摘要
在废旧电缆回收中,识别是非常重要的工作。为了更好的推进废旧电缆的回收工作,必须要加强对废旧电缆的识别。文中介绍了一种废旧电缆两步定位法。为了更好地了解该方法,首先对相关定义进行了明确。在明确了定义的基础上,首先分析了如何确定电缆堆栈的轮廓。在确定电缆堆栈的轮廓上,首先是获得废旧电缆堆的三维点云。其次确定最高点并建立像素坐标系。在建立的坐标系上选择一组四个像素进行分析,最后寻找电缆末端,确定电缆末端的方向。通过这一系列的措施确定电缆堆栈的轮廓。最后则是在确定了电缆末端的位置和朝向的基础上,行车机械臂将移动到该位置上方的预设高度,然后进行抓取,并放入到清洗区进行清晰。通过该方法又有助于提高废旧电缆识别效率。
In waste cable recycling,identification is a very important job.In order to better promote the recycling of waste cables,it is necessary to strengthen the identification of waste cables.A two-step positioning method for waste cables is introduced in this paper.In order to better understand the method,the relevant definitions are first clarified.On the basis of a clear definition,it first analyzes how to determine the outline of the cable stack.In determining the outline of the cable stack,the first step is to obtain a 3D point cloud of the waste cable stack.Next,determine the highest point and establish a pixel coordinate system.Select a set of four pixels for analysis on the established coordinate system,and finally find the end of the cable and determine the direction of the end of the cable.The outline of the cable stack is determined by this series of measures.Finally,after determining the position and orientation of the end of the cable,the robot arm will move to a preset height above the position,grab it,and put it into the cleaning area for cleaning.This method also helps to improve the identification efficiency of waste cables.
作者
张雍斌
范闵敏
朱博闻
Zhang Yong-bin;Fan Min-min;Zhu Bo-wen
出处
《电力系统装备》
2022年第4期186-188,共3页
Electric Power System Equipment
关键词
废旧电缆
两步定位法
回收
waste cable
two step positioning method
recovery
