Visual Indirect Positioning of Bolster Spring Gap Based on Line Laser in Narrow Space

Fig. 18. Height measurement results of outer spring spot under different illumination intensities. (a) Dark illumination; (b) normal illumination; (c) bright illumination

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Table 1. Height measurement results of bearing spring coil

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Table 1. Height measurement results of bearing spring coil

Δβ /(°)	H_total/mm							H₂/mm	H_total/H₂
Δβ /(°)	Spring 1	Spring 2	Spring 3	Spring 4	Spring 5	Spring 6	Average value	H₂/mm	H_total/H₂
0	32.47	32.73	32.22	33.65	33.71	32.26	32.84	24	1.37
20	34.36	35.20	34.28	35.97	36.21	35.18	35.20	24	1.47
40	36.51	37.78	35.89	38.06	38.09	37.70	37.34	24	1.56
60	39.60	40.54	38.12	40.23	39.92	40.40	39.80	24	1.66
80	41.92	43.12	40.57	42.48	41.52	42.83	42.07	24	1.75
100	44.64	45.69	42.58	44.62	43.34	44.91	44.30	24	1.85
120	46.76	47.95	44.83	46.88	45.20	47.04	46.44	24	1.94
140	48.75	50.19	47.17	49.11	47.35	49.18	48.63	24	2.03
160	50.80	52.74	49.27	51.66	49.78	51.16	50.90	24	2.12
180	52.96	54.62	51.84	53.90	52.07	53.03	53.07	24	2.21
200	55.20	56.46	53.93	56.13	54.66	55.87	55.38	24	2.31
220	57.10	58.38	55.93	58.58	56.98	57.55	57.42	24	2.39
240	59.07	60.76	58.30	60.57	58.32	59.52	59.42	24	2.48
260	61.15	62.94	60.60	62.31	60.27	61.82	61.52	24	2.56
280	62.58	64.74	61.78	64.02	61.04	62.28	62.74	24	2.61
300	63.30	65.80	62.40	64.18	61.50	63.75	63.49	24	2.65
320	63.30	65.80	62.40	64.18	61.50	63.75	63.49	24	2.65
340	63.30	65.80	62.40	64.18	61.50	63.75	63.49	24	2.65
360	63.30	65.80	62.40	64.18	61.50	63.75	63.49	24	2.65

Table 2. Height measurement results of damping spring coil

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Table 2. Height measurement results of damping spring coil

Δβ /(°)	H_total/mm			H₂/mm	H_total /H₂
Δβ /(°)	Spring 1	Spring 2	Average value	H₂/mm	H_total /H₂
0	30.43	29.57	30.00	20	1.50
20	32.37	31.81	32.09	20	1.60
40	34.23	33.33	33.78	20	1.69
60	36.05	35.79	35.92	20	1.80
80	38.04	37.48	37.76	20	1.89
100	39.92	39.00	39.46	20	1.97
120	41.80	41.84	41.82	20	2.09
140	43.59	43.52	43.56	20	2.18
160	46.16	45.94	46.05	20	2.30
180	48.38	47.89	48.14	20	2.41
200	50.56	49.62	50.09	20	2.50
220	52.64	51.74	52.19	20	2.61
240	54.50	53.98	54.24	20	2.71
260	56.27	55.36	55.82	20	2.79
280	56.94	57.79	57.37	20	2.87
300	57.22	58.06	57.64	20	2.88
320	57.22	58.06	57.64	20	2.88
340	57.22	58.06	57.64	20	2.88
360	57.22	58.06	57.64	20	2.88

Table 3. Precision evaluation of YOLOv3-tiny model
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Table 3. Precision evaluation of YOLOv3-tiny model
Number of images IoU threshold Average precision /%
429 0.50 100
0.75 98.96

Table 4. Positioning test results of bearing spring under different gap orientations

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Table 4. Positioning test results of bearing spring under different gap orientations

Actual orientation /(°)	Actual H_total/H₂	Calculated $H_{total}^{'} / H_{2}^{'}$	Calculated orientation /(°)	Error /(°)	Positioning duration /s
0	1.38	1.40	4	＋4	0.14
30	1.52	1.53	32	＋2	0.14
60	1.65	1.66	61	＋1	0.12
90	1.79	1.77	86	－4	0.13
120	1.92	1.91	116	－4	0.12
150	2.06	2.05	147	－3	0.15
180	2.19	2.17	176	－4	0.13
210	2.33	2.32	208	－2	0.12
240	2.46	2.45	238	－2	0.14
270	2.60	2.59	267	－3	0.14
300	2.65	2.65	280-360		0.12
330	2.65	2.65	280-360		0.12

Table 5. Positioning test results of damping spring under different gap orientations

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Table 5. Positioning test results of damping spring under different gap orientations

Actual orientation /(°)	Actual H_total/H₂	Calculated $H_{total}^{'} / H_{2}^{'}$	Calculated orientation /(°)	Error /(°)	Positioning duration /s
0	1.49	1.52	5	＋5	0.12
30	1.64	1.66	33	＋3	0.11
60	1.79	1.82	64	＋4	0.12
90	1.94	1.94	90	0	0.14
120	2.09	2.08	118	－2	0.11
150	2.24	2.26	152	＋2	0.11
180	2.39	2.38	177	－3	0.12
210	2.54	2.55	211	＋1	0.11
240	2.69	2.71	244	＋4	0.10
270	2.84	2.86	272	＋2	0.13
300	2.88	2.88	280-360		0.12
330	2.88	2.88	280-360		0.12

Table 6. Positioning test results under different illumination intensity
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Table 6. Positioning test results under different illumination intensity
Illumination condition Actual orientation /(°) Calculated $H_{total}^{'} / H_{2}^{'}$ Calculated orientation /(°) Error /(°)
Dark 180 2.17 176 －4
Normal 2.18 178 －2
Bright 2.18 178 －2

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Huanlong Liu, Dafa Li, Jianyi Zhou, Tao Wei. Visual Indirect Positioning of Bolster Spring Gap Based on Line Laser in Narrow Space[J]. Chinese Journal of Lasers, 2022, 49(17): 1704002

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