CN101221040A - Steel bar plate dimensional measurement method and device - Google Patents
Steel bar plate dimensional measurement method and device Download PDFInfo
- Publication number
- CN101221040A CN101221040A CNA2007100363823A CN200710036382A CN101221040A CN 101221040 A CN101221040 A CN 101221040A CN A2007100363823 A CNA2007100363823 A CN A2007100363823A CN 200710036382 A CN200710036382 A CN 200710036382A CN 101221040 A CN101221040 A CN 101221040A
- Authority
- CN
- China
- Prior art keywords
- steel bar
- bar plate
- laser rays
- image
- length
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a measuring method used for measuring sizes of steel plate slabs. The method includes the following steps: a laser demarcation device is adopted for casting laser lines along length and width directions on the steel plate slab to be measured, the laser lines along length and width directions at least form two intersecting points on the steel plate slab; cameras are adopted for obtaining the images of the steel plate slab along length and width directions, wherein, more than one cameras are adopted along the length direction and seamless splicing of many images along the length direction is realized on reference of the cast laser lines; the characteristic points of the laser lines intersection along length and width directions and the singularity points of the laser lines on edges of the steel plate slab are determined according to the collected images and in virtue of the laser lines cast in the images; the characteristic points and singularity points are adopted for determining the length and width of the steel plate slab. The invention also discloses a measuring device used for measuring the size of steel plate slab and the device can accurately and stably measure the length and width of the steel plate slab at the same time under the strong interference of a thick plate plant.
Description
Technical field
The present invention relates to the size measurement technique of steel bar plate, more particularly, relate to the measuring method and the device of steel bar plate size.
Background technology
In the Thick Plate Plant secondary cut production line of steel factory, often use the laser Dppler veloicty measurement horizontal metroscope that incoming slab is carried out linear measure longimetry, but when strong jamming, poor effect.
Prior art utilizes the linear relationship between Doppler shift and the testee speed to measure slab speed, calculates slab length by the integration of time again.Use the optical interference striped in the measurement, must accept the reflected light of measured object, measurement must be carried out when slab moves, because often there is the perk iron scale of bulk on the incoming slab surface, reaping hook bent plate shape strand also appears sometimes, the supplied materials spring of also can on roller-way, moving, in addition, the also serious interferometry work of measurement point Environmental Water steam, these strong jamming meetings change the angle of strand reflection ray.When exceeding laser Dppler veloicty measurement horizontal metroscope incident angle, will cause reflected light can't pass sensor back.At these problems, the field staff carried out local technological improvement (as: strengthening emissive power etc.) to horizontal metroscope, but these local improvement are difficult to improve the measurement accuracy under the slab motion artifacts, many on-the-spot practical challenges in the time of can't at all eliminating the slab motion measurement, and be cost to reduce service life of equipment.Therefore, the static non-contacting image measurement technology of slab is one of technological approaches that solves on-the-spot problem.
Existing photoelectric image measuring technique, use line scan image sensor to measure the width value variable quantity that hot rolled steel plate is produced in real time, adopt the mode of backlight general lighting and the camera of linear array, do not use the laser of combination to throw the line device, this method investment is huge, and the detection that also is not suitable for slab is used.Former because: as adopting the back lighting mode, because slab is thick to reach 300 millimeters, slab is more clear near the contrast of the lower limb light of light-illuminating one side, and CCD can only detect top surface edge, like this, the slab upper surface is measured the edge gray level image contrast of face because blocked up, and profile will blur not obvious, and edge gradual change meeting at random causes the measurement result distortion.In slab is produced, be difficult for adopting this commercial measurement.In addition, slab is Pork-pieces slab logistics, and using existing linear array images to measure can only the sweep length direction, under the ordinary optical lens system, can't carry out the image two-dimensional scan, so this mode can not satisfy the requirement of Thick Plate Plant secondary cut line production application.
In sum, currently used the system of battle formations measured as technology and ordinary optical lens imaging, at three dimensions, can not carry out the measurement of aspectant length and width geometric sense mapping mode, so, just need a kind of new measuring technique, can be under the Thick Plate Plant strong interference environment, big visual field, high precision, synchro measure goes out the length and the width of steel bar plate steadily in the long term, and measures how initiatively to avoid disturbing when calculating and do not influence measurement result again.
Summary of the invention
The measuring method and the device that the purpose of this invention is to provide a kind of new type of steel plate slab size can be under the Thick Plate Plant strong interference environments, and high precision, stably synchro measure goes out the length and the width of steel bar plate.
According to an aspect of the present invention, a kind of measuring method of steel bar plate size is provided, comprise: use laser to throw the line device throws length direction and Width on steel bar plate to be measured laser rays, the laser rays of described length direction and Width forms at least two intersection points on steel bar plate; Use video camera to obtain the length direction of steel bar plate and the image of Width, wherein length direction uses more than one video camera, realizes a plurality of images seamless spliced of length direction with reference to the laser rays that is throwed; According to the image of being gathered, utilize the laser rays of the projection in the described image, determine the crossing unique point of laser rays of length direction and Width, and laser rays is in the catastrophe point at steel bar plate edge; Utilize the unique point of described laser rays and length and the width that catastrophe point is determined steel bar plate.
According to one embodiment of the invention, described laser is thrown the line device and throw the laser rays of two length directions and the laser rays of two Widths on steel bar plate, forms four intersection points; The laser rays of described two Widths is used to realize the splicing of a plurality of images of length direction.
According to one embodiment of the invention, described video camera is observed steel bar plate and is moved and compress and discharge situation about putting in place, selects best collection to carry out image acquisition constantly, is in the static moment at steel bar plate and carries out image acquisition; Wherein, image steel bar plate transfixion and stopping 3-5 second when gathering makes that the image of a plurality of length directions can seamless fusion; The image of a plurality of length directions of being gathered is carried out pattern match calculate, as a plurality of image calculation unanimity as a result, just be judged to be and gather steel bar plate for static, image acquisition result is effective.
