Measurement Algorithm for Anti-Stress Cone Parameters of Cross-Linked Polyethylene Cable Joint Based on Three-Dimensional Point Cloud Processing

Lei Deng; Guihua Liu; Hao Deng; Junjie Huang; Binghong Zhou

doi:10.3788/CJL220785

Chinese Journal of Lasers, Volume. 50, Issue 6, 0604003(2023)

Measurement Algorithm for Anti-Stress Cone Parameters of Cross-Linked Polyethylene Cable Joint Based on Three-Dimensional Point Cloud Processing

Lei Deng1...2, Guihua Liu1,2,*, Hao Deng1,2, Junjie Huang1,2, and Binghong Zhou12 |Show fewer author(s)

Author Affiliations

¹School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuan, China

²Key Laboratory of Special Environment Robotics of Sichuan Province, Mianyang 621010, Sichuan, China

show less

Abstract Get PDF(in Chinese)

Figures & Tables(22)

Fig. 1. Flow of anti-stress cone of cable joint parameter measurement algorithm

Download full size

Fig. 2. Pseudocode of anti-stress cone of cable joint parameter measurement algorithm

Download full size

Fig. 3. Cable joint.(a) Structure diagram; (b) physical diagram; (c) point cloud data

Download full size

Fig. 4. Coordinate adjustment diagrams. (a) Before adjustment; (b) after adjustment

Download full size

Fig. 5. Diagram of obtaining target point cloud. (a) Joint point cloud; (b) circle fitting results of joint point cloud; (c) target point cloud fitting circle; (d) target point cloud

Download full size

Fig. 6. Change of cable joint fitting circle radius

Download full size

Fig. 7. Space division of cable joint point cloud.(a) Target point cloud; (b) strips division mode; (c) strips division results of figure (a); (d) an example of strip point cloud; (e) pieces division results of figure (a); (f) an example of piece

Download full size

Fig. 8. Analysis of piece points obtained by different space division methods. (a) Ours; (b) equal height division

Download full size

Fig. 9. Concave-convex decision diagrams. (a) Convex diagram;(b) concave diagram

Download full size

Fig. 10. Change of piece axis angle on strip point cloud

Download full size

Fig. 11. Diagram of strip point cloud formed by planes and surfaces

Download full size

Fig. 12. Calculation process diagram of starting point and ending point of anti-stress cone

Download full size

Fig. 13. Diagram of error correction based on residual estimation

Download full size

Fig. 14. Diagram of measured parameter of anti-stress cone

Download full size

Table 1. Explanation of measured parameters of anti-stress cone and their calculation methods
View table
Table 1. Explanation of measured parameters of anti-stress cone and their calculation methods
Measuredparameter Meaning Calculation method
D_i End diameter Diameter of fitting circle at $Z_{4}$
D_o Start diameter Diameter of fitting circle at $Z_{3}$
H Height $Z_{4} - Z_{3}$
S Slope length $\sqrt[]{{[(D_{o} - D_{i}) / 2]}^{2} + H^{2}}$

Table 2. Measurement results of different methods

View table

Table 2. Measurement results of different methods

Joint	Index	Measured value of radius change				Measured value of ours
Joint	Index	D_i	D_o	S	H	D_i	D_o	S	H
Standard joint	x^* /mm	46.40	78.40	57.28	55.00	46.40	78.40	57.28	55.00
	x /mm	48.35	75.63	49.28	47.35	46.29	78.39	57.42	55.13
	e（x）/mm	-1.95	2.77	8.00	7.65	0.11	0.01	-0.14	-0.13
	e_r（x）/%	4.20	3.53	13.97	13.91	0.24	0.01	0.24	0.24
	Points	766310				766310
	Time /s	6.63				18.87
Artificial joint^①	x^* /mm	47.00	78.00	53.79	51.50	47.00	78.00	53.79	51.50
	x /mm	49.84	76.13	45.62	43.68	46.88	78.32	53.21	50.83
	e（x）/mm	-2.84	1.87	8.17	7.82	0.12	-0.32	0.58	0.67
	e_r（x）/%	6.04	2.40	15.18	15.18	0.26	0.41	1.08	1.30
	Points	814402				814402
	Time /s	7.14				19.85
Artificial joint^②	x^* /mm	45.50	77.50	59.68	57.50	45.50	77.50	59.68	57.50
	x /mm	46.62	74.87	52.69	50.76	45.97	77.21	59.28	57.19
	e（x）/mm	-1.12	2.63	6.99	6.74	-0.47	0.29	0.40	0.31
	e_r（x）/%	2.46	3.39	11.71	11.72	1.03	0.37	0.67	0.54
	Points	898623				898623
	Time /s	7.74				19.38

