CN102183222B - Dynamic quantitative measurement method and device for coaxiality and planeness of spiral conveying system - Google Patents
Dynamic quantitative measurement method and device for coaxiality and planeness of spiral conveying system Download PDFInfo
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Abstract
The invention discloses a dynamic quantitative measurement method and device for coaxiality and planeness of a spiral conveying system. A laser source and a visual detection system are respectively arranged at an input end and an output end of the spiral conveying system; a laser incident point control disc is arranged at the tail end of a standard sample pipe; a light target is arranged at the forward end of the standard sample pipe; three light-emitting diodes are arranged on the light target, are distributed to form a right angled isosceles triangle, and are equidistant to the center of a circle; laser optical axes pass through the incident point control disc, and are projected on the light target; when a steel pipe is fed in a spiral manner, an image acquisition sensor is adopted to be aligned to a regular acquisition target image of a forward-end light target; an image processing technology is introduced to extract the center of the circle of a 'luminous arc' formed by rotating the light emitting diodes and the center of mass of laser spots; and the quantitative evaluation of coaxiality and planeness of a detection system is realized through calculating the distance between the center of the circle and the center of the mass. The dynamic quantitative measurement device has a simple structure, and can be applied to a metallurgical field, a military industry, a chemical industry, a traffic industry and the like, and the automatic measurement can be realized.
Description
Technical field
The present invention relates to a kind of geometric measurement method and device, specifically relate to a kind of helical conveyer system right alignment and flatness dynamic quantitative measuring method and device.
Background technology
Weldless steel tube is when detecting, and is as shown in Figure 1, at first by preceding rollgang group 1 input steel pipe; Steel pipe 2 spirals, lift in ultrasound detection pond 3, and steel pipe just gets into ultrasonic detecting unit 4; This moment, ultrasound detection started, and whole steel pipe detects and finish by 5 outputs of back rollgang group.In testing process; Variable in distance between steel pipe and the ultrasonic transducer and water coupling state are the key factors of decision final detection result, and the control of distance and water coupling depends primarily on the right alignment and the flatness of rollgang and the whole line direction of feed of detecting unit.Though in the installation process of system; Can adopt multiple means of testing (as utilizing backguy method and level meter) to guarantee the right alignment and the flatness of sliver; But in the actual detected; Steel pipe is in the motion state of screwfeed, receives that running roller distortion, detection cell clamp, the influence of the factors such as fluctuation of the difference of each motor speed and total driving force, and static adjusted right alignment and flatness obviously can not truly reflect the situation when dynamic.Therefore, how quantitatively measuring right alignment and flatness under the system dynamics situation, to and guide body that adjustment is installed be the key point of guaranteeing whole detection system performance.
At present, the method for testing definite or centering for the rotary body geometric center mainly is divided into two big types: contact and non-contact measuring method.In the practical application, consider feasibility and security that the operating condition, specification, testing tool of measurand are installed, the contact method of testing has received great constraint.And with the contactless method of laser as the test reference axle, because laser itself has good rectilinear propagation characteristic, luminous energy is concentrated and possess the ability that the microsize change is amplified in induction, obtained using widely in long distance test field.Wherein the most representative is the detector of laser axis class and relevant qualitative and quantitative centering method thereof.Laser axial centering instrument and two-dimensional transversal zeeman double-frequency laser linearity/coaxiality measurement mechanism are the detection by quantitative typical instrument.The common ground of these two kinds of detection by quantitative devices all is on the basis that the control Laser emission is propagated, and utilizes optical target that the laser that receives is transferred to electric signal and shows measured value by the microcomputer collection and treatment.But the two directly affects measuring accuracy for emissive source and the installation accuracy that special demands, especially optical target are installed that receives optical target; In addition, the two generally is used for Static Detection, for dynamic measurand, if will test right alignment and flatness, optical target must accompany movement motion of objects track, and this installs for entity target of being responsible for opto-electronic conversion and transmission signals obviously is suitable difficulty.In the existing qualitative detection method, optical target is replaced to the ordinary target that indicates scale and laser spot directly is presented on the target.As long as target is installed in the end of moving object with respect to lasing light emitter, axis runout takes place and will drive target center and depart from optical axis in testee at the volley, crosses the defined area when target center and means measurand unmet target right alignment and flatness requirement during test.Be compared to the detection by quantitative method, the testing tool of this method is simple in structure to be convenient to implement, but owing to lack quantitative deviate and describe, and seems unable to do what one wishes for the installation accuracy adjustment of the big-and-middle-sized measurand of further guidance.In the conventional detection, no matter be qualitative or the detection by quantitative method, when detecting such as weldless steel tube detection system length apart from the right alignment of equipment, all do not allow to avoid the realistic problem that laser beam spreads with flatness.Common laser source launching site facula area is about 6.28mm
2, after the propagation about laser process 30m, its facula area can be diffused into about 490.87mm
2This means and to consider in the detector design process that thereby long-range optically focused problem increases the complexity of instrument, otherwise the degree of confidence of test result will reduce greatly.
Summary of the invention
To the limitation that exists in the background technology field, the object of the present invention is to provide a kind of helical conveyer system right alignment and flatness dynamic quantitative measuring method and device.