According to one embodiment of the invention, according to four laser rays that intersect in twos in the image of being gathered, solve four crossing unique points, wherein, comprise also that by four selected in advance image-regions an obviously small mountain of sudden change is arranged in the image statistics histogram, after the calculating homogenising is eliminated and disturbed on the laser rays picture element, with the maximum position of determining laser rays of the variation of gray-scale value, determine the unique point that intersects again; Determine the catastrophe point of laser rays by the phenomenon that laser rays disconnects on steel bar plate length and width border in certain short distance.
According to one embodiment of the invention, utilize the unique point of described laser rays and length and width that catastrophe point is determined steel bar plate to comprise: the maximal value of utilizing every laser rays, calculate the parameter of every laser rays, and obtain the intersection point of these laser rays: first intersection point, second intersection point, the 3rd intersection point and the 4th intersection point; If ambient light is normal, then utilize the image edge treatment technology, petiolarea at steel bar plate length direction two ends: the edge that calculates steel bar plate in first petiolarea and second petiolarea: first edge and second edge, and the intersection point of they and laser rays, the i.e. catastrophe point of laser rays: first catastrophe point, second catastrophe point, the 3rd catastrophe point and the 4th catastrophe point; If ambient light is undesired, can't be used to distinguish steel bar plate, then directly utilize the sudden change of laser rays to determine first catastrophe point, second catastrophe point, the 3rd catastrophe point and the 4th catastrophe point; Calculate the line segment length between the premises respectively, by obtaining the length and the width of steel bar plate after average and the read group total.
According to a further aspect in the invention, a kind of measurement mechanism of steel bar plate size is provided, comprise: several laser are thrown the line device, the laser rays of projection length direction and Width on steel bar plate to be measured, the laser rays of described length direction and Width forms at least two intersection points on steel bar plate; Several video cameras obtain the length direction of steel bar plate and the image of Width, and wherein length direction uses more than one video camera, realize a plurality of images seamless spliced of length direction with reference to the laser rays that throwed; Image processing apparatus according to the image of being gathered, utilizes the laser rays of the projection in the described image, determine the crossing unique point of laser rays of length direction and Width, and laser rays is in the catastrophe point at steel bar plate edge; And utilize the unique point of described laser rays and length and the width that catastrophe point is determined steel bar plate.
According to one embodiment of the invention, described laser is thrown the line device and is comprised that length laser is thrown the line device and width laser is thrown the line device, and the laser rays of two length directions of projection and the laser rays of two Widths form four intersection points on steel bar plate; Wherein the laser rays of two Widths is used to realize the splicing of a plurality of images of length direction.
According to one embodiment of the invention, described video camera is observed steel bar plate and is moved and compress and discharge situation about putting in place, selects best collection to carry out image acquisition constantly, is in the static moment at steel bar plate and carries out image acquisition; Wherein, image steel bar plate transfixion and stopping 3-5 second when gathering makes that the image of a plurality of length directions can seamless fusion; Image processing apparatus carries out pattern match to the image of a plurality of length directions of being gathered and calculates, and as a plurality of image calculation unanimity as a result, just is judged to be and gathers steel bar plate for static, and image acquisition result is effective.
According to one embodiment of the invention, image processing apparatus is according to four laser rays that intersect in twos in the image of being gathered, solve four crossing unique points, wherein, comprise also that by four selected in advance image-regions an obviously small mountain of sudden change is arranged in the image statistics histogram, after the calculating homogenising is eliminated and disturbed on the laser rays picture element, with the maximum position of determining laser rays of the variation of gray-scale value, determine the unique point that intersects again; Also the phenomenon that disconnects in certain short distance by laser rays is determined the catastrophe point of laser rays on steel bar plate length and width border.
According to one embodiment of the invention, described image processing apparatus at first utilizes the maximal value of every laser rays, calculates the parameter of every laser rays, and obtains the intersection point of these laser rays: first intersection point, second intersection point, the 3rd intersection point and the 4th intersection point; If ambient light is normal, then utilize the image edge treatment technology, petiolarea at steel bar plate length direction two ends: the edge that calculates steel bar plate in first petiolarea and second petiolarea: first edge and second edge, and the intersection point of they and laser rays, the i.e. catastrophe point of laser rays: first catastrophe point, second catastrophe point, the 3rd catastrophe point and the 4th catastrophe point; If ambient light is undesired, can't be used to distinguish steel bar plate, then directly utilize the sudden change of laser rays to determine first catastrophe point, second catastrophe point, the 3rd catastrophe point and the 4th catastrophe point; Calculate the line segment length between the premises more respectively, by obtaining the length and the width of steel bar plate after average and the read group total.
Use the measuring method and the device of steel bar plate size of the present invention, can carry out the synchro measure of length and width to the slab supplied materials in real time, can be in a short period of time, obtain the complete image information of monolithic strand upper surface still, the assemblage characteristic that occurs after the variation around picture element and laser rays, laser rays intersection point calculates measurement.This method and device are simple fast, high efficient and reliable, satisfy the on-the-spot real-time requirement of slab.Overcome measurand supplied materials motion spring simultaneously, special circumstances such as the iron scale of perk, rough surface, camber also can complete rapidly and accurately operating mode stably measured.Satisfy the actual demand of measurement control safe, efficient, economic in the slab serialization production.
Description of drawings
In the present invention, identical Reference numeral is represented identical feature all the time, wherein,
Fig. 1 is the structural drawing according to the measurement mechanism of the steel bar plate size of one embodiment of the invention;
Fig. 2 is the measurement mechanism arrangenent diagram according to one embodiment of the invention;
Fig. 3 A, 3B and 3C are the synoptic diagram that utilizes projecting laser line computation steel bar plate dimension process according to one embodiment of the invention;
Fig. 4 A, 4B and 4C show the feature of the measurement mechanism projecting laser line in all cases of steel bar plate size of the present invention;
Fig. 5 is the process flow diagram according to the measuring method of the steel bar plate size of one embodiment of the invention.
