CN104236480A - Line-structured light machine vision hexagonal billet steel profile measuring device and method - Google Patents
Line-structured light machine vision hexagonal billet steel profile measuring device and method Download PDFInfo
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Abstract
The invention discloses a line-structured light machine vision hexagonal billet steel profile measuring device and method. According to the device and method, hexagonal billet steel profile images are captured, image processing is carried out on the captured hexagonal billet steel profile images, Hough transformation is carried out on the information of the hexagonal billet steel profile images subjected to image processing so that the linear segments of hexagonal billet steel can be detected and the profile parameter information of the hexagonal billet can be calculated. Therefore, the complete profile images of the hexagonal billet steel can be captured conveniently and easily, the profile parameters of the hexagonal billet steel are measured accurately and efficiently, and robustness is good.
Description
Technical field
The invention belongs to electronic information technical field, particularly relate to machine vision technique, particularly a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set and method.
Background technology
About eighties of last century eighties, the American-European iron and steel enterprise of developed country that waits has taken to research based on machine vision on-line detecting system, successively drops into huge fund and develops based on computer machine vision on-line detecting system equipment.The industrial detection leading company current international market being engaged in machine vision mainly contains U.S. OG Technologies and German Siemens VAI Metals Technologies company, and this two company is in China's hot-rolled steel online detection instrument occupation rate more than 80%.OG Technologies company of the U.S. releases based on machine vision crackle online detection instrument from eighties of last century the mid-90, and this internal system mainly adopts the orientation of three cameras or four camera full views to cover.This image acquisition mode can reach without dead angle, detects without leak source.But owing to adopting vertical direct-view pattern, HotEye system can only do crack detection, cannot measure steel billet profile, function singleness relative to dynamic then millions of dollar price a little expensive.
Siemens VAI Metals Technologies company of Germany mainly develops the online contour detecting equipment of DEVICE FOR BAR AND WIRE HOT ROLLING size and dimension, SIROLL Orbis is its leading caliper system, this system is mainly measured the profiled outline of round steel, and highest measurement speed reaches 100m/s can meet the production requirement of most of bar height line.The principle that SIROLL Orbis caliper adopts is CCD receiver-LED background light source-projection and magnification method.Optical system uses LED bulb as light source, producing directional light by compound lens is irradiated on hot rolling steel billet, and through other one group of lens focus on ccd video camera, utilize CAT5 netting twine that data are transferred to computing machine, calculate shade width again, namely obtain the some overall size parameters of steel billet.At whole system operational process, optical system in continuous rotation, thus obtains the integrity profile of steel billet relative to steel billet, from its measuring principle, is only applicable to the detection of round steel, for profile irons such as hexagonal steels, and can not complete imaging.
Hexagonal steel is a kind of profile iron, because steel billet is divided into the additional existence of the factor such as to rock of upright and level two kinds of delivery statuss on a moving belt in actual production, its position, each limit and angle can be caused constantly to change, and this brings very large difficulty with regard to giving the measurement of profile parameters.
Summary of the invention
Technical matters to be solved by this invention provides a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set and method for the hexagonal steel billet profile complete imaging existed in prior art and parameter measurement difficulty problem that is large, that measure cost high.
The technical scheme that the present invention solves the employing of its technical matters is: a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set, comprises steel billet conveying trough, three laser line generators, three industrial cameras; Described steel billet conveying trough is for placing hexagonal steel billet to be measured; Described three laser line generators are positioned at same plane, and three laser line generators lay respectively at left and right, the lower end of steel billet conveying trough input end, for generation of stable line-structured light, and project billet surface formed annular a laser profiled outline light belt; Described three industrial cameras lay respectively at left and right, the upper end of steel billet conveying trough output terminal, for catching the light belt image of steel billet.
Further, described three laser line generators adopt 120 ° of angle distributions, and during measurement, each laser line generator is equidistant from steel billet central plane, ensures the even variation such as the laser band of projection.
Further, described industrial camera, adopts CCD to realize.
Present invention also offers a kind of line-structured light machine vision hexagonal steel billet contour measuring method, comprise the steps:
Step 1, catch hexagonal steel billet contour images;
Step 2, image procossing is carried out to the hexagonal steel billet contour images of catching;
Step 3, carrying out Hough transformation to carrying out the hexagonal steel billet contour images information after image procossing, detecting hexagonal steel billet straight-line segment;
Step 4, calculating hexagonal steel billet profile parameters information, parameter information and opposite side distance information.
Further, catch hexagonal steel billet contour images in described step 1 specifically to comprise the following steps:
Step 1, utilization are positioned at conplane three laser line generators and produce stable line-structured light, and project the laser profiled outline light belt that hexagonal billet surface forms annular;
Step 2, control three ccd video cameras by computing machine and catch light belt respectively;
Step 3, the interface utilizing ccd video camera to carry, derive the three width hexagonal steel billet contour images captured.
Further, in described step 2, image procossing is carried out to the hexagonal steel billet contour images of catching, specifically comprises the following steps:
Step 1, the three width hexagonal steel billet contour images captured three ccd video cameras carry out the impact of removal light belt respectively;
Step 2, on remove light belt impact after image carry out periphery denoising and mean filter smooth boundary;
Step 3, image binaryzation is carried out to the image after carrying out periphery denoising and mean filter smooth boundary;
Step 4, the image carried out after image binaryzation carried out to cross filtering and remove burr and expansion process;
Step 5, to carry out cross filtering remove burr and expansion process after image carry out image restoring process;
Step 6, image co-registration is carried out to three width images after above step process, generate hexagonal steel billet contour images;
Step 7, to generate hexagonal steel billet contour images carry out mean filter process, refined image;
Step 8, obtain the hexagonal steel billet contour images of complete single pixel.
Further, in described step 3, Hough transformation is carried out to image, detects hexagonal steel billet straight-line segment, specifically comprise the following steps:
Step 1, carry out Hough transformation to carrying out the hexagonal steel billet contour images after image procossing, obtain starting point and the terminal of some line segments of hexagonal steel billet profile, and with point (x, y) storing coordinate line segment, wherein x is the horizontal ordinate of line segment under rectangular coordinate system, and y is the ordinate of line segment under rectangular coordinate system;
Step 2, the slope k obtaining each line segment place straight line, inclination angle, the parameter b of line correspondence equation y=kx+b and the length of each line segment;
Step 3, each line segment is converted to vector, and the angle revising each vector is to 0 ° ~ 180 °;
Step 4, the vector obtained in step 3 to be traveled through, find out the parallel opposite side of hexagonal steel, and be saved in three containers respectively;
Step 5, the parallel opposite side preserved in step 4 three containers being separated, the opposite side after being separated is put into other three containers respectively, finally forming six for preserving the container of opposite side;
The straight-line segment that in step 6, screening six containers, in each container, length is the longest is as six limits of hexagonal steel.
Further, hexagonal steel base profile parameters information is calculated in described step 4, although hexagonal steel divides upright hexagonal steel billet and horizontal hexagonal steel billet two kinds of modes, but computing method are identical, computing method are: the difference according to vertical line equation takes different computing method, the mid point A crossing a limit of hexagonal steel makes vertical line, and vertical line and opposite side meet at a B, and the distance obtained between an AB is just the opposite side distance of hexagonal steel billet; Can try to achieve uprightly and the opposite side distance of the hexagonal steel billet of level two kinds of modes according to the method, namely obtain hexagonal steel billet profile parameters information.
Beneficial effect of the present invention: a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set of the present invention and method, by adopting laser line generator, lasing area is coplanar projects billet surface to regulate two-dimensional stage to make, a loop laser profiled outline light belt is formed at billet surface, utilize three video cameras, obtain light belt image, be sent in computing machine and calculate steel billet profile information, catch hexagonal steel billet integrity profile image, again by carrying out image procossing to the hexagonal steel billet contour images of catching, Hough transformation, detect hexagonal steel billet straight-line segment, thus calculate hexagonal steel billet profile parameters information, can be easy catch hexagonal steel billet integrity profile image, the profile parameters of the measurement hexagonal steel billet of precise and high efficiency, and there is good robustness, apparatus of the present invention straightforward procedure is easy to realize in addition, hexagonal steel billet profile measurement cost can be reduced greatly while there is good operability.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set of the embodiment of the present invention.
Fig. 2 is the process flow diagram of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Fig. 3 is the image processing flow figure of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Fig. 4 is the detection hexagonal steel billet straight-line segment process flow diagram of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Fig. 5 is state hexagonal steel billet profile diagram (left side) of the non-refinement of measurement and state hexagonal steel billet profile diagram (right side) of refinement of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Fig. 6 is the profile diagram after the acquisition list pixel of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention, is divided into horizontality (left side) and erectility (right side).
Fig. 7 is the hexagonal steel profile line chart that the Hough transformation of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention directly obtains.
Fig. 8 is adjustment vector direction angular range 0 ° ~ 180 ° figure of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Fig. 9 is six edge graphs of the longest straight-line segment as hexagonal steel of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Figure 10 is the upright hexagonal steel billet profile diagram of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Figure 11 is the horizontal hexagonal steel billet profile diagram of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Figure 12 is the measurement hexagonal steel billet profile parameters hum pattern of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are further described.
Be illustrated in figure 1 the schematic diagram of a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set of the embodiment of the present invention.As shown in Figure 4, a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set, be made up of steel billet conveying trough, three laser line generators, three ccd video cameras, wherein three laser line generators are positioned at same plane, adopt 120 ° of angle distributions, during measurement, each laser line generator is equidistant from steel billet central plane, can ensure the even variation such as the laser band projected; Other three ccd video cameras lay respectively at left and right, the upper end of steel billet conveying trough output terminal, for catching the light belt image of steel billet.
The process flow diagram of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention as shown in Figure 2, a kind of line-structured light machine vision of the present invention hexagonal steel billet contour measuring method comprises step: catch hexagonal steel billet contour images, the hexagonal steel billet contour images of catching carried out to image procossing, the hexagonal steel billet contour images information after image procossing of carrying out carried out to Hough transformation to detect hexagonal steel billet straight-line segment, to calculate hexagonal steel billet profile parameters information, four steps.
First utilize and be positioned at conplane three laser line generators and produce stable line-structured light, and project the laser profiled outline light belt that hexagonal billet surface forms annular and control three ccd video cameras by computing machine again and catch light belt respectively, utilize the interface that ccd video camera carries in addition, derive the three width hexagonal steel billet contour images captured.Then image procossing is carried out, as shown in Figure 3, the three width hexagonal steel billet contour images captured three ccd video cameras carry out the impact of removal light belt respectively, burr is removed in periphery denoising and mean filter smooth boundary, image binaryzation, cross filtering and expansion process, image restoring process, image co-registration generate hexagonal steel billet contour images, again mean filter process is carried out to the hexagonal steel billet contour images generated, refined image, as shown in Figure 5, the hexagonal steel billet contour images of single pixel that final acquisition is complete, as shown in Figure 6.Again by flow process as shown in Figure 4, carry out Hough transformation to the hexagonal steel billet contour images after carrying out image procossing and detect hexagonal steel billet straight-line segment and finally obtain six limits of the longest straight-line segment as hexagonal steel, concrete steps are:
Step 1, carry out Hough transformation to carrying out the hexagonal steel billet contour images after image procossing, obtain starting point and the terminal of some line segments of hexagonal steel billet profile, and with point (x, y) storing coordinate line segment, wherein x is the horizontal ordinate of line segment under rectangular coordinate system, y is the ordinate of line segment under rectangular coordinate system, as shown in Figure 7;
Step 2, the slope k obtaining each line segment place straight line, inclination angle, the parameter b of line correspondence equation y=kx+b and the length of each line segment;
Step 3, each line segment is converted to vector, and the angle revising each vector is to 0 ° ~ 180 °, as shown in Figure 8;
Step 4, the vector obtained in step 3 to be traveled through, find out the parallel opposite side of hexagonal steel, and be saved in three containers respectively;
Step 5, the parallel opposite side preserved in step 4 three containers being separated, the opposite side after being separated is put into other three containers respectively, finally forming six for preserving the container of opposite side;
The straight-line segment that in step 6, screening six containers, length is the longest in each container as six limits of hexagonal steel, as shown in Figure 9.
The last difference according to vertical line equation takes different computing method, and the mid point A crossing a limit of hexagonal steel makes vertical line, and vertical line and opposite side meet at a B, and the distance obtained between an AB is just the opposite side distance of hexagonal steel billet; Can try to achieve uprightly and the opposite side distance of the hexagonal steel billet of level two kinds of modes according to the method, namely obtain hexagonal steel billet profile parameters information, as shown in Figure 10, Figure 11.
As seen from Figure 12, a kind of line-structured light machine vision of the present invention hexagonal steel billet contour measuring method, can the profile measuring hexagonal steel billet of precise and high efficiency and parameter, and has good robustness.
Those of ordinary skill in the art will appreciate that, embodiment described here is to help reader understanding's principle of the present invention, should be understood to that protection scope of the present invention is not limited to so special statement and embodiment.Those of ordinary skill in the art can make various other various concrete distortion and combination of not departing from essence of the present invention according to these technology enlightenment disclosed by the invention, and these distortion and combination are still in protection scope of the present invention.
Claims (8)
1. a line-structured light machine vision hexagonal steel billet contour outline measuring set, is characterized in that, comprises steel billet conveying trough, three laser line generators, three industrial cameras; Described steel billet conveying trough is for placing hexagonal steel billet to be measured; Described three laser line generators are positioned at same plane, and three laser line generators lay respectively at left and right, the lower end of steel billet conveying trough input end, for generation of stable line-structured light, and project billet surface formed annular a laser profiled outline light belt; Described three industrial cameras lay respectively at left and right, the upper end of steel billet conveying trough output terminal, for catching the light belt image of steel billet.
2. a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set as claimed in claim 1, it is characterized in that described three laser line generators adopt 120 ° of angle distributions, during measurement, each laser line generator is equidistant from steel billet central plane, ensures the even variation such as the laser band of projection.
3. a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set as claimed in claim 1, is characterized in that described industrial camera, adopts CCD to realize.
4. a line-structured light machine vision hexagonal steel billet contour measuring method, is characterized in that, specifically comprise the steps:
Step 1, catch hexagonal steel billet contour images;
Step 2, image procossing is carried out to the hexagonal steel billet contour images of catching;
Step 3, carrying out Hough transformation to carrying out the hexagonal steel billet contour images information after image procossing, detecting hexagonal steel billet straight-line segment;
Step 4, calculating hexagonal steel billet profile parameters information, parameter information and opposite side distance information.
5. a kind of line-structured light machine vision hexagonal steel billet contour measuring method as claimed in claim 4, is characterized in that, catch hexagonal steel billet contour images and specifically comprise the following steps in described step 1:
Step 1, utilization are positioned at conplane three laser line generators and produce stable line-structured light, and project the laser profiled outline light belt that hexagonal billet surface forms annular;
Step 2, control three ccd video cameras by computing machine and catch light belt respectively;
Step 3, the interface utilizing ccd video camera to carry, derive the three width hexagonal steel billet contour images captured.
6. a kind of line-structured light machine vision hexagonal steel billet contour measuring method as claimed in claim 4, is characterized in that, carry out image procossing, specifically comprise the following steps in described step 2 to the hexagonal steel billet contour images of catching:
Step 1, the three width hexagonal steel billet contour images captured three ccd video cameras carry out the impact of removal light belt respectively;
Step 2, on remove light belt impact after image carry out periphery denoising and mean filter smooth boundary;
Step 3, image binaryzation is carried out to the image after carrying out periphery denoising and mean filter smooth boundary;
Step 4, the image carried out after image binaryzation carried out to cross filtering and remove burr and expansion process;
Step 5, to carry out cross filtering remove burr and expansion process after image carry out image restoring process;
Step 6, image co-registration is carried out to three width images after above step process, generate hexagonal steel billet contour images;
Step 7, to generate hexagonal steel billet contour images carry out mean filter process, refined image;
Step 8, obtain the hexagonal steel billet contour images of complete single pixel.
7. a kind of line-structured light machine vision hexagonal steel billet contour measuring method as claimed in claim 4, is characterized in that, carry out Hough transformation in described step 3 to image, detects hexagonal steel billet straight-line segment, specifically comprises the following steps:
Step 1, carry out Hough transformation to carrying out the hexagonal steel billet contour images after image procossing, obtain starting point and the terminal of some line segments of hexagonal steel billet profile, and with point (x, y) storing coordinate line segment, wherein x is the horizontal ordinate of line segment under rectangular coordinate system, and y is the ordinate of line segment under rectangular coordinate system;
Step 2, the slope k obtaining each line segment place straight line, inclination angle, the parameter b of line correspondence equation y=kx+b and the length of each line segment;
Step 3, each line segment is converted to vector, and the angle revising each vector is to 0 ° ~ 180 °;
Step 4, the vector obtained in step 3 to be traveled through, find out the parallel opposite side of hexagonal steel, and be saved in three containers respectively;
Step 5, the parallel opposite side preserved in step 4 three containers being separated, the opposite side after being separated is put into other three containers respectively, finally forming six for preserving the container of opposite side;
The straight-line segment that in step 6, screening six containers, in each container, length is the longest is as six limits of hexagonal steel.
8. a kind of line-structured light machine vision hexagonal steel billet contour measuring method as claimed in claim 4, it is characterized in that, hexagonal steel base profile parameters information is calculated in described step 4, although hexagonal steel divides upright hexagonal steel billet and horizontal hexagonal steel billet two kinds of modes, but computing method are identical, computing method are: the difference according to vertical line equation takes different computing method, the mid point A crossing a limit of hexagonal steel makes vertical line, vertical line and opposite side meet at a B, and the distance obtained between an AB is just the opposite side distance of hexagonal steel billet; Can try to achieve uprightly and the opposite side distance of the hexagonal steel billet of level two kinds of modes according to the method, namely obtain hexagonal steel billet profile parameters information.
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| CN109870464A (en) * | 2019-03-19 | 2019-06-11 | 陕西三星洁净工程有限公司 | Rod-like articles surface defects detection system and method based on machine vision |
| CN112146591A (en) * | 2020-09-21 | 2020-12-29 | 北京运达华开科技有限公司 | Pantograph slide plate abrasion detection method and system |
| CN112146591B (en) * | 2020-09-21 | 2021-04-23 | 北京运达华开科技有限公司 | Pantograph slide plate abrasion detection method and system |
| CN117086118A (en) * | 2023-08-11 | 2023-11-21 | 索罗曼(广州)新材料有限公司 | Automatic detection device and method for titanium flat strip hot rolling process |
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