The technical scheme that the present invention adopts is:
One, a kind of helical conveyer system right alignment and flatness dynamic quantitative measuring method:
The step of evaluation method of the present invention is following: input end and output terminal at helical conveyer system are installed lasing light emitter and vision detection system respectively; The tail end of standard sample pipe is installed laser incidence point control disk; The light target of three light emitting diodes that distributing is installed in preceding inlet side, and laser axis passes through incidence point control disk and is radiated on the light target, and the standard sample pipe is when carrying; Vision detection system carries out image once collection and processing at regular intervals; And calculate the round center of circle, light emitting diode place to the distance between the laser spot barycenter, thus eliminate the influence that the hot spot diffusion couple is measured, realize quantitative measurment right alignment and flatness.
Said right alignment quantitative measurment method is advanced in the process vision detection system IMAQ sensor acquisition light target in the different motion images of positions and upload to PC for utilizing the standard sample pipe; After PC receives the image that vision detection system measurement and control center uploads; The image of intercepting target treatment; Use high cap Filtering Processing technology, OSTU threshold process technology, morphology treatment technology, noise cancellation technology, micronization processes technology to extract the profile of laser spot and arc of lighting; Adopting Hough conversion and barycenter derivation algorithm to extract the arc of lighting profile successively belongs to the barycenter of the round center of circle and laser spot and calculates the distance between the two; Whole standard sample pipe be through behind the system under test (SUT), PC count the standard sample pipe in the diverse location arc of lighting center of circle to the ultimate range between the laser spot, be radius with this distance; The arc of lighting center of circle and laser incidence point control circle disk center place straight line are axis, and the imaginary cylinder distribution space of formation is the right alignment of system under test (SUT) at this throughput direction.
Said flatness quantitative measurment method is advanced in the process vision detection system IMAQ sensor acquisition light target in the different motion images of positions and upload to PC for utilizing the standard sample pipe; After PC receives the image that vision detection system measurement and control center uploads; The image of intercepting target treatment; Use high cap Filtering Processing technology, OSTU threshold process technology, morphology treatment technology, noise cancellation technology, micronization processes technology to extract the profile of laser spot and arc of lighting; Adopt Hough conversion and barycenter derivation algorithm to extract the center of circle of arc of lighting profile place circle and the barycenter of laser spot successively; PC analysis and recording laser spot barycenter depart from the direction and the distance on plane, place, the arc of lighting center of circle; Whole standard sample pipe is through behind the system under test (SUT), and PC counts the ultimate range at plane, place, arc of lighting center of circle upper and lower, is the flatness of system under test (SUT) at this throughput direction through the difference of calculating between the two.
Two, a kind of helical conveyer system right alignment and flatness dynamic quantitative measurement mechanism:
Laser incidence point control disk, light target, two tripods, by IMAQ sensor and the vision detection system that constitutes based on the IMAQ control of PC and disposal system; Wherein:
1) there is the laser incidence point of cross center of circle sign at an end face center of laser incidence point control disk, and laser incidence point control disk is installed in the breech face of standard steel pipe;
2) be equipped with on light target end face and be three light emitting diodes, the target centers that isosceles right triangle distributes and be carved with the cross sign, three light emitting diodes are connected with battery tray with button cell through toggle switch, and light target is installed in the end face that advances of standard steel pipe;
3) first tripod is provided with the first horizontal adjustable tray, and the first horizontal adjustable tray upper surface is provided with two lasing light emitter anchor clamps, in two lasing light emitter anchor clamps lasing light emitter is installed, and first tripod is placed on a side of laser incidence point control disk;
4) second tripod is provided with the second horizontal adjustable tray; The second horizontal adjustable tray upper surface is provided with the IMAQ sensor; The IMAQ sensor is connected with disposal system with controlling based on the IMAQ of PC, and second tripod is placed on a side of light target.
The identical horizontal adjustable tray of described two structures: include triangle instrument fixed head, three rotation claws, three adjusting screw(rod)s, three setting nuts, triangle base and three jump rings; On three angles of triangle base adjusting screw(rod) is housed respectively; Three adjusting screw(rod) lower ends that are positioned between triangle base and triangle instrument fixed head are connected with separately setting nut respectively; Three adjusting screw(rod)s upper end is connected with separately rotation claw; Three rotation claws use jump ring separately to connect respectively after passing triangle instrument fixed head, and triangle instrument fixed head is provided with air-bubble level, and the triangle base center has the base fixing threaded hole; The triangle instrument fixed head center of one of them horizontal adjustable tray has lasing light emitter clamps hole.
The identical lasing light emitter anchor clamps of described two structures: include lock-screw, dovetail deck, ball bearing, highly finely tune screw rod and two active cards; Highly finely tuning the screw rod lower end is connected with the lasing light emitter clamps hole at triangle instrument fixed head center; Highly finely tuning the screw rod upper end is connected with the ball bearing of dovetail deck lower end; Dovetail deck upper end has dovetail groove; Two active card lower ends are connected with dovetail groove on the dovetail deck, and two active cards upper ends connect with lock-screw, in the semicircle orifice in the middle of two active cards lasing light emitters are installed.
Described vision detection system: comprise based on MT9P031 sensor image pick-up transducers, based on DM6467 measurement and control center module and PC host computer; Be connected with the PC host computer through PXI communication interface, USB communication interface and serial communication interface respectively based on the PXI communication control module in the DM6467 measurement and control center module, USB communication control module and serial communication control module, based on the Camera Link control module in the DM6467 measurement and control center module through Camera Link communication interface be connected based on MT9P031 sensor image pick-up transducers.
The beneficial effect that the present invention has is:
Load onto the thin disk of two transparent organic glass respectively at standard sample pipe two ends; Wherein be carved with cross center of circle sign near the disk of feed end, be equipped with on the disk of supply side three to the center of circle equidistance is the light emitting diode of isosceles right triangle distribution and can controls the start and stop of lamp according to need of work at any time.Opening installation is at the lasing light emitter of preceding rollgang head; The adjustment optical axis makes its center of circle of passing through the two ends disk, the detection starting system, and steel pipe is when screwfeed; Adopt IMAQ sensor alignment preceding inlet side target position and gather target figure by the PC control cycle; Introduce image processing techniques and extract " arc of lighting " center of circle of light emitting diode rotation formation and the barycenter of laser spot,, realize the right alignment and the flatness of quantitative evaluation detection system through calculating the distance of the center of circle and barycenter.When the system under test (SUT) distribution distance when being 35m ~ 45m measuring accuracy can reach 1mm.It is simple in structure, easy to operate that this method also provides simultaneously, and can realize the device of robotization control.
The present invention can be applicable to fields such as metallurgy, military project, chemical industry and traffic, and range of application is wider.
Description of drawings
Fig. 1 is the ultrasonic automatic checkout system synoptic diagram of weldless steel tube.
Fig. 2 is practical measuring examples figure of the present invention.
Fig. 3 is a laser incidence point control disc structure synoptic diagram.
Fig. 4 is the light target structural representation.
Fig. 5 is arc of lighting that light emitting diode forms in the screwfeed of standard sample pipe and the laser spot that receives.
Fig. 6 is horizontal adjustable tray front view.
Fig. 7 is the horizontal adjustable tray schematic three dimensional views of Fig. 6.
Fig. 8 is a lasing light emitter chuck side view.
Fig. 9 is Fig. 8 lasing light emitter anchor clamps schematic three dimensional views.
Figure 10 is the vision detection system theory diagram.
Figure 11 is a PXI communication control module connection layout.
Figure 12 is that Camera Link control module connects.
Figure 13 is the image processing algorithm process flow diagram.
Image acquisition and processing result when Figure 14 is embodiment standard sample pipe entering ultrasonic detecting unit 1m.
Figure 15 is the image acquisition and processing result of embodiment standard sample pipe tail end during apart from ultrasonic detecting unit 0.5m.
Figure 16 is the image acquisition and processing result of embodiment standard sample pipe when just getting into ultrasonic detecting unit.
Image acquisition and processing result when Figure 17 is embodiment standard sample pipe entering ultrasonic detecting unit 2m.
Among the figure: 1, preceding rollgang group, 2, steel pipe, 3, the ultrasound detection pond, 4, ultrasonic detecting unit, 5, back rollgang group, 6, tripod; 7, horizontal adjustable tray, 8, the lasing light emitter switch, 9, the lasing light emitter anchor clamps, 10, lasing light emitter, 11, lasing light emitter anchor clamps height control mechanism, 12, horizontal adjustable tray height control mechanism; 13, laser beam axis, 14, laser incidence point control disk, 15, rollgang, 16, the standard sample pipe, 17, light target; 18, tripod, 19, the IMAQ sensor, 20, based on the IMAQ control and the disposal system of PC, 21, screw fixed hole, 22, cross center of circle sign; 23, light emitting diode, 24, toggle switch, 25, button cell and battery tray, 26, connect lead, 27, the instrument fixed head; 28, rotate claw, 29, adjusting screw(rod), 30, setting nut, 31, base, 32, jump ring; 33, lasing light emitter clamps screw, 34, air-bubble level, 35, the base fixing threaded hole, 36, lock-screw, 37, the dovetail deck; 38, ball bearing, 39, highly finely tune screw rod, 40, active card, 41, dovetail groove, 42, the bearing removal hole; 43, arc of lighting, 44, laser spot, 45, standard sample pipe end facial contour, 46, the laser spot barycenter, 47, the arc of lighting center of circle.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
Like Fig. 2, Fig. 3, shown in Figure 4, laser incidence point of the present invention control disk 14, light target 17, two tripods 6,18, by IMAQ sensor 19 and the vision detection system that constitutes based on the IMAQ control of PC and disposal system 20; Wherein:
1) there is the laser incidence point of cross center of circle sign 22 at an end face center of laser incidence point control disk 14, and laser incidence point control disk 14 is installed in the breech face of standard steel pipe 16;
2) be equipped with on light target 17 end face and be three light emitting diodes 23, the target centers that isosceles right triangle distributes and be carved with cross sign 22; Three light emitting diodes 23 are connected with battery tray 25 with button cell through toggle switch 24, and light target 17 is installed in the end face that advances of standard steel pipe 16;
3) first tripod 6 is provided with the first horizontal adjustable tray 7; The first horizontal adjustable tray, 7 upper surfaces are provided with two lasing light emitter anchor clamps 9; In two lasing light emitter anchor clamps 9 lasing light emitter 10 is installed, first tripod 6 is placed on a side of laser incidence point control disk 14;
4) second tripod 18 is provided with the second horizontal adjustable tray 7; The second horizontal adjustable tray, 7 upper surfaces are provided with IMAQ sensor 19; IMAQ sensor 19 is with control is connected the side that 20, the second tripods 18 are placed on light target 17 with disposal system based on the IMAQ of PC.