Embodiment
Further describe the technical solution of the utility model below in conjunction with drawings and Examples.
At first with reference to figure 1, Fig. 1 shows a kind of measurement mechanism 100 of steel bar plate size, comprising:
Several laser are thrown line device 102, the laser rays of projection length direction and Width on steel bar plate 101 to be measured, and the laser rays of length direction and Width forms at least two intersection points on steel bar plate 101; According to embodiment shown in Figure 1, laser is thrown line device 102 and is comprised that length laser is thrown line device 102A and width laser is thrown line device 102B, and the laser rays of two length directions of projection and the laser rays of two Widths form four intersection points on steel bar plate 101; Wherein the laser rays of two Widths also is used to realize the splicing of a plurality of images of length direction.
Fig. 2 is the measurement mechanism arrangenent diagram according to one embodiment of the invention, in this arrangement examples, the video camera 201,202 of length direction obtains image respectively separately about steel bar plate, length is 6 meters visual fields, bear and observe steel bar plate position and the function of measuring physical dimension, it is 4 meters that video camera 201,202 highly leaves the steel bar plate upper surface.The video camera 203 of Width is used to also observe that steel bar plate enters, steel bar plate and guide plate position and steel bar plate identification, and video camera 203 is lifted on slab end visual range and gets final product.Length direction laser is thrown the opposite that line device 204,205 is installed in video camera 201,202, be responsible for 12 meters length direction laser and throw line, laser is thrown line device 204,205 and is respectively adorned one up and down, wherein, the position that laser is thrown line device 204,205 also can be arranged to pair of right and left, and each is responsible for 2 laser rays on 6 meters length directions.Width laser is thrown the position of line device 206,207 on video camera 201,202 sides, Width laser throwing line device 206,207 is installed is carried out the intermediate lateral indication.Video camera 201,202 all can be seen the laser rays of these 2 Widths, carries out that the visual field is cut apart and image seamless spliced.
The length of measuring steel bar plate among the present invention is consistent with the technical scheme that width is used, and is just vertical mutually on the direction of measurement.Width measure is used single camera (video camera 203), just can reach and produce required accuracy requirement, therefore length direction needs to use two cameras (video camera 201 and 202) because common camera resolution is lower.Video camera 201 and 202 left and right sides synchronous acquisition are to two width of cloth digital pictures during linear measure longimetry, and it is seamless spliced to press the laser rays indication, carries out length calculation again, thereby avoids adopting special high resolving power camera, has reduced the equipment input cost of device.
With reference to figure 1 and Fig. 2, four two or two laser rays that intersect with the projection of steel bar plate upper surface when steel bar plate is measured are core, combining environmental light, obtain the steel billet contour images, utilize laser rays to point to the profile that guiding picks out image light plate slab, utilize profile to calculate length, laser feature point and outline line confirm mutually simultaneously, improve the degree of confidence of measuring accuracy and measurement.
Can also be in the process of measuring in conjunction with utilization for surround lighting, surround lighting image algorithm is complicated, needs to judge the illumination profile situation of image.Must carry out calculating such as gray-scale statistical to selecting good static background image zone in advance during operation, compare ambient lighting lightness and gray scale contrast, judge the degree that image can be used, whether decision enables the steel plate Edge-Detection Algorithm.
Used the long laser rays that intersects in the Size Measuring System of the present invention, the known steel bar plate space surface of vertical and horizontal covering produces intersection point, wherein with reference point and the reference point of four cross star intersection points as calculating.The multiple spot redundancy can be anti-interference, is useful, and for measuring, minimum have only 2 points also can bear surveying work.This method has been utilized the catastrophe point of laser rays at the steel bar plate edge.The various interference problems that overcome the steel and iron parts surface are used in these technological synthesiss.If use the normal image measuring method of natural light merely, then poor anti jamming capability, difficulty in computation is big, cost is high, efficient is low.
Video camera of the present invention, comprise that the video camera 201,202,203 shown in video camera 104A, the 104B shown in Fig. 1 and Fig. 2 also observes steel bar plate and move and compress and discharge situation about putting in place, select best collection to carry out image acquisition constantly, the moment that is in static state at steel bar plate is carried out image acquisition; Wherein, image steel bar plate transfixion and stopping 3-5 second when gathering makes that the image of a plurality of length directions can seamless fusion.
The basic process of images acquired is as follows, and steel bar plate enters 12 meters length laser indicating ranges along its length, if short base, and during 6 meters of the length Xiao Yu of short base, short base must enter the laser of two Widths and throw in the line scope.The process need of images acquired is finished substantially at steel bar plate under the situation of centering and is carried out, the process of centering can by as judge:
The steel bar plate not vibrations to be measured to centering guide release stopping back, and in transverse field, near video camera one flipper guide steel bar plate is not blocked, pause at this moment and can carry out image acquisition about 3 seconds.Judgement discharges centering guide and stops and can realizing by the laser projections line, shown in figure 4C, Fig. 4 C is the characteristic pattern that centering guide is discharged the laser projections line stop, when video camera is observed the form of the laser projections line shown in Fig. 4 C, both can judge centering guide discharged to stop.
In addition, the judgement that can also assist by the laser projections line, shown in figure 4B, Fig. 4 B finishes the characteristic pattern that centering is the laser projections line, when video camera is observed the form of the laser projections line shown in Fig. 4 B, both can judge the step of carrying out image acquisition.
