering mode of X, Y, Z maximum and minimum values, an included angle between the plane and the horizontal plane is calculated, then the included angle is rotated in the opposite direction of the horizontal plane of the point cloud data to be detected, the point cloud data can be kept horizontal, and therefore preparation is made for subsequent detection and judgment of the inclination angle.
In addition, after the C-shaped hook which really needs to be subjected to inclination detection enters the scanning area, the point cloud data of the C-shaped hook obtained by scanning at the moment can be filtered. The method specifically comprises the following steps: and calculating the average distance from each point in the point cloud data of the C-shaped hook to the adjacent point thereof, wherein the obtained result is in Gaussian distribution, and deleting the points with the average distance out of the preset standard range from the point cloud data of the C-shaped hook.
Fig. 4 is point cloud data before filtering in the embodiment of the present application, as shown in fig. 4, since the coverage of the point cloud data obtained by laser scanning is large, the point cloud data covers all environments, devices, and the like around the C-shaped hook, detection of all the point cloud data is not required, but C-shaped hook tilt detection is performed on a space within a preset range, so that the speed and accuracy of detection can be improved, an area to be detected and analyzed needs to be set first, that is, a maximum value and a minimum value of X, Y, Z in the space are set, and only the point cloud data in the area to be detected and analyzed needs to be retained by the system according to a filtering mode of the maximum value and the minimum value, so as to prepare for subsequent further filtering. The point cloud data with uneven density is usually obtained by scanning through a three-dimensional laser imaging device, and in addition, sparse outliers can be generated due to errors in measurement, so that some noise data are generated, and if the noise data are not processed, the subsequent algorithm effect can be influenced. The basic idea provided in the application is to perform a statistical analysis on the neighborhood of each point in the point cloud data, and delete points which do not meet a certain standard. In a specific embodiment, the average distance from each point in the point cloud data of the C-shaped hook to its adjacent point is calculated, the obtained result is in a gaussian distribution, the shape of the gaussian distribution is determined by the mean and standard deviation, points with the average distance outside the preset standard range are defined as outliers, and are deleted from the point cloud data, fig. 5 is the point cloud data after filtering in the embodiment of the present application, as shown in fig. 5, in which point cloud data only including the C-shaped hook and the reel can be clearly obtained.
S102: recognizing the entrance of the C-hook into the detection area.
When the inclination detection of the C-shaped hook is really needed, whether the C-shaped hook enters a detection area or not is firstly identified. In the step of identifying that the C-shaped hook enters the detection area, fig. 6 is a schematic diagram of a spatial position below a hanging position of the C-shaped hook in the embodiment of the present application as the detection area into which the C-shaped hook enters, and as shown in fig. 6, by defining the spatial position below the hanging position of the C-shaped hook as the detection area into which the C-shaped hook enters, it is determined that the C-shaped hook reaches the detection area if the number of point clouds in the detection area exceeds a preset value.
In order to reduce the amount of calculation, the tilt recognition is performed only when the C-hook enters the detection area, and therefore it is necessary to determine whether the C-hook enters the detection area. Because the spatial position below the hanging joint of the C-shaped hook is basically kept unchanged, no matter whether the C-shaped hook is inclined or not, the position of the C-shaped hook part below the hanging joint is not changed greatly, the spatial position where the position is located can be defined as a detection area where the C-shaped hook arrives, namely, the maximum value and the minimum value of X, Y, Z in the space are set, the system only keeps point cloud data within the range of the maximum value and the minimum value of X, Y, Z in a filtering mode of the maximum value and the minimum value, point cloud data outside the range are deleted, and the C-shaped hook is judged to reach the detection area if the point cloud data in the set area exceed a certain number.
S103: and dividing the point cloud data of the C-shaped hook to obtain the point cloud data of the upper arm of the C-shaped hook.
And after the C-shaped hook reaches the detection area, acquiring point cloud data of the C-shaped hook obtained after the three-dimensional laser imaging device scans the C-shaped hook. The point cloud data of the C-hook may be the point cloud data after the above-mentioned filtering and calibration.
As shown in fig. 7, redundant data right in front of and right behind the C-shaped hook in the point cloud data of the C-shaped hook are deleted according to the spatial features, and then the remaining point cloud data of the C-shaped hook are divided by using a clustering division algorithm to divide the point cloud data of the upper arm of the C-shaped hook.
S104: and calculating the inclination degree of the C-shaped hook according to the point cloud data of the upper arm of the C-shaped hook.
In this step, a linear regression calculation is performed by a least square method based on the point cloud data on the upper arm of the C-shaped hook to obtain a value of a in the linear range y ═ ax + b, or a value corresponding to b may be obtained, and the degree of inclination of the C-shaped hook may be determined based on the value of a. The included angle between the upper arm of the C-shaped hook and the horizontal plane is equal to arctan (a). If the inclination angle arctan (a) of the C-shaped hook is larger than the set early warning angle, an alarm is given to prompt a user to process, and larger loss is avoided.
The application also provides a high-speed wire P/F line C-shaped hook inclination detection device, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the following steps when being executed by the processor: the method for detecting the inclination of the C-shaped hook of the high-speed wire P/F wire.
In this embodiment, the memory may include a physical device for storing information, and typically, the information is digitized and then stored in a medium using an electrical, magnetic, or optical method. The memory according to this embodiment may further include: devices that store information using electrical energy, such as RAM, ROM, etc.; devices that store information using magnetic energy, such as hard disks, floppy disks, tapes, core memories, bubble memories, usb disks; devices for storing information optically, such as CDs or DVDs. Of course, there are other ways of memory, such as quantum memory, graphene memory, and so forth.
In this embodiment, the processor may be implemented in any suitable manner. For example, the processor may take the form of, for example, a microprocessor or processor and a computer-readable medium that stores computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, an embedded microcontroller, and so forth.
The specific functions of the server, the processor and the memory thereof implemented by the embodiments of the present specification can be explained in comparison with the foregoing embodiments of the present specification.
The high-speed wire P/F wire C-shaped hook inclination detection method and the device thereof in the application can obtain the following beneficial effects:
firstly, the mode of identifying the C-shaped hook through the point cloud data scanned by the three-dimensional laser imaging device is not influenced by light difference in daytime and at night, is not influenced by cleaning degree and color difference of the C-shaped hook, can detect in real time and timely judge the inclination angle of the C-shaped hook, and if the inclination angle is found to exceed the safe angle range, a control system and an operator can be informed to timely take corresponding emergency measures, so that economic loss caused by rollover accidents can be effectively prevented.
Secondly, can just utilize a three-dimensional laser image device to detect the inclination of a row of C type hook in this application, greatly reduced the cost that C type hook slope detected like this.
Thirdly, filtering operation can be carried out on the point cloud data of the C-shaped hook to obtain the point cloud data only comprising the C-shaped hook and the disc volume, so that the detection speed and accuracy are improved; in addition, the point cloud data of the C-shaped hook can be calibrated to eliminate an included angle between the three-dimensional laser imaging device and a horizontal plane during installation, and therefore accuracy of detecting the inclination of the C-shaped hook in the later period is improved.
Fourthly, the remaining point cloud data of the C-shaped hook can be divided by adopting a clustering segmentation algorithm in the application to segment the point cloud data of the upper arm of the C-shaped hook, and then the inclination degree of the C-shaped hook is obtained through the point cloud data of the upper arm of the C-shaped hook, so that the interference of the coil received on the lower arm of the C-shaped hook can be eliminated, and the inclination degree of the C-shaped hook can be more accurately calculated only through the point cloud data of the upper arm of the C-shaped hook.
All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional. A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The method for detecting the inclination of the C-shaped hook of the P/F wire of the high-speed wire rod is characterized by comprising the following steps of:
scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain point cloud data of the C-shaped hook;
dividing the point cloud data of the C-shaped hook to obtain point cloud data of an upper arm of the C-shaped hook;
and calculating the inclination degree of the C-shaped hook according to the point cloud data of the upper arm of the C-shaped hook.
2. The method for detecting the inclination of the C-shaped hook of the high-speed wire P/F according to claim 1, further comprising the steps of:
and identifying that the C-shaped hook enters a detection area before the point cloud data of the C-shaped hook is divided.
3. The method for detecting the inclination of the C-shaped hook of the high-speed wire P/F wire according to claim 2, wherein the C-shaped hook is determined to reach the detection area by defining a spatial position below the hanging position of the C-shaped hook as the detection area where the C-shaped hook enters in the step of identifying the entrance of the C-shaped hook into the detection area, and if the point cloud data in the detection area exceeds a preset value.
4. The method for detecting the inclination of the C-shaped hook of the P/F line of the high-speed wire rod according to claim 1, wherein in the step of dividing the point cloud data of the C-shaped hook to obtain the point cloud data of the upper arm of the C-shaped hook, redundant data right in front of and right behind the C-shaped hook in the point cloud data of the C-shaped hook are deleted according to spatial characteristics, and then a clustering segmentation algorithm is adopted to divide the remaining point cloud data of the C-shaped hook to segment the point cloud data of the upper arm of the C-shaped hook.
5. The method for detecting the C-shaped hook inclination of the high-speed wire P/F according to claim 1, wherein in the step of calculating the inclination degree of the C-shaped hook through the point cloud data of the upper arm of the C-shaped hook, a linear regression calculation is performed according to the point cloud data of the upper arm of the C-shaped hook through a least square method to obtain a value of a in y ═ ax + b during linearity, and the inclination degree of the C-shaped hook is judged based on the value of a.
6. The method for detecting the inclination of the C-shaped hook of the high-speed wire P/F line according to claim 5, wherein in the step of judging the inclination degree of the C-shaped hook based on the value of a, the included angle between the upper arm of the C-shaped hook and the horizontal plane is equal to arctan (a).
7. The method for detecting the inclination of the C-shaped hook of the high-speed wire P/F line according to claim 1, wherein the step of scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain the point cloud data of the C-shaped hook comprises the following steps:
scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain point cloud data of the C-shaped hook;
calibrating the point cloud data of the C-shaped hook, and specifically comprises the following steps: and rotating the horizontal plane of the point cloud data of the C-shaped hook in the opposite direction to form an included angle between the three-dimensional laser imaging device and the horizontal plane.
8. The method for detecting the inclination of the C-shaped hook of the high-speed wire P/F line according to claim 1, wherein the step of scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain the point cloud data of the C-shaped hook comprises the following steps:
scanning the C-shaped hook by using a three-dimensional laser imaging device to obtain point cloud data of the C-shaped hook;
filtering the point cloud data of the C-shaped hook, and specifically comprises the following steps: and calculating the average distance from each point in the point cloud data of the C-shaped hook to the adjacent point thereof, wherein the obtained result is in Gaussian distribution, and deleting the points with the average distance out of the preset standard range from the point cloud data of the C-shaped hook.
9. The method according to claim 1, wherein the three-dimensional laser imaging device comprises a 3D laser scanner, and the scanning direction of the three-dimensional laser imaging device is aligned with a middle position of an upper arm of the C-shaped hook after entering a detection area and is capable of scanning at least the entire upper arm of the C-shaped hook.
10. A high-speed wire P/F line C-shaped hook inclination detection device is characterized by comprising a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the following steps when being executed by the processor: the method for detecting the inclination of the C-shaped hook of the high-speed wire P/F according to any one of claims 1 to 9.
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