CN104236480B - A kind of line-structured light machine vision hexagonal steel billet contour outline measuring set and method - Google Patents
A kind of line-structured light machine vision hexagonal steel billet contour outline measuring set and method Download PDFInfo
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- CN104236480B CN104236480B CN201410487468.8A CN201410487468A CN104236480B CN 104236480 B CN104236480 B CN 104236480B CN 201410487468 A CN201410487468 A CN 201410487468A CN 104236480 B CN104236480 B CN 104236480B
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Abstract
The invention discloses a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set and method, the present invention by capture hexagonal steel billet contour images, to capture hexagonal steel billet contour images carry out image procossing, to carrying out image procossing after hexagonal steel billet contour images information carry out Hough transformation with detect hexagonal steel billet straightway, calculate hexagonal steel billet profile parameters information, so as to easy capture hexagonal steel billet integrity profile image, the profile parameters of the measurement hexagonal steel billet of precise and high efficiency, and with good robustness.
Description
Technical field
The invention belongs to electronic information technical field, more particularly to machine vision technique, particularly a kind of cable architecture ray machine
Device vision hexagonal steel billet contour outline measuring set and method.
Background technology
In or so eighties of last century eighties, iron and steel enterprise of the developed country such as America and Europe is had begun to be engaged in and is existed based on machine vision
The research of line detecting system, successively puts into huge fund development and is based on computer machine vision on-line detecting system equipment.It is international at present
Mainly there are U.S. OG Technologies and Germany Siemens in the industrial detection leading company that in the market engages in machine vision
VAI Metals Technologies companies, this two company is in China hot-rolled steel online detection instrument occupation rate more than 80%.
OG Technologies companies of the U.S. are released since eighties of last century the mid-90 and are set based on machine vision crackle on-line checking
Standby, the internal system is mainly using the orientation covering of three cameras or four camera full views.This image acquisition mode can reach
Without dead angle, without leak source detection.But because using vertical direct-view pattern, HotEye systems can only do crack detection, it is impossible to steel billet
Profile is measured, and unitary function is a little expensive for the dynamic then price of millions of dollar.
German Siemens VAI Metals Technologies companies mainly develop DEVICE FOR BAR AND WIRE HOT ROLLING size and dimension and exist
Line profile testing equipment, SIROLL Orbis calibrate instrument system for its is leading, and the system is mainly carried out to the profiled outline of round steel
Measurement, highest measurement speed has reached 100m/s and disclosure satisfy that the line production requirement high of most of bars.SIROLL Orbis are calibrated
The principle that instrument is used is CCD receivers-LED background light sources-projection and magnification method.Optical system uses LED bulb as light source, leads to
Crossing compound lens produces directional light to be irradiated on hot rolling steel billet, and by another set lens focus on ccd video camera, utilizes
CAT5 netting twines are data transfer to computer, then calculate shade width, that is, obtain steel billet some overall size parameter.Whole
Individual system operation, optical system is constantly rotating relative to steel billet, so as to obtain the integrity profile of steel billet, measures former by it
Knowable to reason, the detection of round steel is only applicable to, for profile irons such as hexagonal steels, can not complete imaging.
Hexagonal steel is a kind of profile iron, is divided into upright and two kinds of biographies of level on a moving belt due to steel billet in actual production
Send state the additional presence for the factor such as rocking, its each side position and angle can be caused constantly to change, this is just to profile parameters
Measurement brings very big difficulty.
The content of the invention
The technical problems to be solved by the invention be directed to hexagonal steel billet profile complete imaging present in prior art and
Parameter measurement difficulty is big, measurement cost is high problem provide a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set and
Method.
The present invention solve its technical problem use technical scheme be：A kind of line-structured light machine vision hexagonal steel billet profile
Measurement apparatus, including steel billet conveying trough, three laser line generators, three industry cameras；The steel billet conveying trough is treated for placement
The hexagonal steel billet of measurement；Three laser line generators are generally aligned in the same plane, and three laser line generators are defeated positioned at steel billet conveying trough respectively
Enter left and right, the lower end at end, an annular laser section is formed for producing stable line-structured light, and projecting billet surface
Rim(ming) light band；Three industry cameras are located at left and right, the upper end of steel billet conveying trough output end respectively, for capturing steel billet
Light belt image.
Further, using 120 ° of angle distributions, each laser line generator is from steel billet during measurement for three laser line generators
Median plane is equidistant, it is ensured that the even variation such as laser band of projection.
Further, the industry camera, is realized using CCD.
Present invention also offers a kind of line-structured light machine vision hexagonal steel billet contour measuring method, comprise the following steps：
Step 1, capture hexagonal steel billet contour images；
Step 2, the hexagonal steel billet contour images to capturing carry out image procossing；
Step 3, carry out Hough transformation to carrying out the hexagonal steel billet contour images information after image procossing, detect hexagonal steel billet
Straightway；
Step 4, calculating hexagonal steel billet profile parameters information, parameter information is opposite side distance information.
Further, hexagonal steel billet contour images are captured in the step 1 and specifically includes following steps：
Step 1, the line-structured light using the three laser line generators generation stabilization being generally aligned in the same plane, and project hexagonal steel
Base surface forms a laser profiled outline light belt of annular；
Step 2, light belt is captured respectively by three ccd video cameras of computer controls；
Step 3, the interface carried using ccd video camera, the three width hexagonal steel billet contour images that derivation is captured.
Further, image procossing is carried out to the hexagonal steel billet contour images for capturing in the step 2, is specifically included following
Step：
Step 1, the three width hexagonal steel billet contour images captured to three ccd video cameras are removed light belt shadow respectively
Ring；
Step 2, on removal light belt influence 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, to carry out the image after image binaryzation carry out cross filtering go flash removed and expansion process；
Step 5, the image filtered after removing flash removed and expansion process to carrying out cross carry out image restoring treatment；
Step 6, the three width images after above step is processed are carried out with image co-registration, generate hexagonal steel billet profile diagram
Picture；
Step 7, the hexagonal steel billet contour images to generating carry out mean filter treatment, refined image；
Step 8, the hexagonal steel billet contour images for obtaining complete single pixel.
Further, carry out Hough transformation in the step 3 to image, detect hexagonal steel billet straightway, specifically include with
Lower step：
Step 1, carry out Hough transformation to carrying out the hexagonal steel billet contour images after image procossing, obtain hexagonal steel billet profile
The some beginning and ends of line segment, and with point (x, y) store coordinate line segment, wherein x be line segment under rectangular coordinate system
Abscissa, y is ordinate of the line segment under rectangular coordinate system；
Step 2, obtain the slope k of straight line where each line segment, inclination angle, the parameter b of line correspondence equation y=kx+b and each
The length of line segment；
Step 3, each line segment is converted to vector, and corrects the angle of each vector to 0 °~180 °；
Step 4, the vector that will be obtained in step 3 are traveled through, and find out the parallel opposite side of hexagonal steel, and are saved in three respectively
In individual container；
Step 5, by three containers of step 4 preserve parallel opposite side separated, the opposite side after separation is respectively put into
In the other three container, six containers for preserving opposite side are ultimately formed；
In step 6, six containers of screening in each container length straightway most long as hexagonal steel six sides.
Further, hexagonal steel base profile parameters information is calculated in the step 4, although the upright hexagonal steel billet of hexagonal steel point
With horizontal hexagonal steel billet two ways, but computational methods are identical, and computational methods are：Take different according to the difference of vertical line equation
Computational methods, the midpoint A for crossing a line of hexagonal steel makees vertical line, and vertical line meets at point B, obtains the distance between point AB just with opposite side
It is the opposite side distance of hexagonal steel billet；The opposite side distance of the hexagonal steel billet of upright and horizontal two ways can be tried to achieve according to the method, i.e.,
Obtain hexagonal steel billet profile parameters information.
Beneficial effects of the present invention：A kind of line-structured light machine vision hexagonal steel billet contour outline measuring set of the present invention and side
Method, by using laser line generator, regulation two-dimensional stage makes that lasing area is coplanar to project billet surface, and one is formed in billet surface
Loop laser profiled outline light belt, using three video cameras, obtains light belt image, is sent to calculating steel billet profile letter in computer
Breath, captures hexagonal steel billet integrity profile image, then become by carrying out image procossing, Hough to the hexagonal steel billet contour images for capturing
Change, detect hexagonal steel billet straightway, so as to calculate hexagonal steel billet profile parameters information, capture hexagonal steel billet that can be easy is completely taken turns
The profile parameters of wide image, the measurement hexagonal steel billet of precise and high efficiency, and with good robustness, in addition apparatus of the present invention letter
Folk prescription method is easily achieved, with it is good operational while can greatly reduce hexagonal steel billet profile measurement cost.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of line-structured light machine vision hexagonal steel billet contour outline measuring set of the embodiment of the present invention.
Fig. 2 is a kind of flow chart of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention.
Fig. 3 is a kind of image procossing of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
Flow chart.
Fig. 4 is a kind of detection hexagonal of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
Steel billet straightway flow chart.
Fig. 5 is not thin for a kind of measurement of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
State hexagonal steel billet profile diagram (left side) of change and state hexagonal steel billet profile diagram (right side) of refinement.
Fig. 6 is a kind of acquisition list picture of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
Profile diagram after element, is divided into horizontality (left side) and erectility (right side).
Fig. 7 is a kind of Hough transformation of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
The hexagonal steel profile line chart for directly obtaining.
Fig. 8 is a kind of adjustment vector of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
0 °~180 ° figures of orientation angle scope.
Fig. 9 is most long straight for a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
Line segment as hexagonal steel six edge graphs.
Figure 10 is upright the six of a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
Angle steel base profile diagram.
Figure 11 is a kind of level six of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
Angle steel base profile diagram.
Figure 12 is a kind of measurement six of line-structured light machine vision hexagonal steel billet contour measuring method of the embodiment of the present invention
Angle steel base profile parameters hum pattern.
Specific embodiment
Embodiments of the invention are further described below in conjunction with the accompanying drawings.
It is as shown in Figure 1 a kind of original of line-structured light machine vision hexagonal steel billet contour outline measuring set of the embodiment of the present invention
Reason figure.As shown in figure 4, a kind of line-structured light machine vision hexagonal steel billet contour outline measuring set, is swashed by steel billet conveying trough, three lines
Light device, three ccd video cameras are constituted, wherein three laser line generators are generally aligned in the same plane, are distributed using 120 ° of angles, every during measurement
One laser line generator is equidistant from steel billet median plane, it is ensured that the even variation such as laser band of projection；The other three ccd video camera point
Not Wei Yu steel billet conveying trough output end left and right, upper end, the light belt image for capturing steel billet.
A kind of flow of the 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 figure, line-structured light machine vision hexagonal steel billet contour measuring method of the invention includes step：Capture hexagonal steel billet profile diagram
Picture, the hexagonal steel billet contour images to capturing carry out image procossing, believe carrying out the hexagonal steel billet contour images after image procossing
Breath carries out Hough transformation to detect hexagonal steel billet straightway, calculate hexagonal steel billet profile parameters information, four steps.
The line-structured light of stabilization is produced first with three laser line generators being generally aligned in the same plane, and projects hexagonal steel billet
The laser profiled outline light belt that surface forms annular captures light belt respectively by three ccd video cameras of computer controls again,
The interface carried furthermore with ccd video camera, the three width hexagonal steel billet contour images that derivation is captured.Then carry out at image
Reason, as shown in figure 3, the three width hexagonal steel billet contour images that three ccd video cameras are captured be removed respectively light belt influence,
Periphery denoising and mean filter smooth boundary, image binaryzation, cross are filtered and gone at flash removed and expansion process, image restoring
Reason, image co-registration generation hexagonal steel billet contour images, then to generate hexagonal steel billet contour images carry out mean filter treatment, carefully
Change image, as shown in figure 5, the hexagonal steel billet contour images of complete single pixel are finally obtained, as shown in Figure 6.Again by such as Fig. 4
Shown flow, Hough transformation detection hexagonal steel billet straightway is carried out most to carrying out the hexagonal steel billet contour images after image procossing
Straightway most long is obtained eventually as six sides of hexagonal steel, is concretely comprised the following steps：
Step 1, carry out Hough transformation to carrying out the hexagonal steel billet contour images after image procossing, obtain hexagonal steel billet profile
The some beginning and ends of line segment, and with point (x, y) store coordinate line segment, wherein x be line segment under rectangular coordinate system
Abscissa, y is ordinate of the line segment under rectangular coordinate system, as shown in Figure 7；
Step 2, obtain the slope k of straight line where each line segment, inclination angle, the parameter b of line correspondence equation y=kx+b and each
The length of line segment；
Step 3, each line segment is converted to vector, and corrects the angle of each vector to 0 °~180 °, as shown in Figure 8；
Step 4, the vector that will be obtained in step 3 are traveled through, and find out the parallel opposite side of hexagonal steel, and are saved in three respectively
In individual container；
Step 5, by three containers of step 4 preserve parallel opposite side separated, the opposite side after separation is respectively put into
In the other three container, six containers for preserving opposite side are ultimately formed；
Length straightway most long, as six sides of hexagonal steel, is such as schemed in each container in step 6, six containers of screening
Shown in 9.
The last difference according to vertical line equation takes different computational methods, and the midpoint A for crossing a line of hexagonal steel hangs down
Line, vertical line meets at point B with opposite side, and it is just the opposite side distance of hexagonal steel billet to obtain the distance between point AB；Can be asked according to the method
Uprightly with the opposite side distance of the hexagonal steel billet of horizontal two ways, that is, obtain hexagonal steel billet profile parameters information, such as Figure 10, Figure 11
It is shown.
As seen from Figure 12, a kind of line-structured light machine vision hexagonal steel billet contour measuring method of the invention, can be accurate
The efficient profile and parameter for measuring hexagonal steel billet, and with good robustness.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can according to these technical inspirations disclosed by the invention make it is various do not depart from essence of the invention other are each
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (4)
1. a kind of line-structured light machine vision hexagonal steel billet contour measuring method, it is characterised in that specifically include following steps：
Step 1, capture hexagonal steel billet contour images；
Step 2, the hexagonal steel billet contour images to capturing carry out image procossing；
Step 3, carry out Hough transformation to carrying out the hexagonal steel billet contour images information after image procossing, detect hexagonal steel billet straight line
Section；The step specifically includes following steps：
Step 31, carry out Hough transformation to carrying out the hexagonal steel billet contour images after image procossing, obtain hexagonal steel billet profile
The some beginning and ends of line segment, and coordinate line segment is stored with point (x, y), wherein x is horizontal stroke of the line segment under rectangular coordinate system
Coordinate, y is ordinate of the line segment under rectangular coordinate system；
Step 32, the slope k, inclination angle, the parameter b and each line of line correspondence equation y=kx+b that obtain straight line where each line segment
The length of section；
Step 33, each line segment is converted to vector, and corrects the angle of each vector to 0 °~180 °；
Step 34, the vector that will be obtained in step 33 are traveled through, and find out the parallel opposite side of hexagonal steel, and are saved in three respectively
In container；
Step 35, by three containers of step 34 preserve parallel opposite side separated, the opposite side after separation is respectively put into separately
In outer three containers, six containers for preserving opposite side are ultimately formed；
In step 36, six containers of screening in each container length straightway most long as hexagonal steel six sides；
Step 4, calculating hexagonal steel billet profile parameters information, parameter information is opposite side distance information.
2. a kind of line-structured light machine vision hexagonal steel billet contour measuring method as claimed in claim 1, it is characterised in that institute
Capture hexagonal steel billet contour images specifically include following steps in stating step 1：
Step 1, the line-structured light using the three laser line generators generation stabilization being generally aligned in the same plane, and project hexagonal steel billet table
Face forms a laser profiled outline light belt of annular；
Step 2, light belt is captured respectively by three ccd video cameras of computer controls；
Step 3, the interface carried using ccd video camera, the three width hexagonal steel billet contour images that derivation is captured.
3. a kind of line-structured light machine vision hexagonal steel billet contour measuring method as claimed in claim 1, it is characterised in that institute
Stating the hexagonal steel billet contour images in step 2 to capturing carries out image procossing, specifically includes following steps：
Step 1, the three width hexagonal steel billet contour images captured on three ccd video cameras are removed light belt influence respectively；
Step 2, on removal light belt influence 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, to carry out the image after image binaryzation carry out cross filtering go flash removed and expansion process；
Step 5, the image filtered after removing flash removed and expansion process to carrying out cross carry out image restoring treatment；
Step 6, the three width images after above step is processed are carried out with image co-registration, generate hexagonal steel billet contour images；
Step 7, the hexagonal steel billet contour images to generating carry out mean filter treatment, refined image；
Step 8, the hexagonal steel billet contour images for obtaining complete single pixel.
4. a kind of line-structured light machine vision hexagonal steel billet contour measuring method as claimed in claim 1, it is characterised in that institute
State calculating hexagonal steel base profile parameters information in step 4, although hexagonal steel is divided to two kinds of upright hexagonal steel billet and horizontal hexagonal steel billet
Mode, but computational methods are identical, and computational methods are：Different computational methods are taken according to the difference of vertical line equation, hexagonal steel is crossed
The midpoint A of a line make vertical line, vertical line meets at point B with opposite side, and it is just the opposite side of hexagonal steel billet to obtain the distance between point AB
Away from；The opposite side distance of the hexagonal steel billet of upright and horizontal two ways can be tried to achieve according to the method, that is, obtains hexagonal steel billet profile
Parameter information.
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