Simultaneously, video camera can be observed guide plate and move and compress and discharge situation about putting in place, by the structure of video camera and laser projections line, selects best collection to carry out image acquisition constantly and measures.Measurement mechanism of the present invention is in the static image acquisition of constantly carrying out at steel bar plate, and static the collection helps the precision measured, image slab transfixion and stopping 3-5 second when gathering, and the image that 2 width of cloth are gathered respectively about making can complete seamless fusion; And gather in L-R-L-R mode, the short different complete images of steel billet of constantly adopting continuously 2 times in sight, can calculate the image model coupling by image processing apparatus afterwards, as 2 identical picture image result of calculation basically identicals, slab is for static when just being judged to be collection, can normally gather, image acquisition result is effective.
Like this, do not need system's information in addition during measurement, reduced the complicacy of measuring system of picture.
Continue to get back to Fig. 1, measurement mechanism 100 of the present invention also comprises image processing apparatus 106, according to the image of being gathered, utilizes the laser rays of the projection in the image, determine the crossing unique point of laser rays of length direction and Width, and laser rays is in the catastrophe point at steel bar plate edge; And utilize the unique point of described laser rays and length and the width that catastrophe point is determined steel bar plate.Simultaneously, this image processing apparatus 106 also carries out pattern match to the image of a plurality of length directions of being gathered and calculates, and as a plurality of image calculation unanimity as a result, just is judged to be and gathers steel bar plate for static, and image acquisition result is effective.
The principle of work of this image processing apparatus 106 is as follows: image processing apparatus is according to four laser rays that intersect in twos in the image of being gathered, solve four crossing unique points, wherein, also comprise by four selected in advance image-regions, an obviously small mountain of sudden change is arranged on the laser rays picture element in the image statistics histogram, after calculating homogenising elimination interference,, determine crossing unique point again with the maximum position of determining laser rays of the variation of gray-scale value; Also the phenomenon that disconnects in certain short distance by laser rays is determined the catastrophe point of laser rays on steel bar plate length and width border.
More particularly, this image processing apparatus at first utilizes the maximal value of every laser rays, calculates the parameter of every laser rays, and obtains the intersection point of these laser rays: the first intersection point P3, the second intersection point P4, the 3rd intersection point P5 and the 4th intersection point P6; If ambient light is normal, then utilize the image edge treatment technology, petiolarea at steel bar plate length direction two ends: the edge that calculates steel bar plate among the first petiolarea A1 and the second petiolarea A2: the first edge L1 and the second edge L2, and the intersection point of they and laser rays, the i.e. catastrophe point of laser rays: the first catastrophe point P1, the second catastrophe point P2, the 3rd catastrophe point P7 and the 4th catastrophe point P8; If ambient light is undesired, can't be used to distinguish steel bar plate, then directly utilize the sudden change of laser rays to determine the first catastrophe point P1, the second catastrophe point P2, the 3rd catastrophe point P7 and the 4th catastrophe point P8; Calculate the line segment length between the premises more respectively, by obtaining the length and the width of steel bar plate after average and the read group total.
With reference to figure 3A, 3B and 3C, Fig. 3 A, 3B and 3C are the synoptic diagram that utilizes projecting laser line computation steel bar plate dimension process according to one embodiment of the invention, can realize the measurement of size by following step:
In the step in front, though obtained the intersection point, laser rays of laser projections line feature catastrophe point at the slab edge, but also must be when measuring to laser projections line and the unique point in each width of cloth image, carrying out gray-scale statistical calculates, judge and use that, that section, make up in which zone, to the bigger iron scale of appearance at random and the interference of surround lighting, strengthen the automatic response and the adaptive faculty of image measurement with the raising system.
With reference to figure 3A, the zone 301 and 302 of at first determining the position of laser projections line and needing further to handle, the i.e. first petiolarea A1 and the second petiolarea A2.
In the image-region that chosen needs are further handled, utilize redundant laser rays under the almost unglazed situation of environment, also can correctly detect and judge.Environment has light and when only bright, use billet surface profile border, the picture information as comprising among the first petiolarea A1, the second petiolarea A2 calculates steel bar plate edge of image parameter, such face contact has more characteristic information, helps the reliable of measuring process.
Multiple flash ranging image processing method synchronous processing, the laser rays reference characteristic point redundancy that backups each other.When measuring same geometric parameter, can corroborate each other, can eliminate various possible interference effectively.To the immeasurable certain situation of other measuring equipment, as iron scale, situations such as camber, present patent application also can be measured more exactly.The concrete course of work is as follows, with reference to figure 3B and Fig. 3 C:
Utilize the peaked method of every laser rays, calculate the parameter of every laser rays,, obtain the intersection point of these laser rays, i.e. the first intersection point P3, the second intersection point P4, the 3rd intersection point P5 and the 4th intersection point P6 by calculating;
Under the light normal condition, can utilize the image edge treatment technology, in the first petiolarea A1 and the second petiolarea A2, calculate the edge of steel bar plate: the first edge L1 and the second edge L2, the intersection point of they and laser rays is exactly the catastrophe point of laser rays: the first catastrophe point P1, the second catastrophe point P2, the 3rd catastrophe point P7 and the 4th catastrophe point P8;
Undesired at light, under the very dark situation that can't distinguish slab, can utilize the structured light end-point detecting method, calculate the position of the first catastrophe point P1, the second catastrophe point P2, the 3rd catastrophe point P7 and the 4th catastrophe point P8, they are the edge L1 and the L2 of slab just;
Generally, line segment P1-P3 equates that with P2-P4 P3-P5 equates that with P4-P6 P5-P7 equates with P6-P8.The length of Far Left slab, line segment P1-P3 and line segment P2-P4 average,
Length
1324＝(Length
P1P3+Length
P2P4)/2
By on average improving precision.Can calculate the length of intermediate slab and the length of rightmost slab equally:
Length
3546＝(Length
P3P5+Length
P4P6)/2
Length
5768＝(Length
P5P7+Length
P4P8)/2
With the mean value addition of three groups of line segments, can obtain the total length of slab
Length＝Length
1324+Length
3546+Length
5768
Optimum definite back uses stable geometric figure calculation level to obtain slab length to two sections additions of distance of straight line, shown in figure 3C.
Abominable when site environment, in the time of can't finishing the measurement of laser rays intersection point, in the time of can't further obtaining corresponding line segment, can adopt the method for rich row, as obtaining the parameter of P1, Length so
P1P3Also just can't obtain Length
132Can use Length
P2P4Substitute.Can guarantee measuring reliability like this.The rest may be inferred for other.When obtaining measurement result, demonstrate the index of measuring process quality.Thereby realize slab production scene physical dimension accurate measurement and process judge.
Except adopting 2 length directions and 2 Width laser rays, present patent application can also adopt the laser rays of many length and Width, constitute an intensive grid, shown in Fig. 4 A, when one or several point in the grid can't be measured, can remedy mutually, improve measuring reliability.
The present invention also provides a kind of measuring method of steel bar plate size, and with reference to shown in Figure 5, Fig. 5 is the process flow diagram according to the measuring method of the steel bar plate size of one embodiment of the invention, and this method 500 comprises:
501. use laser to throw the line device throws length direction and Width on steel bar plate to be measured laser rays, the laser rays of length direction and Width forms at least two intersection points on steel bar plate.According to one embodiment of the invention, laser is thrown the line device and throw the laser rays of two length directions and the laser rays of two Widths on steel bar plate, forms four intersection points.
503. use video camera to obtain the length direction of steel bar plate and the image of Width, wherein length direction uses more than one video camera, realizes a plurality of images seamless spliced of length direction with reference to the laser rays that is throwed.According to one embodiment of the invention, the laser rays of two Widths is used to realize the splicing of a plurality of images of length direction.Video camera is observed steel bar plate and is moved and compress and discharge situation about putting in place, selects best collection to carry out image acquisition constantly, is in the static moment at steel bar plate and carries out image acquisition; Wherein, image steel bar plate transfixion and stopping 3-5 second when gathering makes that the image of a plurality of length directions can seamless fusion.And the image of a plurality of length directions of being gathered is carried out pattern match calculate, as a plurality of image calculation unanimity as a result, just being judged to be and gathering steel bar plate for static, image acquisition result is effective.
505. according to the image of being gathered, utilize the laser rays of the projection in the image, determine the crossing unique point of laser rays of length direction and Width, and laser rays be in the catastrophe point at steel bar plate edge.According to one embodiment of the invention, according to four laser rays that intersect in twos in the image of being gathered, solve four crossing unique points, wherein, comprise also that by four selected in advance image-regions an obviously small mountain of sudden change is arranged in the image statistics histogram, after the calculating homogenising is eliminated and disturbed on the laser rays picture element, with the maximum position of determining laser rays of the variation of gray-scale value, determine the unique point that intersects again; Determine the catastrophe point of laser rays by the phenomenon that laser rays disconnects on steel bar plate length and width border in certain short distance.
507. utilize the unique point of laser rays and length and the width that catastrophe point is determined steel bar plate.According to one embodiment of the invention, utilize the unique point of laser rays and length and width that catastrophe point is determined steel bar plate to comprise:
Utilize the maximal value of every laser rays, calculate the parameter of every laser rays, and obtain the intersection point of these laser rays: first intersection point (P3), second intersection point (P4), the 3rd intersection point (P5) and the 4th intersection point (P6);
If ambient light is normal, then utilize the image edge treatment technology, petiolarea at steel bar plate length direction two ends: the edge that calculates steel bar plate in first petiolarea (A1) and second petiolarea (A2): first edge (L1) and second edge (L2), and the intersection point of they and laser rays, the i.e. catastrophe point of laser rays: first catastrophe point (P1), second catastrophe point (P2), the 3rd catastrophe point (P7) and the 4th catastrophe point (P8); If ambient light is undesired, can't be used to distinguish steel bar plate, then directly utilize the sudden change of laser rays to determine first catastrophe point (P1), second catastrophe point (P2), the 3rd catastrophe point (P7) and the 4th catastrophe point (P8);
Calculate the line segment length between the premises respectively, by obtaining the length and the width of steel bar plate after average and the read group total.
In sum, present patent application has the steel and iron parts of iron scale at rough surface, indicate by laser, in the specific region, the intersection point of search laser rays, face, unique point is carried out calculated crosswise by the indication of line and is tried to achieve, and avoids directly seeking the inexactness of single unique point, the instability that the opposing surface disturbance causes.
The advantage of technical scheme of the present invention is that duty is adjusted easily, and detected object is in complexity Identification capability improves greatly under the condition, and the CDD sensor of processing take image is as its spectral response of core Wide, dynamic range is big, sensitivity and geometric accuracy height, noise are low, be convenient to carry out digitized processing and With advantages such as computer are connected, in industrial measurement and control, be used widely. The present invention is particularly suitable for slab On-line measurement, package unit are simply efficient, long-term stability. In the flash ranging image measurement, used laser Throw line technology, reduce by half open type factory building natural daylight illumination acute variation, improved the credible of measurement result Degree.
Claims (10)
1. the measuring method of a steel bar plate size comprises:
Use laser to throw the line device throws length direction and Width on steel bar plate to be measured laser rays, the laser rays of described length direction and Width forms at least two intersection points on steel bar plate;
Use video camera to obtain the length direction of steel bar plate and the image of Width, wherein length direction uses more than one video camera, realizes a plurality of images seamless spliced of length direction with reference to the laser rays that is throwed;
According to the image of being gathered, utilize the laser rays of the projection in the described image, determine the crossing unique point of laser rays of length direction and Width, and laser rays is in the catastrophe point at steel bar plate edge;
Utilize the unique point of described laser rays and length and the width that catastrophe point is determined steel bar plate.
2. the measuring method of steel bar plate size as claimed in claim 1 is characterized in that, described laser is thrown the line device and throw the laser rays of two length directions and the laser rays of two Widths on steel bar plate, forms four intersection points;
The laser rays of described two Widths is used to realize the splicing of a plurality of images of length direction.
3. the measuring method of steel bar plate size as claimed in claim 2 is characterized in that,
Described video camera is observed steel bar plate and is moved and compress and discharge situation about putting in place, selects best collection to carry out image acquisition constantly, is in the static moment at steel bar plate and carries out image acquisition; Wherein,
Image steel bar plate transfixion and stopping 3-5 second when gathering makes that the image of a plurality of length directions can seamless fusion;
The image of a plurality of length directions of being gathered is carried out pattern match calculate, as a plurality of image calculation unanimity as a result, just be judged to be and gather steel bar plate for static, image acquisition result is effective.
4. the measuring method of steel bar plate size as claimed in claim 2 is characterized in that,
According to four laser rays that intersect in twos in the image of being gathered, solve four crossing unique points, wherein, also comprise by four selected in advance image-regions, an obviously small mountain of sudden change is arranged on the laser rays picture element in the image statistics histogram, after calculating homogenising elimination interference,, determine crossing unique point again with the maximum position of determining laser rays of the variation of gray-scale value;
Determine the catastrophe point of laser rays by the phenomenon that laser rays disconnects on steel bar plate length and width border in certain short distance.
5. the measuring method of steel bar plate size as claimed in claim 2 is characterized in that, utilizes the unique point of described laser rays and length and width that catastrophe point is determined steel bar plate to comprise:
Utilize the maximal value of every laser rays, calculate the parameter of every laser rays, and obtain the intersection point of these laser rays: first intersection point (P3), second intersection point (P4), the 3rd intersection point (P5) and the 4th intersection point (P6);
If ambient light is normal, then utilize the image edge treatment technology, petiolarea at steel bar plate length direction two ends: the edge that calculates steel bar plate in first petiolarea (A1) and second petiolarea (A2): first edge (L1) and second edge (L2), and the intersection point of they and laser rays, the i.e. catastrophe point of laser rays: first catastrophe point (P1), second catastrophe point (P2), the 3rd catastrophe point (P7) and the 4th catastrophe point (P8); If ambient light is undesired, can't be used to distinguish steel bar plate, then directly utilize the sudden change of laser rays to determine first catastrophe point (P1), second catastrophe point (P2), the 3rd catastrophe point (P7) and the 4th catastrophe point (P8);
Calculate the line segment length between the premises respectively, by obtaining the length and the width of steel bar plate after average and the read group total.
6. the measurement mechanism of a steel bar plate size comprises:
Several laser are thrown the line device, the laser rays of projection length direction and Width on steel bar plate to be measured, and the laser rays of described length direction and Width forms at least two intersection points on steel bar plate;
Several video cameras obtain the length direction of steel bar plate and the image of Width, and wherein length direction uses more than one video camera, realize a plurality of images seamless spliced of length direction with reference to the laser rays that throwed;
Image processing apparatus according to the image of being gathered, utilizes the laser rays of the projection in the described image, determine the crossing unique point of laser rays of length direction and Width, and laser rays is in the catastrophe point at steel bar plate edge; And utilize the unique point of described laser rays and length and the width that catastrophe point is determined steel bar plate.
7. the measurement mechanism of steel bar plate size as claimed in claim 6, it is characterized in that, described laser is thrown the line device and is comprised that length laser is thrown the line device and width laser is thrown the line device, and the laser rays of two length directions of projection and the laser rays of two Widths form four intersection points on steel bar plate; Wherein the laser rays of two Widths is used to realize the splicing of a plurality of images of length direction.
8. the measurement mechanism of steel bar plate size as claimed in claim 7 is characterized in that,
Described video camera is observed steel bar plate and is moved and compress and discharge situation about putting in place, selects best collection to carry out image acquisition constantly, is in the static moment at steel bar plate and carries out image acquisition; Wherein, image steel bar plate transfixion and stopping 3-5 second when gathering makes that the image of a plurality of length directions can seamless fusion;
Image processing apparatus carries out pattern match to the image of a plurality of length directions of being gathered and calculates, and as a plurality of image calculation unanimity as a result, just is judged to be and gathers steel bar plate for static, and image acquisition result is effective.
9. the measurement mechanism of steel bar plate size as claimed in claim 7 is characterized in that,
Image processing apparatus is according to four laser rays that intersect in twos in the image of being gathered, solve four crossing unique points, wherein, also comprise by four selected in advance image-regions, an obviously small mountain of sudden change is arranged on the laser rays picture element in the image statistics histogram, after calculating homogenising elimination interference,, determine crossing unique point again with the maximum position of determining laser rays of the variation of gray-scale value; Also the phenomenon that disconnects in certain short distance by laser rays is determined the catastrophe point of laser rays on steel bar plate length and width border.
10. the measurement mechanism of steel bar plate size as claimed in claim 7, it is characterized in that, described image processing apparatus at first utilizes the maximal value of every laser rays, calculate the parameter of every laser rays, and obtain the intersection point of these laser rays: first intersection point (P3), second intersection point (P4), the 3rd intersection point (P5) and the 4th intersection point (P6); If ambient light is normal, then utilize the image edge treatment technology, petiolarea at steel bar plate length direction two ends: the edge that calculates steel bar plate in first petiolarea (A1) and second petiolarea (A2): first edge (L1) and second edge (L2), and the intersection point of they and laser rays, the i.e. catastrophe point of laser rays: first catastrophe point (P1), second catastrophe point (P2), the 3rd catastrophe point (P7) and the 4th catastrophe point (P8); If ambient light is undesired, can't be used to distinguish steel bar plate, then directly utilize the sudden change of laser rays to determine first catastrophe point (P1), second catastrophe point (P2), the 3rd catastrophe point (P7) and the 4th catastrophe point (P8); Calculate the line segment length between the premises more respectively, by obtaining the length and the width of steel bar plate after average and the read group total.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100363823A CN101221040B (en) | 2007-01-11 | 2007-01-11 | Steel bar plate dimensional measurement method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100363823A CN101221040B (en) | 2007-01-11 | 2007-01-11 | Steel bar plate dimensional measurement method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101221040A true CN101221040A (en) | 2008-07-16 |
| CN101221040B CN101221040B (en) | 2010-07-21 |
Family
ID=39631026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100363823A Active CN101221040B (en) | 2007-01-11 | 2007-01-11 | Steel bar plate dimensional measurement method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101221040B (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335598A (en) * | 2013-07-04 | 2013-10-02 | 贵州大学 | Protection cover capable of remotely measuring size of object |
| CN104101612A (en) * | 2014-06-24 | 2014-10-15 | 杭州利珀科技有限公司 | Plane material surface defect detection device and detection module thereof |
| CN105327950A (en) * | 2015-11-09 | 2016-02-17 | 北京科技大学 | Hot rolling intermediate billet camber detecting device and detecting method considering thickness change |
| CN105447817A (en) * | 2015-11-09 | 2016-03-30 | 北京科技大学 | Edge contour-based hot-rolled intermediate billet flat image stitching method |
| CN107907055A (en) * | 2017-12-14 | 2018-04-13 | 北京驭光科技发展有限公司 | Pattern projection module, three-dimensional information obtain system, processing unit and measuring method |
| CN108731588A (en) * | 2017-04-25 | 2018-11-02 | 宝山钢铁股份有限公司 | A kind of machine vision steel plate length and diagonal line measuring device and method |
| CN109425320A (en) * | 2017-09-05 | 2019-03-05 | 株式会社三丰 | The control method of surface texture measuring device |
| CN109631770A (en) * | 2018-12-26 | 2019-04-16 | 深圳市合尔为科技有限公司 | The measuring device and measuring method of dimension of object |
| CN110443260A (en) * | 2019-08-05 | 2019-11-12 | 广东博智林机器人有限公司 | Groove localization method between a kind of building wall board |
| CN112224582A (en) * | 2020-12-10 | 2021-01-15 | 江苏金恒信息科技股份有限公司 | Square billet labeling method and device applied to continuous casting |
| CN112797895A (en) * | 2020-12-24 | 2021-05-14 | 上海智殷自动化科技有限公司 | Frame body positioning device based on vision and laser |
| CN112880742A (en) * | 2021-01-24 | 2021-06-01 | 宝钢工程技术集团有限公司 | Multifunctional slab monitor and using method thereof |
| CN113670212A (en) * | 2021-09-22 | 2021-11-19 | 深圳南玻应用技术有限公司 | Dimension detection method and dimension detection device |
| CN113744242A (en) * | 2021-09-03 | 2021-12-03 | 上海柏楚电子科技股份有限公司 | Plate detection method and device, electronic equipment and storage medium |
| CN113758426A (en) * | 2021-08-17 | 2021-12-07 | 深圳新视智科技术有限公司 | Method and device for determining width of cloth, electronic equipment and readable storage medium |
| CN113776440A (en) * | 2021-08-26 | 2021-12-10 | 河钢股份有限公司 | Machine vision-based billet width online detection method and system |
| CN114323974A (en) * | 2021-12-15 | 2022-04-12 | 佛山市顺德区建设工程质量安全监督检测中心有限公司 | Concrete test piece detection system and method |
| CN114353673A (en) * | 2022-01-26 | 2022-04-15 | 山东钢铁集团日照有限公司 | Laser triangulation method steel plate optimization length measuring device |
| CN114419042A (en) * | 2022-03-29 | 2022-04-29 | 北京金橙子科技股份有限公司 | Plate contour visual extraction method and system based on laser projection auxiliary line and readable storage medium |
| CN116352165A (en) * | 2023-04-26 | 2023-06-30 | 广东深联实业有限公司 | Fixed-distance cutting device for groove type bridge production and processing |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1103440C (en) * | 1998-10-06 | 2003-03-19 | 王棣颖 | Photoelectronic spatial filtering method for on-line measurement of plate length and on-line detector |
| CN1136432C (en) * | 2000-01-26 | 2004-01-28 | 信息产业部电子第27研究所 | Measurement method by outomatic laser legnth measuring instrument |
| CN1161194C (en) * | 2002-01-11 | 2004-08-11 | 北京科技大学 | Linearl laser detector of plate shape |
-
2007
- 2007-01-11 CN CN2007100363823A patent/CN101221040B/en active Active
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335598A (en) * | 2013-07-04 | 2013-10-02 | 贵州大学 | Protection cover capable of remotely measuring size of object |
| CN104101612A (en) * | 2014-06-24 | 2014-10-15 | 杭州利珀科技有限公司 | Plane material surface defect detection device and detection module thereof |
| CN105327950A (en) * | 2015-11-09 | 2016-02-17 | 北京科技大学 | Hot rolling intermediate billet camber detecting device and detecting method considering thickness change |
| CN105447817A (en) * | 2015-11-09 | 2016-03-30 | 北京科技大学 | Edge contour-based hot-rolled intermediate billet flat image stitching method |
| CN108731588A (en) * | 2017-04-25 | 2018-11-02 | 宝山钢铁股份有限公司 | A kind of machine vision steel plate length and diagonal line measuring device and method |
| CN109425320A (en) * | 2017-09-05 | 2019-03-05 | 株式会社三丰 | The control method of surface texture measuring device |
| CN109425320B (en) * | 2017-09-05 | 2022-06-03 | 株式会社三丰 | Control method of surface texture measuring apparatus |
| CN107907055B (en) * | 2017-12-14 | 2024-01-26 | 北京驭光科技发展有限公司 | Pattern projection module, three-dimensional information acquisition system, processing device and measuring method |
| CN107907055A (en) * | 2017-12-14 | 2018-04-13 | 北京驭光科技发展有限公司 | Pattern projection module, three-dimensional information obtain system, processing unit and measuring method |
| CN109631770A (en) * | 2018-12-26 | 2019-04-16 | 深圳市合尔为科技有限公司 | The measuring device and measuring method of dimension of object |
| CN110443260B (en) * | 2019-08-05 | 2022-02-22 | 广东博智林机器人有限公司 | Positioning method for grooves between building wallboards |
| CN110443260A (en) * | 2019-08-05 | 2019-11-12 | 广东博智林机器人有限公司 | Groove localization method between a kind of building wall board |
| CN112224582A (en) * | 2020-12-10 | 2021-01-15 | 江苏金恒信息科技股份有限公司 | Square billet labeling method and device applied to continuous casting |
| CN112797895B (en) * | 2020-12-24 | 2022-07-22 | 上海智殷自动化科技有限公司 | Frame body positioning device based on vision and laser |
| CN112797895A (en) * | 2020-12-24 | 2021-05-14 | 上海智殷自动化科技有限公司 | Frame body positioning device based on vision and laser |
| CN112880742A (en) * | 2021-01-24 | 2021-06-01 | 宝钢工程技术集团有限公司 | Multifunctional slab monitor and using method thereof |
| CN113758426A (en) * | 2021-08-17 | 2021-12-07 | 深圳新视智科技术有限公司 | Method and device for determining width of cloth, electronic equipment and readable storage medium |
| CN113776440A (en) * | 2021-08-26 | 2021-12-10 | 河钢股份有限公司 | Machine vision-based billet width online detection method and system |
| CN113744242A (en) * | 2021-09-03 | 2021-12-03 | 上海柏楚电子科技股份有限公司 | Plate detection method and device, electronic equipment and storage medium |
| CN113744242B (en) * | 2021-09-03 | 2023-08-15 | 上海柏楚电子科技股份有限公司 | Method and device for detecting plate, electronic equipment and storage medium |
| CN113670212A (en) * | 2021-09-22 | 2021-11-19 | 深圳南玻应用技术有限公司 | Dimension detection method and dimension detection device |
| CN114323974A (en) * | 2021-12-15 | 2022-04-12 | 佛山市顺德区建设工程质量安全监督检测中心有限公司 | Concrete test piece detection system and method |
| CN114323974B (en) * | 2021-12-15 | 2022-09-09 | 佛山市顺德区建设工程质量安全监督检测中心有限公司 | Concrete test piece detection system and method |
| CN114353673A (en) * | 2022-01-26 | 2022-04-15 | 山东钢铁集团日照有限公司 | Laser triangulation method steel plate optimization length measuring device |
| CN114419042B (en) * | 2022-03-29 | 2022-08-05 | 北京金橙子科技股份有限公司 | Plate contour visual extraction method and system based on laser projection auxiliary line and readable storage medium |
| CN114419042A (en) * | 2022-03-29 | 2022-04-29 | 北京金橙子科技股份有限公司 | Plate contour visual extraction method and system based on laser projection auxiliary line and readable storage medium |
| CN116352165A (en) * | 2023-04-26 | 2023-06-30 | 广东深联实业有限公司 | Fixed-distance cutting device for groove type bridge production and processing |
| CN116352165B (en) * | 2023-04-26 | 2023-11-17 | 广东深联实业有限公司 | Fixed-distance cutting device for groove type bridge production and processing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101221040B (en) | 2010-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101221040B (en) | Steel bar plate dimensional measurement method and device | |
| CN101900528B (en) | Automatic tracking method and surveying device | |
| CN104501720B (en) | Non-contact object size and range image measuring instrument | |
| CN105387819B (en) | Reflective object 3 D measuring method and device based on streak reflex method | |
| CN106595519B (en) | A kind of flexible 3 D contour measuring method and device based on laser MEMS projection | |
| CN101815665B (en) | Accurate tracking of web features through converting processes | |
| CN103411533B (en) | Structured light self-adaptation multiexposure method | |
| CN101526336B (en) | Calibration method of linear structured light three-dimensional visual sensor based on measuring blocks | |
| CN105572144B (en) | Glass corner image collecting device and system | |
| CN105300311B (en) | Vision sensor in line-structured light scanning survey equipment | |
| DE19806288A1 (en) | Laser scanner measuring system | |
| CN102798350A (en) | Method, device and system for measuring deflection of arm support | |
| CN110702343B (en) | Deflection measurement system and method based on stereoscopic vision | |
| CN104129616B (en) | Based on the conveyer band discerption detecting device of multiple spot laser ranging | |
| CN104048603B (en) | System and method for measuring array laser reticle and area array CCD high-resolution large visual field | |
| CN105222725A (en) | A kind of high-definition image dynamic collecting method based on spectral analysis | |
| CN107271445A (en) | A kind of defect inspection method and device | |
| Beltran et al. | A comparison between active and passive 3d vision sensors: Bumblebeexb3 and Microsoft Kinect | |
| CN103323216B (en) | A kind of device and method detecting parallax error of collimator | |
| CN113624158A (en) | Visual dimension detection system and method | |
| CN111369533A (en) | Steel rail profile detection method and device based on polarization image fusion | |
| CN210533296U (en) | Tunnel hole circumferential deformation monitoring system | |
| EP1972887A1 (en) | System and method for height measurement | |
| CN102003941B (en) | Large mooring chain five-ring length measurement method and device based on vision | |
| CN105004322A (en) | Light path for single-camera to acquire spatial attitude |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |