CN101571373A - Method for measuring geometric parameters of profile steel based on multi-linear structured light vision sensors - Google Patents
Method for measuring geometric parameters of profile steel based on multi-linear structured light vision sensors Download PDFInfo
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- CN101571373A CN101571373A CNA2009100692196A CN200910069219A CN101571373A CN 101571373 A CN101571373 A CN 101571373A CN A2009100692196 A CNA2009100692196 A CN A2009100692196A CN 200910069219 A CN200910069219 A CN 200910069219A CN 101571373 A CN101571373 A CN 101571373A
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Abstract
The invention relates to a method for measuring geometric parameters of profile steel based on multi-linear structured light vision sensors. The method includes the steps as follows: accomplishing the calibration of parameters of the multi-linear structured light vision sensors formed by one video camera and multi-line laser projectors; distributing the multi-linear structured light vision sensors on the periphery of the same sectional plane of the profile steel to be tested; moving a local measurement coordinate system of each multi-linear structured light vision sensor into a general measurement coordinate system; respectively controlling the multi-line laser projectors to project laser stripes onto each profile of the profile steel to be tested by a computer, and synchronously collecting the images of the laser stripes on the surface of the profile steel by a video camera; processing the images of the laser stripes by the computer, and calculating and transferring the space position and orientation coordinates of each laser strip on the surface of the profile steel into the general measurement coordinate system by the computer; fitting planes which can represent each profile, and calculating the position and orientation relations among the planes; and obtaining the geometric dimension parameters of the profile steel. The method can realize the on-line, real-time, automatic and noncontact measurement of the geometric dimension of the profile steel, is in favor of the formation of closed-loop control of production and measurement, and has high measuring speed and higher measuring accuracy.
Description
Technical field
The present invention relates to a kind of measurement of shaped steel geometric parameter.Particularly relate to a kind of shaped steel geometric parameter measurement method that can in real time, automatically realize the on-line measurement of shaped steel geometric parameter based on multi-linear structured light vision sensors.
Background technology
Hot-rolled steel section is a kind of steel for building efficiently, be widely used on industrial building structures such as covil construction such as comprising residential houses, skyscraper, airport, stadiums, conference and exhibition center, railway, bridge and communal facility and lightweight steel construction factory building, medium-sized and heavy duty industrial factory building, rolling stock, shipbuilding, power station, petrochemical industry project, offshore platform and the product, post, beam as structure use, and also are used for the pile foundation and the plant equipment of building foundation sometimes.
The factor that influences the shaped steel product quality is a lot, wherein physical dimension parameter control accuracy is a very important index, it not only has influence on the shape face quality of rolled piece, also have influence on the homogeneity of shaped steel product mechanical property etc., in addition, also be directly connected to raw-material finished product conversion ratio, have influence on the efficient of production and the benefit of generation.State Standard of the People's Republic of China's " hot rolled H-shaped and part T-steel of GB/T 11263-1998 " has done clearly regulation to the physical dimension parameter of shaped steel.Therefore, the measurement of shaped steel geometric parameter is most important.
Because production on-site environment is abominable, traditional shaped steel physical dimension detects and mostly adopts off-line, artificial mode is inspected by random samples, it is red that to search the sample time long, red inspection worker labour intensity is big, metrical information can not be in time corresponding with production status, the state that can not reflect production line in real time, can not realize the closed loop size Control of producing effectively, reduced the effective operation rate of milling train, the also corresponding rejection rate that increases shaped steel, and, need the special survey instrument of design in order to realize the measurement of particular geometric parameter, especially for the bigger a plurality of specification products of span, need the special survey instrument of the many covers of design.These have all had a strong impact on the modernization that shaped steel is produced, and have limited the further lifting of product quality.
Summary of the invention
Technical matters to be solved by this invention is, provide a kind of and have that measuring speed is fast, noncontact, automatically, can be online, can in rugged environment, use, have higher measuring accuracy, can realize the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors of production run closed-loop control.
The technical solution adopted in the present invention is: a kind of shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors comprises the steps:
(1) forms multi-linear structured light vision sensors by 1 video camera and multi-thread laser projecting apparatus, and finish the calibration of video camera and multi-linear structured light vision sensors parameter;
(2), lay all around and fixing many multi-linear structured light vision sensors in the same cross section of tested shaped steel according to the multi-linear structured light vision sensors operating distance and the measurement depth of field;
(3) the laying multi-linear structured light vision sensors is carried out overall situation calibration, under local measurement coordinate system unification to the global measuring coordinate system with each multi-linear structured light vision sensors;
(4) computing machine is by the multi-thread laser projecting apparatus in the multi-linear structured light vision sensors controller control multi-linear structured light vision sensors, and the projecting laser striation is to each profile of tested shaped steel;
(5) computing machine is controlled the video camera synchronous acquisition shaped steel surface optical strip image in the multi-linear structured light vision sensors of being laid by the multi-linear structured light vision sensors controller;
(6) computing machine carries out the optical strip image processing, and calculates the spatial pose coordinate of shaped steel surface light bar according to the measurement model of multi-linear structured light vision sensors, and is transformed under the global measuring coordinate system;
(7) can characterize the plane of each profile by the volume coordinate match that projects a plurality of striations on the same profile, and calculate interplanar position orientation relation;
(8), ask for the physical dimension parameter of shaped steel according to interplanar position orientation relation.
The ray that described multi-thread laser projecting apparatus throwed is more than 2 or 2.
Described multi-thread laser projecting apparatus is the laser projecting apparatus that a projector produces a plurality of incident lines, or the combination of a plurality of independence one word line laser projecting apparatus.
The calibration parameter of the described video camera of step 1 includes: effective focal length, image planes center, distortion factor and scale factor.
The calibration parameter of the described multi-linear structured light vision sensors of step 1 includes: the structured light plane equation.
The quantity of the described multi-linear structured light vision sensors of step 2 is to lay according to concrete shaped steel specification demand, that is, the corresponding one or more profiles of each vision sensor, all profiles will be contained in the sensor measurement visual field of laying.
It is the extraction of striation centre coordinate that the described optical strip image of step 6 is handled.
The physical dimension parameter of the described shaped steel of step 8 comprises: highly, width, web thickness, edge of a wing thickness and centre deviation.
Shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors of the present invention, each profile by multi-line structured light sensor measurement shaped steel, and calculate the shaped steel geometric parameter according to the position orientation relation between each profile, the measuring error of fundamentally having avoided the factor such as vibration, beat of shaped steel in the shaped steel production run to cause, can greatly improve measuring accuracy, guarantee the validity of measurement result.The present invention can realize online, real-time, automatic, the non-cpntact measurement of shaped steel physical dimension, help forming and produce, measure closed-loop control, measuring speed is fast, can in rugged environment, use, have higher measuring accuracy, improve production efficiency and product quality reduces labor strength effectively greatly.
Description of drawings
Fig. 1 is that multi-linear structured light vision sensors of the present invention is formed synoptic diagram;
Fig. 2 is a line structured light vision sensor measurement model synoptic diagram;
Fig. 3 is based on the H shaped steel geometric parameter measurement systematic schematic diagram of multi-linear structured light vision sensors;
Fig. 4 is that H shaped steel profile splits synoptic diagram.
Wherein:
1: multi-linear structured light vision sensors shell 2: video camera
3: 4: the first line-structured lights of laser projecting apparatus
Line-structured light 6 in 5: the second: the structured light plane
7: plane of delineation 8:H shaped steel
10: the second multi-linear structured light vision sensors of 9: the first multi-linear structured light vision sensors
12: the four multi-linear structured light vision sensors of 11: the three multi-linear structured light vision sensors
14: the second profiles of 13: the first profiles
16: the four profiles of 15: the three profiles
18: the six profiles of 17: the five profiles
20: the eight profiles of 19: the seven profiles
22: the ten profiles of 21: the nine profiles
24: the 12 profiles of 23: the 11 profiles
Embodiment
Below in conjunction with embodiment and accompanying drawing the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors of the present invention is made a detailed description.
Shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors of the present invention, shaped steel is split into the combination of a plurality of profiles, principle and multi-light line space plane fitting technique based on the line-structured light vision measurement, adopt multi-linear structured light vision sensors, make up the position orientation relation between each profile of shaped steel, promptly utilize the striation volume coordinate match that projects on each profile can characterize the plane of each profile, calculate the shaped steel geometric parameter according to position orientation relation between institute's match profile.Specifically comprise the steps:
(1) forms multi-linear structured light vision sensors by 1 video camera and multi-thread laser projecting apparatus, and finish the isoparametric calibration of structured light plane equation in parameters such as video camera effective focal length, image planes center, distortion factor, scale factor and the multiple line structure optical sensor;
The ray that described multi-thread laser projecting apparatus throwed is more than 2 or 2.Described multi-thread laser projecting apparatus is the laser projecting apparatus that a projector produces a plurality of incident lines, or the combination of a plurality of independence one word line laser projecting apparatus.
(2), lay all around and fixing many multi-linear structured light vision sensors in the same cross section of tested shaped steel according to the multi-linear structured light vision sensors operating distance and the measurement depth of field;
The quantity of described multi-linear structured light vision sensors is to lay according to concrete shaped steel specification demand, that is, the corresponding one or more profiles of each vision sensor, all profiles will be contained in the sensor measurement visual field of laying.With H shaped steel is example, lays 4 multi-linear structured light vision sensors all around.
(3) the laying multi-linear structured light vision sensors is carried out overall situation calibration, under local measurement coordinate system unification to the global measuring coordinate system with each multi-linear structured light vision sensors;
(4) computing machine is by the multi-thread laser projecting apparatus in the vision sensor controller control multi-linear structured light vision sensors, and the projecting laser striation is to each profile of tested shaped steel;
(5) computing machine is controlled the video camera synchronous acquisition shaped steel surface optical strip image in the multi-linear structured light vision sensors of being laid by the vision sensor controller;
(6) computing machine carries out the optical strip image processing, and calculates the spatial pose coordinate of shaped steel surface light bar according to the measurement model of multi-linear structured light vision sensors, and is transformed under the global measuring coordinate system;
It is the extraction of striation centre coordinate that described optical strip image is handled.
(7) can characterize the plane of each profile by the volume coordinate match that projects a plurality of striations on the same profile, and calculate interplanar position orientation relation;
(8), ask for the physical dimension parameter of shaped steel according to interplanar position orientation relation.
The physical dimension parameter of described shaped steel comprises: height H, width W, web thickness t1, edge of a wing thickness t 2 and centre deviation S, and referring to State Standard of the People's Republic of China " the hot rolled H-shaped and part T-steel of GB/T 11263-1998 ".
As shown in Figure 1,1 video camera and 1 the 2 line laser projector are formed multi-linear structured light vision sensors.One cover measuring system is made up of a plurality of multi-linear structured light vision sensors.Before setting up measuring system, need finish the calibration (local calibration) of video camera and sensor parameters at each multi-linear structured light vision sensors, the multi-linear structured light vision sensors after the calibration can be implemented in the measurement of coordinates under self coordinate system.
Figure 2 shows that the mathematical model of line structured light vision sensor.As shown in FIG., suppose that the three-dimensional world coordinate is o
wx
wy
wz
w, camera coordinates is o
cx
cy
cz
c, plane of delineation π
nCoordinate is o
nX
nY
nAs the line structured light vision sensor measurement coordinate system, then the mathematical model of line structured light vision sensor can be with structured light plane π under the camera coordinate system with camera coordinate system
sEquation represent.Be located at coordinate system o
cx
cy
cz
cDown, optical plane π
sEquation coefficient be V=[a b c d], the coordinate of any 1 P is P on the optical plane
c=[x
cy
cz
c]
T, corresponding homogeneous coordinates are
Then optic plane equations can be expressed as:
If the preferred view normalized image homogeneous coordinates that known P is ordered
The straight-line equation of then crossing video camera photocentre and this picture point can be expressed as:
Then the simultaneous of (1), (2) formula is the mathematical model of line structured light vision sensor, can realize the measurement of coordinates of sensor under self coordinate system by above-mentioned mathematical model.
At first, according to the operating distance and the measurement depth of field of multi-linear structured light vision sensors, lay all around and fixing many multi-linear structured light vision sensors in the same cross section of tested shaped steel, and carry out on-the-spot thermal protection and handle, the structure measuring system.After system constructing is finished, carry out system calibration (overall situation calibration), the measurement coordinate system of unified all vision sensors.Be illustrated in figure 3 as H shaped steel geometric parameter measurement systematic schematic diagram based on 4 multi-linear structured light vision sensors.
During measurement, laser projecting apparatus 3 in first multi-linear structured light vision sensors 9, second multi-linear structured light vision sensors 10, the 3rd multi-linear structured light vision sensors 11, the 4th multi-linear structured light vision sensors 12 incident line structured light plane simultaneously forms 2 bright fringess to the corresponding profile of H shaped steel on each projection profile.Computing machine is by the bright fringes image on camera acquisition first profile 13 in first multi-linear structured light vision sensors 9, by second profile 14 of the camera acquisition in second multi-linear structured light vision sensors 10, the 3rd profile 15, the 4th profile 16, the 5th profile 17, bright fringes image on the 6th profile 18, by the bright fringes image on the 7th profile 19 of the camera acquisition in the 3rd multi-linear structured light vision sensors 11, by the 8th profile 20 of the camera acquisition in the 4th multi-linear structured light vision sensors 12, the 9th profile 21, the tenth profile 22, bright fringes image on the 11 profile 23 and the 12 profile 24, and carry out Flame Image Process respectively, obtain the image coordinate of 3 bright fringess on each profile.On the basis of bright fringes image coordinate,, calculate the volume coordinate of bright fringes under the global coordinate system in conjunction with the mathematical model of camera calibration parameters, multi-linear structured light vision sensors calibration parameter, overall calibration parameter and line structured light vision sensor.Utilization is distributed in the volume coordinate of 2 bright fringess on each profile and carries out the profile match, obtains first profile 13, second profile 14, the 3rd profile 15, the 4th profile 16, the 5th profile 17, the 6th profile 18, the 7th profile 19, the 8th profile 20, the 9th profile 21, the tenth profile the 22, the 11 profile 23 and the 12 profile 24 respectively.According to the spatial pose relation of first profile 13 and the 7th profile 19, calculate the height H of shaped steel.According to the spatial pose relation of second profile 14 and the 12 profile 24, the 6th profile 18 and the 8th profile 20, calculate the width W of shaped steel.According to the spatial pose relation of the 4th profile 16 and the tenth profile 22, calculate the web thickness t1 of shaped steel.According to the spatial pose relation of first profile 13 and the 3rd profile 15, first profile 13 and the 11 profile 23, the 7th profile 19 and the 5th profile 17, the 7th profile 19 and the 9th profile 21, calculate the edge of a wing thickness t 2 of shaped steel.According to the spatial pose relation of second profile 14, the 4th profile 16, the 6th profile 18, the 8th profile 20, the tenth profile the 22, the 12 profile 24, calculate the centre deviation S of shaped steel.
Claims (8)
1. the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors is characterized in that, comprises the steps:
(1) forms multi-linear structured light vision sensors by 1 video camera and multi-thread laser projecting apparatus, and finish the calibration of video camera and multi-linear structured light vision sensors parameter;
(2), lay all around and fixing many multi-linear structured light vision sensors in the same cross section of tested shaped steel according to the multi-linear structured light vision sensors operating distance and the measurement depth of field;
(3) the laying multi-linear structured light vision sensors is carried out overall situation calibration, under local measurement coordinate system unification to the global measuring coordinate system with each multi-linear structured light vision sensors;
(4) computing machine is by the multi-thread laser projecting apparatus in the multi-linear structured light vision sensors controller control multi-linear structured light vision sensors, and the projecting laser striation is to each profile of tested shaped steel;
(5) computing machine is controlled the video camera synchronous acquisition shaped steel surface optical strip image in the multi-linear structured light vision sensors of being laid by the multi-linear structured light vision sensors controller;
(6) computing machine carries out the optical strip image processing, and calculates the spatial pose coordinate of shaped steel surface light bar according to the measurement model of multi-linear structured light vision sensors, and is transformed under the global measuring coordinate system;
(7) can characterize the plane of each profile by the volume coordinate match that projects a plurality of striations on the same profile, and calculate interplanar position orientation relation;
(8), ask for the physical dimension parameter of shaped steel according to interplanar position orientation relation.
2. the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors according to claim 1 is characterized in that the ray that described multi-thread laser projecting apparatus throwed is more than 2 or 2.
3. the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors according to claim 1, it is characterized in that, described multi-thread laser projecting apparatus is the laser projecting apparatus that a projector produces a plurality of incident lines, or the combination of a plurality of independence one word line laser projecting apparatus.
4. the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors according to claim 1 is characterized in that the calibration parameter of the described video camera of step 1 includes: effective focal length, image planes center, distortion factor and scale factor.
5. the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors according to claim 1 is characterized in that the calibration parameter of the described multi-linear structured light vision sensors of step 1 includes: the structured light plane equation.
6. the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors according to claim 1, it is characterized in that, the quantity of the described multi-linear structured light vision sensors of step 2 is to lay according to concrete shaped steel specification demand, promptly, the corresponding one or more profiles of each vision sensor, all profiles will be contained in the sensor measurement visual field of laying.
7. the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors according to claim 1 is characterized in that, it is the extraction of striation centre coordinate that the described optical strip image of step 6 is handled.
8. the shaped steel geometric parameter measurement method based on multi-linear structured light vision sensors according to claim 1 is characterized in that, the physical dimension parameter of the described shaped steel of step 8 comprises: highly, width, web thickness, edge of a wing thickness and centre deviation.
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| CN102798346A (en) * | 2012-07-13 | 2012-11-28 | 天津大学 | Device and method used for on-line optical measurement of two-dimensional large size of roof battenwall material |
| CN104648440A (en) * | 2015-02-13 | 2015-05-27 | 北京交通大学 | Online measurement system and method for geometric parameters of wheel set |
| CN105466356A (en) * | 2015-12-31 | 2016-04-06 | 天津市东方龙光电测控技术有限公司 | Laser graticule four-way measuring structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102798346A (en) * | 2012-07-13 | 2012-11-28 | 天津大学 | Device and method used for on-line optical measurement of two-dimensional large size of roof battenwall material |
| CN102798346B (en) * | 2012-07-13 | 2014-10-15 | 天津大学 | Device and method used for on-line optical measurement of two-dimensional large size of roof battenwall material |
| CN104648440A (en) * | 2015-02-13 | 2015-05-27 | 北京交通大学 | Online measurement system and method for geometric parameters of wheel set |
| CN105466356A (en) * | 2015-12-31 | 2016-04-06 | 天津市东方龙光电测控技术有限公司 | Laser graticule four-way measuring structure |
| CN105783770A (en) * | 2016-01-22 | 2016-07-20 | 西南科技大学 | Method for measuring ice shaped contour based on line structured light |
| CN106403818A (en) * | 2016-09-18 | 2017-02-15 | 天津市友发德众钢管有限公司 | System and method for on-line detection of size parameters of large square tubes of multiple specifications |
| CN110068270A (en) * | 2019-04-18 | 2019-07-30 | 上海拓今智能科技有限公司 | A kind of monocular vision box volume measurement method based on multi-line structured light image recognition |
| CN110068270B (en) * | 2019-04-18 | 2021-04-02 | 上海拓今智能科技有限公司 | Monocular vision box volume measuring method based on multi-line structured light image recognition |
| CN110567345A (en) * | 2019-09-04 | 2019-12-13 | 北京信息科技大学 | Non-contact type pipe wall thickness measuring method and system based on machine vision |
| CN111397528A (en) * | 2020-03-26 | 2020-07-10 | 北京航空航天大学 | Portable train wheel regular section contour structure optical vision measurement system and method |
| CN111397528B (en) * | 2020-03-26 | 2021-03-09 | 北京航空航天大学 | Portable train wheel regular section contour structure optical vision measurement system and method |
| CN113758429A (en) * | 2021-11-08 | 2021-12-07 | 江苏联峰工业装备科技有限公司 | Steel construction production multipotency nature detection device |
| CN113758429B (en) * | 2021-11-08 | 2022-02-08 | 江苏联峰工业装备科技有限公司 | Steel construction production multipotency nature detection device |
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