Said horizontal adjustable tray can be used for fixed laser source and IMAQ sensor, and can adjust the two levelness and height; A-frame, said A-frame can be used for the fixing horizontal adjustable tray and regulate its height.The SPEED VISION detection system, said acquisition system and with image processing software be used for high speed acquisition light target view data, the center of circle and the facula mass center of extract real-time steel pipe supply side, and then calculate the offset distance between the two.
Like Fig. 6, shown in Figure 7, the identical horizontal adjustable tray 7 of described two structures: include triangle instrument fixed head 27, three and rotate claw 28, three adjusting screw(rod)s 29, three setting nuts 30, triangle base 31 and three jump rings 32; On three angles of triangle base 31 adjusting screw(rod) 29 is housed respectively; Three adjusting screw(rod) 29 lower ends that are positioned at triangle base 31 and 27 of triangle instrument fixed heads are connected with separately setting nut 30 respectively; Three adjusting screw(rod) 29 upper ends are connected with separately rotation claw 28; Three rotation claws 28 use jump ring 32 separately to connect respectively after passing triangle instrument fixed head 27; Triangle instrument fixed head 27 is provided with air-bubble level 34, and triangle base 31 centers have base fixing threaded hole 35; Triangle instrument fixed head 27 centers of one of them horizontal adjustable tray 7 have lasing light emitter clamps hole 33.
Like Fig. 8, shown in Figure 9, the identical lasing light emitter of described two structures folder 9: include lock-screw 36, dovetail deck 37, ball bearing 38, highly finely tune screw rod 39 and two active cards 40; Highly finely tuning screw rod 39 lower ends is connected with the lasing light emitter clamps hole 33 at triangle instrument fixed head 27 centers; Highly finely tuning screw rod 39 upper ends is connected with the ball bearing 38 of dovetail deck 37 lower ends; Dovetail deck 37 upper ends have dovetail groove 41; Two active card 40 lower ends are connected with dovetail groove 41 on the dovetail deck 37, and two active card 40 upper ends connect with lock-screw 36, in the semicircle orifice in the middle of two active cards 40 lasing light emitter 10 are installed.
Like the described vision detection system of Figure 10: comprise based on MT9P031 sensor image pick-up transducers, based on DM6467 measurement and control center module and PC host computer; Be connected with the PC host computer through PXI communication interface, USB communication interface and serial communication interface respectively based on the PXI communication control module in the DM6467 measurement and control center module, USB communication control module and serial communication control module, based on the Camera Link control module in the DM6467 measurement and control center module through Camera Link communication interface be connected based on MT9P031 sensor image pick-up transducers.
As shown in Figure 3, be laser incidence point control disk 14, cross center of circle sign 22 is in this dish center of circle, and the thickness of dish is 3mm, and four screw fixed holes that are uniformly distributed with 21 are distributing on it.Fig. 4 is that 17, three light emitting diodes 23 of light target are isosceles right triangle and distribute, and equates to be 35mm to the distance in light target 22 centers of circle, forms the loop by toggle switch 24,3v button cell and battery tray 25 and lead 26.Two disks adopt transparent organic glass to make.
Shown in figure 11; The PXI communication control module mainly comprises 5R and 10R impedance matching resistance and PXI communication interface; PCI_AD on the DM6467DSP chip [0:7], PCI_TRYDn, PCI_STOPn, PCI_SEERn, PCI_INTAn, PCI_CBE2n, PCI_IRDYn are connected with the respective pins of PXI communication interface through 5R impedance matching resistance respectively; PCI_AD on the DM6467DSP chip [8:31], PCI_CBE0n, PCI_CBE1n, PCI_CBE3n, PCI_DEVSELn, PCI_PERRn, PCI_PAR, PCI_PRAMEn, PCI_IDSELn, PCI_RSTn are connected with the respective pins of PXI communication interface through 10R impedance matching resistance respectively, and the PCI_GNTn on the DM6467DSP chip, PCI_REQn, PCI_CLK directly are connected with the PXI communication interface respectively.The direction of direction of arrow expression signal transmission among the figure.
Shown in figure 12; Camera Link control module mainly comprises DS90LV031, DS90SR288A, 100R impedance matching electricity group; GP38 on the DM6467DSP chip, GP39 and external clock CLK, total initializing signal RESTn are connected with DS90LV031 respectively, and 8 road differential signals that DS90LV031 produces are connected with Camera Link; HYNC on the DM6467DSP chip, VYNC, FIELD, PCLK, DATA [0:12] are connected with DS90SR288A difference combined signal output terminal respectively; DS90SR288A differential signal input end is connected with Camera Link, the other end of Camera Link data line be connected based on MT9P031 sensor image pick-up transducers.The direction of direction of arrow expression signal transmission among the figure.
The flow process of whole algorithm is shown in figure 13, and the method for quantitative measuring of system under test (SUT) right alignment and levelness needs to accomplish in two steps, and the practical implementation process in these two steps is following:
The first step is installed laser incidence point control disk 14 at the tail end of standard sample pipe 16, and the external diameter of loading onto 17, two disks of light target in preceding inlet side is consistent with the external diameter of steel pipe.Feed end and discharge end at system under test (SUT) are placed two tripods 6 respectively, on tripod, through set bolt 18 two identical horizontal adjustable tray 7 are installed.Two lasing light emitter anchor clamps 9 are installed on the horizontal adjustable tray of feed end, and are loaded onto general cylindric lasing light emitter 10, the start and stop of operation of laser sources are controlled by lasing light emitter switch 8.Stop after standard sample pipe 16 return back to the feed end starting point.Start the light emitting diode on lasing light emitter 10 and the light target 17; Adjustment screw rod 29 goes up and down to make light source reach proper height; And guarantee that the bubble in the air-bubble level 34 is placed in the middle; Rotate horizontal adjustable tray and regulate this moment and highly finely tune screw rod 39, guarantee that laser axis 13 passes through the center of circle of disk 14 and shines on the light target 17, is locked at horizontal adjustable tray 7 on the tripod through set nut 18.On the level tray of discharge end, place one based on MT9P031 IMAQ sensor 19, the shooting angle of adjustment IMAQ sensor 19 makes its shooting effect best.Start vision detection system; Standard sample pipe 16 spirals, light target 17 are followed steel pipe and are rotated together, when velocity of rotation reaches certain value; The light that diode on the light target sends forms " arc of lighting "; And the high more arc of lighting of speed is ordered to measurement and control center near closed host computer cycle triggering collection, thereby makes IMAQ sensor 19 carry out the image once collection at set intervals and upload, after host computer obtains original image; At first the predefined object region of intercepting reduces the influence of complex environment; Image after adopting high cap filtering algorithm to intercepting carries out a filtering and strengthens arc of lighting strip characteristic, removes the laser spot influence; Introduce OTSU threshold process technology and carry out threshold process; After opening morphology and closing the morphology processing, eliminate little spot noise and arc of lighting capillary; The coordinate of the center of circle in image through refinement and three sections arc of lightings of Hough converter technique extraction current location is followed successively by (
at last;
), (
;
), (
;
); Because there is vibration in various degree in system in actual moving process; The arc of lighting that causes photographing has certain distortion, and the center of circle that shows as three sections arc of lightings that extracted does not overlap.In order to weaken the influence that vibration produces; Utilize average to represent the arc of lighting central coordinate of circle of current shooting point
(
;
), wherein
By the barycenter derivation algorithm; Ask for the center-of-mass coordinate
(
of laser spot;
) after, calculating laser spot barycenter to the distance
in the arc of lighting center of circle does
Analyze direction and distance that laser spot barycenter 46 departs from plane, 47 place, the arc of lighting center of circle simultaneously; If laser spot barycenter 46 above plane, 47 place, the arc of lighting center of circle, then is designated as
; If the laser spot barycenter is below plane, the arc of lighting center of circle; Then be designated as
, its numerical value still be on the occasion of.Wherein
When whole steel pipe passes through detection system; The vision detection system cycle triggers IMAQ sensor 19 and gathers light target 17 images, thus obtain diverse location laser spot barycenter 46 distances
and laser spot barycenter 46 to the arc of lighting center of circle 47 depart from plane, 47 place, the arc of lighting center of circle distance
reaches
.So try to achieve the right alignment
of this direction of measurement do
Corresponding flatness
does
Second goes on foot, and the light target 17 of standard sample pipe 16 preceding inlet sides and laser incidence point control disk 14 exchanges of tail end are installed, and exchanges the position of lasing light emitter 10 and lasing light emitter anchor clamps 9 and IMAQ sensor 19 simultaneously.Standard sample pipe 16 return back to the starting point of feed end; After the attitude of adjustment lasing light emitter 10 and the shooting angle of IMAQ sensor 19; It is identical that following step and the first step keep, so can obtain equally diverse location laser spot barycenter to the distance
and the laser spot barycenter 46 in the arc of lighting center of circle depart from plane, 47 place, the arc of lighting center of circle distance
reaches
.The right alignment
that try to achieve reverse measurement this moment does
Corresponding flatness
does
Comprehensive above-mentioned two pacing amounts, the right alignment
and the flatness
that obtain whole system under test (SUT) are as follows
Because extract in the arc of lighting center of circle, the radius
of arc of lighting in image can utilize the center of circle to try to achieve to the distance of arc of lighting so.Again because light emitting diode is known as 35mm to the distance in the light target center of circle, so can be respectively in the hope of the actual value of system under test (SUT) right alignment
and flatness
The embodiment explanation:
This routine system under test (SUT) is the ultrasonic automatic checkout system of weldless steel tube, and this detection system behind rollgang group and six groups the rollgang group, also has ultrasonic detecting unit before six groups, and whole system under test (SUT) line length respectively is 18m.Selection standard appearance pipe diameter is Φ 139.7mm, and wall thickness is 10.54mm, and length is 6m.In order to verify measurement effect of the present invention, artificially be lower than other preceding rollgang 10mm with transferring near the height of the rollgang of ultrasonic detecting unit 4 in the preceding rollgang group 1, depart from whole feeding axis direction 10mm in the surface level.
The standard sample pipe is parked on the preceding rollgang group 1, and rollgang group 1 was 1m before the tail end of standard sample pipe 16 stretched out.Tail end and preceding inlet side at standard sample pipe 16 are installed laser incidence point control disk 14 and light target 17 respectively.Criterion distance appearance is managed 16 tail end 0.5m places and is placed tripod 6, and loads onto horizontal adjustable tray 7, lasing light emitter anchor clamps 9 and lasing light emitter 10 successively.Rollgang group 5 last rollgang are that same tripod 6 is placed at the 1.5m place in the distance back, and horizontal adjustable tray 7 and IMAQ sensor 19 are housed on it.Start lasing light emitter 10 and vision detection system; The attitude of adjustment lasing light emitter 10; Make laser beam axis 13 pass through the center of circle of laser incidence point control disk 14, and be radiated on the center of circle of light target 17, laser beam axis 13 reflections this moment be the axis direction of system under test (SUT) when static.In order to make shooting not reflective; The surface of facing IMAQ sensor 19 at light target 17 is stained with one deck blank sheet of paper; The size of blank sheet of paper can just cover light target, but does not block light emitting diode 23 and toggle switch, must keep the smooth light target surface of being close in the blank sheet of paper taping process.The shooting direction of adjustment IMAQ sensor 19 is consistent the target center of its height and light target 17 and over against light target 17.
Before formal startup test, at first to once demarcate the attitude and the shooting effect of checking and correcting image pick-up transducers 19 to the photographic images of light target 17.Start system under test (SUT), standard sample pipe 16 is transported near IMAQ sensor 19 to behind the 1m, PC triggering collection image once is also carried out image and is demarcated, and the image staking-out work is exactly to obtain image and ratio in kind.Use image processing software provided by the invention to extract the coordinate on image of three light emitting diodes 23; And calculate the distance in light target 17 centers of circle respectively; When if 3 distances to the center of circle do not satisfy
mm; The manufacturing backlog demand of this light target is described, is needed the position of adjustment light emitting diode.If range finding from satisfying calibration request, is return starting point with standard sample pipe 16.Start system under test (SUT) and the speed of feed of standard sample pipe 16 is carried to 10m/min, pitch is 35mm.PC is every to carry out the image once collection at a distance from 2s triggering IMAQ sensor 19.Figure 14 be standard sample pipe 16 preceding inlet sides when just having got into the about 1m of ultrasonic detecting unit 4 laser spot obviously depart from light target 17 centers of circle image acquisition and processing result; After wherein Figure 14 (a) is PC intercepting target treatment, and through too high cap Filtering Processing technology, OSTU threshold process technology, morphology treatment technology, noise cancellation technology, micronization processes technical finesse result.Use Hough conversion and barycenter derivation algorithm to extract the arc of lighting center of circle 47 and laser spot barycenter 46 of different section arc of lightings 43 respectively on this basis; Calculate the relative coordinate (6.51 that laser spot barycenter 46 departs from the arc of lighting center of circle 47; 8.71); On arbitrary arc of lighting, obtaining a pixel and calculating this pixel is that radius is
to the relative length in the average arc of lighting center of circle 47, and the actual range that this moment, laser spot barycenter 46 departed from the arc of lighting center of circle 47 does
mm
is the distance on the image in the formula.Laser spot barycenter 46 departs from plane, 47 place, arc of lighting center of circle actual range
mm
Figure 15 is for as the tail end of the standard sample pipe 16 image acquisition and processing result during apart from ultrasonic detecting unit 4 about 0.5m, and wherein Figure 15 (a) is laser spot and arc of lighting extraction figure as a result, and Figure 15 (b) is laser spot barycenter and arc of lighting center of circle solving result figure.The actual range that the laser spot barycenter 46 of trying to achieve this moment departs from the arc of lighting center of circle 47 is
mm, and laser spot barycenter 46 departs from plane, 47 place, arc of lighting center of circle actual range
mm.
The installation of exchange laser incidence point control disk 14 and light target 17; And exchange the position of lasing light emitter 10 and IMAQ sensor 19 simultaneously; Readjust the attitude of lasing light emitter 10 and the shooting angle of IMAQ sensor 19, thereby the test mode that makes test condition return to last time is carried out negative test.Figure 16, Figure 17 are the image acquisition and processing results that laser spot 44 obviously departs from light target 17 centers of circle in the negative test; Laser spot and arc of lighting extracted figure as a result when wherein Figure 16 (a) had just got into ultrasonic detecting unit 4 for standard sample pipe 16 preceding inlet sides; Figure 16 (b) is the laser spot barycenter of on Figure 16 (a) basis, trying to achieve and the figure as a result in the arc of lighting center of circle; The actual range that measured laser spot barycenter 46 departs from the arc of lighting center of circle 47 is
mm, and laser spot barycenter 46 departs from plane, 47 place, arc of lighting center of circle actual range
mm; Laser spot that Figure 17 (a) extracts when getting into the about 2m of ultrasonic detecting unit 4 for standard sample pipe 16 and arc of lighting be figure as a result; Figure 17 (b) is for finding the solution the figure as a result in Figure 17 (a) laser spot barycenter 46 and the arc of lighting center of circle 47; Measured laser spot barycenter 46 departs from actual range
mm in the arc of lighting center of circle 47, and laser spot barycenter 46 departs from plane, 47 place, arc of lighting center of circle actual range
mm.
Two measuring processs to sum up, the right alignment
and the flatness
that can record the current state system under test (SUT) do
mm
Also can reflect a fact from this measurement result, that is exactly that static measured value can not truly reflect actual dynamic ruuning situation.This mainly is because in the actual motion, and the departing from of indivedual roller-ways will cause that steel pipe carries bigger vibration, and this vibration will marked change take place along with the raising of the variation of the contact fulcrum of steel pipe and speed of feed.
Claims (7)
1. helical conveyer system right alignment and flatness dynamic quantitative measuring method; The step that it is characterized in that this method is following: input end and output terminal at helical conveyer system are installed lasing light emitter and vision detection system respectively; The tail end of standard sample pipe is installed laser incidence point control disk; The light target of three light emitting diodes that distributing is installed in preceding inlet side, and laser axis passes through incidence point control disk and is radiated on the light target, and the standard sample pipe is when carrying; Vision detection system carries out image once collection and processing at regular intervals; And calculate the round center of circle, light emitting diode place to the distance between the laser spot barycenter, thus eliminate the influence that the hot spot diffusion couple is measured, realize quantitative measurment right alignment and flatness.
2. according to a kind of helical conveyer system right alignment and the flatness dynamic quantitative measuring method of the said method of claim 1; It is characterized in that: said right alignment quantitative measurment method is advanced in the process vision detection system IMAQ sensor acquisition light target in the different motion images of positions and upload to PC for utilizing the standard sample pipe; After PC receives the image that vision detection system measurement and control center uploads; The image of intercepting target treatment; Use high cap Filtering Processing technology, OSTU threshold process technology, morphology treatment technology, noise cancellation technology, micronization processes technology to extract the profile of laser spot and arc of lighting; Adopting Hough conversion and barycenter derivation algorithm to extract the arc of lighting profile successively belongs to the barycenter of the round center of circle and laser spot and calculates the distance between the two; Whole standard sample pipe be through behind the system under test (SUT), PC count the standard sample pipe in the diverse location arc of lighting center of circle to the ultimate range between the laser spot, be radius with this distance; The arc of lighting center of circle and laser incidence point control circle disk center place straight line are axis, and the imaginary cylinder distribution space of formation is the right alignment of system under test (SUT) at this throughput direction.
3. according to a kind of helical conveyer system right alignment and the flatness dynamic quantitative measuring method of the said method of claim 1; It is characterized in that: said flatness quantitative measurment method is advanced in the process vision detection system IMAQ sensor acquisition light target in the different motion images of positions and upload to PC for utilizing the standard sample pipe; After PC receives the image that vision detection system measurement and control center uploads; The image of intercepting target treatment; Use high cap Filtering Processing technology, OSTU threshold process technology, morphology treatment technology, noise cancellation technology, micronization processes technology to extract the profile of laser spot and arc of lighting; Adopt Hough conversion and barycenter derivation algorithm to extract the center of circle of arc of lighting profile place circle and the barycenter of laser spot successively; PC analysis and recording laser spot barycenter depart from the direction and the distance on plane, place, the arc of lighting center of circle; Whole standard sample pipe is through behind the system under test (SUT), and PC counts the ultimate range at plane, place, arc of lighting center of circle upper and lower, obtains the flatness of system under test (SUT) at this throughput direction through the difference of calculating between the two.
4. according to a kind of helical conveyer system right alignment and the flatness dynamic quantitative measurement mechanism of the said method of claim 1; It is characterized in that comprising: the laser incidence point is controlled disk (14), light target (17), two tripods (6,18), is controlled the vision detection system that constitutes with disposal system (20) by IMAQ sensor (19) with based on the IMAQ of PC; Wherein:
1) there is the laser incidence point of cross center of circle sign (22) at an end face center of laser incidence point control disk (14), and laser incidence point control disk (14) is installed in the breech face of standard steel pipe (16);
2) three light emitting diodes, target centers being the isosceles right triangle distribution are housed on the end face of light target (17) and are carved with cross sign (22); Three light emitting diodes are connected with battery tray (25) with button cell through toggle switch (24), and light target (17) is installed in the end face that advances of standard steel pipe (16);
3) first tripod (6) is provided with the first horizontal adjustable tray; The first horizontal adjustable tray upper surface is provided with two lasing light emitter anchor clamps; Lasing light emitter (10) is installed in two lasing light emitter anchor clamps, and first tripod (6) is placed on a side of laser incidence point control disk (14);
4) second tripod (18) is provided with the second horizontal adjustable tray; The second horizontal adjustable tray upper surface is provided with IMAQ sensor (19); IMAQ sensor (19) is connected (20) with controlling based on the IMAQ of PC with disposal system, and second tripod (18) is placed on a side of light target (17).
5. a kind of helical conveyer system right alignment according to claim 4 and flatness dynamic quantitative measurement mechanism is characterized in that described two horizontal adjustable tray structures are identical: include triangle instrument fixed head (27), three rotation claws, three adjusting screw(rod)s, three setting nuts, triangle base (31) and three jump rings; On three angles of triangle base (31) adjusting screw(rod) is housed respectively; Three adjusting screw(rod) lower ends that are positioned between triangle base (31) and triangle instrument fixed head (27) are connected with separately setting nut respectively; Three adjusting screw(rod)s upper end is connected with separately rotation claw; Three rotation claws use jump ring separately to connect respectively after passing triangle instrument fixed head (27); Triangle instrument fixed head (27) is provided with air-bubble level (34), and triangle base (31) center has base fixing threaded hole (35); Wherein place on the triangle instrument fixed head (27) of the first horizontal adjustable tray of lasing light emitter and have two lasing light emitter clamps holes (33).
6. a kind of helical conveyer system right alignment according to claim 5 and flatness dynamic quantitative measurement mechanism is characterized in that described two lasing light emitter anchor clamps (9) structure is identical: include lock-screw (36), dovetail deck (37), ball bearing (38), highly finely tune screw rod (39) and two active cards; Highly finely tuning screw rod (39) lower end is connected with the lasing light emitter clamps hole (33) at triangle instrument fixed head (27) center; Highly finely tuning screw rod (39) upper end is connected with the ball bearing (38) of dovetail deck (37) lower end; Dovetail deck (37) upper end has dovetail groove (41); Two active cards (40) lower end is connected with dovetail groove (41) on the dovetail deck (37), and two active cards (40) upper end connects with lock-screw (36), installation lasing light emitters (10) in the semicircle orifice in the middle of two active cards.
7. a kind of helical conveyer system right alignment according to claim 4 and flatness dynamic quantitative measurement mechanism is characterized in that described vision detection system: comprise image capture module based on the MT9P031 sensor, based on measurement and control center's module and the PC host computer of DM6467; Be connected with the PC host computer through PXI communication interface, USB communication interface and serial communication interface respectively based on the PXI communication control module in measurement and control center's module of DM6467, USB communication control module and serial communication control module, be connected with image capture module through Camera Link communication interface based on the MT9P031 sensor based on the Camera Link control module in the DM6467 measurement and control center module.
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| CN102798369A (en) * | 2012-08-23 | 2012-11-28 | 苏州宝联重工股份有限公司 | Tool for detecting coaxiality of large-diameter multi-disc long-span workpiece |
| CN105196179A (en) * | 2015-07-07 | 2015-12-30 | 沈阳理工大学 | In-place measurement system for flatness of horizontal shaft rectangular table surface grinding machine |
| CN105486207A (en) * | 2015-10-10 | 2016-04-13 | 南京七四二五橡塑有限责任公司 | Conical surface coaxiality measuring instrument |
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| CN109933949B (en) * | 2019-04-02 | 2022-08-02 | 哈尔滨工程大学 | Method for establishing fluctuation-vibration nonlinear sound field in bubble-containing water medium |
| CN113446966B (en) * | 2020-03-26 | 2022-10-21 | 宝山钢铁股份有限公司 | Method and device for measuring straightness of end of steel pipe |
| CN112240742A (en) * | 2020-11-18 | 2021-01-19 | 中铁工程装备集团(天津)有限公司 | Device for measuring abrasion loss and coaxiality of spiral shaft |
| CN113334389B (en) * | 2021-08-02 | 2021-11-09 | 宝信软件(南京)有限公司 | Steel pipe end robot track self-adaption and deviation rectification system and method |
| CN114132452B (en) * | 2021-12-23 | 2023-04-18 | 武昌船舶重工集团有限公司 | Coaxial positioning method for hull bearing |
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| CN201314822Y (en) * | 2008-12-11 | 2009-09-23 | 大连光程光电科技有限公司 | Laser shafting detecting instrument |
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Effective date of registration: 20200826 Address after: Room 701, 7 / F, building 2, smart cube technology center, 139 Xiangyuan Road, Gongshu District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG ZHEDA INSIGMA ENVIRONMENTAL ENGINEERING Co.,Ltd. Address before: Hangzhou City, Zhejiang province 310030 nine road, West Lake science and Technology Economic Zone No. seven building 3 floor Patentee before: HANGZHOU ZHEJIANG UNIVERSITY JINGYI ELECTROMECHANICAL TECHNOLOGY ENGINEERING Co.,Ltd. |
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