Table 3. Measurement results for different space division methods

View table

Table 3. Measurement results for different space division methods

Joint	Index	Measured value of equal height division				Measured value of ours
Joint	Index	D_i	D_o	S	H	D_i	D_o	S	H
Standard joint	x^* /mm	46.40	78.40	57.28	55.00	46.40	78.40	57.28	55.00
	x /mm	47.16	76.36	55.56	53.60	46.29	78.39	57.42	55.13
	e（x）/mm	-0.76	2.04	1.72	1.40	0.11	0.01	-0.14	-0.13
	e_r（x）/%	1.64	2.60	3.00	2.55	0.24	0.01	0.24	0.24
	Points	766310				766310
	Time /s	18.36				18.87
Artificial joint^①	x^* /mm	47.00	78.00	53.79	51.50	47.00	78.00	53.79	51.50
	x /mm	47.87	76.84	52.66	50.63	46.88	78.32	53.21	50.83
	e（x）/mm	-0.87	1.16	1.13	0.87	0.12	-0.32	0.58	0.67
	e_r（x）/%	1.85	1.49	2.10	1.69	0.26	0.41	1.08	1.30
	Points	814402				814402
	Time/s	19.64				19.85
Artificial joint^②	x^* /mm	45.50	77.50	59.68	57.50	45.50	77.50	59.68	57.50
	x /mm	46.16	76.81	58.92	56.89	45.97	77.21	59.28	57.19
	e（x）/mm	-0.66	0.69	0.76	0.61	-0.47	0.29	0.40	0.31
	e_r（x）/%	1.45	0.89	1.27	1.06	1.03	0.37	0.67	0.54
	Points	898623				898623
	Time /s	19.43				19.38

Table 4. Measurement results before and after error correction

View table

Table 4. Measurement results before and after error correction

Joint	Index	Measured value before error correction				Measured value after error correction
Joint	Index	D_i	D_o	S	H	D_i	D_o	S	H
Standard joint	x^* /mm	46.40	78.40	57.28	55.00	46.40	78.40	57.28	55.00
	x /mm	46.29	78.39	57.42	55.13	46.29	78.39	57.42	55.13
	e（x）/mm	0.11	0.01	-0.14	-0.13	0.11	0.01	-0.14	-0.13
	e_r（x）/%	0.24	0.01	0.24	0.24	0.24	0.01	0.24	0.24
	Points	766310
	Time /s	18.87
Artificial joint^①	x^* /mm	47.00	78.00	53.79	51.50	47.00	78.00	53.79	51.50
	x /mm	47.46	77.36	51.45	49.23	46.88	78.32	53.21	50.83
	e（x）/mm	-0.46	0.64	2.34	2.27	0.12	-0.32	0.58	0.67
	e_r（x）/%	0.98	0.82	4.35	4.41	0.26	0.41	1.08	1.30
	Points	814402
	Time /s	19.85
Artificial joint^②	x^* /mm	45.50	77.50	59.68	57.50	45.50	77.50	59.68	57.50
	x /mm	46.36	76.06	57.12	55.16	45.97	77.21	59.28	57.19
	e（x）/mm	-0.86	1.44	2.56	2.34	-0.47	0.29	0.40	0.31
	e_r（x）/%	1.89	1.85	4.29	4.07	1.03	0.37	0.67	0.54
	Points	898623
	Time /s	19.38

Table 5. Effect of piece height h on algorithm accuracy

View table

Table 5. Effect of piece height h on algorithm accuracy

h /mm	H /mm	e（x）/mm	e_r（x）/%
0.1	55.61	-0.61	1.11
0.2	55.52	-0.52	0.95
0.3	55.43	-0.43	0.78
0.4	55.38	-0.38	0.69
0.5	55.25	-0.25	0.45
0.6	55.53	-0.53	0.96
0.7	55.74	-0.74	1.35
0.8	55.87	-0.87	1.58
0.9	56.01	-1.01	1.84
1.0	56.12	-1.12	2.04

Table 6. Effect of strip point cloud angle η on algorithm accuracy
View table
Table 6. Effect of strip point cloud angle η on algorithm accuracy
η /（°） H /mm e（x）/mm e_r（x）/%
1 61.07 -3.57 6.21
2 60.17 -2.67 4.64
3 59.37 -1.87 3.25
4 58.40 -0.90 1.57
5 57.96 -0.46 0.80
6 57.18 0.32 0.56
7 56.62 0.88 1.53
8 56.13 1.37 2.38
9 55.47 2.03 3.53
10 54.10 3.40 5.91

Table 7. Effect of threshold D_th3on algorithm accuracy

View table

Table 7. Effect of threshold D_th3on algorithm accuracy

D_th3	H /mm	e（x）/mm	e_r（x）/%
0.10	60.75	-3.25	5.65
0.15	59.83	-2.33	4.05
0.20	59.34	-1.84	3.20
0.25	58.63	-1.13	1.97
0.30	58.14	-0.64	1.11
0.35	57.96	-0.46	0.80
0.40	57.13	0.37	0.64
0.45	56.73	0.77	1.34
0.50	56.31	1.19	2.07
0.55	55.81	1.69	2.94

Table 8. Effect of threshold D_th4on algorithm accuracy

View table

Table 8. Effect of threshold D_th4on algorithm accuracy

D_th4	H /mm	e（x）/mm	e_r（x）/%
0.10	61.03	-3.53	6.14
0.15	60.47	-2.97	5.17
0.20	59.67	-2.17	3.77
0.25	59.14	-1.64	2.85
0.30	58.66	-1.16	2.02
0.35	57.96	-0.46	0.80
0.40	57.36	0.14	0.24
0.45	56.78	0.72	1.30
0.50	56.21	1.29	2.24
0.55	55.73	1.77	3.08

Tools

Get Citation

Copy Citation Text

Lei Deng, Guihua Liu, Hao Deng, Junjie Huang, Binghong Zhou. Measurement Algorithm for Anti-Stress Cone Parameters of Cross-Linked Polyethylene Cable Joint Based on Three-Dimensional Point Cloud Processing[J]. Chinese Journal of Lasers, 2023, 50(6): 0604003

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites