CN110470241B - System and method for detecting curvature of refractory brick based on structured light vision - Google Patents
System and method for detecting curvature of refractory brick based on structured light vision Download PDFInfo
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Abstract
The invention discloses a refractory brick curvature detection system based on structured light vision, which comprises a detection platform and a vision controller, wherein the detection platform is used for detecting the curvature of a refractory brick; the detection platform is provided with a portal frame and a horizontal conveying device moving forwards and backwards, and the refractory bricks are laterally erected on the horizontal conveying device; the left and right upright posts of the portal frame are respectively provided with a first camera, a second camera, a first laser generator and a second laser generator; the first and second laser generators emit spot laser beams to correspondingly irradiate the left and right side surfaces of the refractory brick; a cantilever beam is arranged on a portal frame beam; a third camera and a third laser generator are arranged on the cantilever beam, and the third laser generator emits a linear laser beam to irradiate the upper side surface of the refractory brick; the first camera, the second camera and the third camera correspondingly acquire image information of the left side surface, the right side surface and the upper side surface of the refractory brick; and respectively sending the acquired image information to a vision controller for processing. The invention also discloses a method for detecting the curvature of the refractory brick based on the structured light vision. The invention can quickly judge whether the bending degree of the refractory brick meets the requirement.
Description
Technical Field
The invention relates to a refractory brick curvature detection system and method, in particular to a refractory brick curvature detection system and method based on structured light vision.
Background
At present, the refractory bricks are generally applied in the petrochemical field of high-temperature operation, the appearance size and the shape are one of key indexes of the quality of the refractory bricks, and the reduction of the defective rate of the large refractory bricks is always a target pursued by enterprises due to the relatively complex manufacturing process of the refractory bricks, particularly the higher cost of the large refractory bricks. The main manufacturing process of the refractory brick comprises the following steps: firstly, pressing special material powder into a primary form by a hydraulic press; secondly, the firebrick prototype is neatly stacked on a large trolley; thirdly, the large trolley and the stacked refractory brick prototype are pushed into a kiln for high-temperature firing; fourthly, cooling the fired refractory bricks to obtain finished products. Because the internal stress has been produced in the pressing process, big platform truck mesa is uneven in addition, and resistant firebrick takes place along length direction's bending deformation very easily at high temperature firing in-process, has special workman master to adopt the method of polishing to eliminate to this kind of problem enterprise, and the size of resistant firebrick through polishing will certainly diminish, and resistant firebrick prototype in addition also can reduce through high temperature firing thickness size, so can suppress the prototype slightly bigger than the finished product brick when suppressing resistant firebrick prototype. The worker needs to select the bent refractory bricks from the fired refractory bricks, and the bent bricks are divided into bricks which can be polished and repaired and directly scrapped. Then, a worker needs to analyze the bricks capable of being polished and repaired and judge the polishing amount to be removed. Because the weight of the large-scale refractory brick is very heavy, the working strength of a master worker is high, the efficiency is low, and enterprises pay very large labor cost while reducing the defective rate. In order to solve the technical problem, the patent provides a method for measuring the curvature of a refractory brick based on structured light vision, the method can be applied to an automatic production line of the refractory brick, the degree of curvature is rapidly measured, the polishing amount required to be carried out is calculated, and whether the size requirement of a finished brick can be met by the rest part is judged. The method is simple, convenient and quick, and reduces the error rate.
Disclosure of Invention
The invention provides a simple and quick firebrick curvature detection system and method based on structured light vision for solving the technical problems in the prior art.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: a firebrick curvature detection system based on structured light vision comprises a detection platform and a vision controller; the detection platform is provided with a portal frame and a horizontal conveying device moving back and forth, and the refractory brick to be detected is laterally erected on the horizontal conveying device; a first camera and a first laser generator are arranged on a left upright post of the portal frame; a second camera and a second laser generator are arranged on the right upright post of the portal frame; the first laser generator and the second laser generator emit point-shaped laser beams which are respectively and correspondingly irradiated on the left side surface and the right side surface of the refractory brick; a cantilever beam is arranged on a cross beam of the portal frame; a third camera and a third laser generator are arranged on the cantilever beam, and the third laser generator emits a linear laser beam to irradiate the upper side surface of the refractory brick; the first camera, the second camera and the third camera respectively and correspondingly acquire image information of the left side surface, the right side surface and the upper side surface of the refractory brick; and respectively sending the acquired image information to the vision controller for processing.
Furthermore, the detection platform is also provided with two photoelectric sensors for detecting the positions of the refractory bricks, namely a first photoelectric sensor and a second photoelectric sensor; the first photoelectric sensor detects the detection starting position of the refractory brick; the second photoelectric sensor detects the detection termination position of the firebrick.
Further, the horizontal transfer device includes: the servo motor drives the belt to operate, and the servo driver drives the servo motor to work.
Further, the horizontal transfer device includes: the linear platform comprises a linear guide rail and a ball screw pair, a servo motor driving the ball screw pair to operate and a servo driver driving the servo motor to work.
The invention also provides a method for detecting the curvature of the refractory brick based on structured light vision, which comprises the following steps: vertically placing the refractory brick to be tested on a horizontal conveying device which moves back and forth, and enabling the length direction of the refractory brick to be parallel to the moving direction of the horizontal conveying device; the horizontal conveying device is operated, and two laser generators are adopted to respectively emit point-shaped laser beams to irradiate the left side surface and the right side surface of the refractory brick; emitting a linear laser beam by a laser generator to irradiate the upper side surface of the refractory brick; correspondingly acquiring image information of the left side surface, the right side surface and the upper side surface of the refractory brick by adopting three cameras respectively; and respectively sending the acquired image information to the vision controller for processing.
Furthermore, two photoelectric sensors for detecting the positions of the refractory bricks are arranged, namely a first photoelectric sensor and a second photoelectric sensor; wherein the first photoelectric sensor detects the detection initial position of the refractory brick; the second photoelectric sensor detects the detection end position of the firebrick.
Furthermore, the horizontal conveying device adopts a servo driver to drive a servo motor, and the servo motor drives the refractory bricks to horizontally move back and forth.
Further, starting the horizontal conveying device to enable the refractory brick to be detected to move forwards, when the front edge of the refractory brick moves to the position of the first photoelectric sensor, sending a signal to the servo controller by the first photoelectric sensor, sending pulse signals to the three cameras by the servo controller, and triggering the cameras to shoot; when the front edge of the refractory brick moves to the position of the second photoelectric sensor, the second photoelectric sensor sends a signal to the servo controller, and the servo controller stops sending pulse signals to the three cameras.
Further, the camera corresponding to the image information of the upper side surface of the refractory brick is triggered at least twice during the period that the servo controller sends a pulse signal to the camera.
Further, three cameras which correspondingly acquire image information of the left side surface, the right side surface and the upper side surface of the refractory brick are named as a first camera, a second camera and a third camera respectively; the specific steps of the vision controller for processing the signals collected by the three cameras are as follows:
The invention has the advantages and positive effects that: according to the structural light vision principle, whether the bent refractory bricks can be polished and repaired can be quickly judged by matching with automatic production. And rapidly judging whether manual repair can be performed or not by utilizing the calculated curvature and combining with the actual thickness size. The time is saved, the production efficiency is improved, the labor intensity of workers is reduced, and the automation level of an automatic production line is improved.
Drawings
FIG. 1 is a schematic structural diagram of a fire brick tortuosity detection system based on structured light vision according to the present invention;
FIG. 2 is a schematic diagram of the working principle of the method for detecting the curvature of the refractory brick based on the structured light vision;
FIG. 3 is a schematic diagram of the coordinate position of a light spot of a laser beam irradiated on the surface of a refractory brick collected by a first camera;
FIG. 4 is a schematic diagram of the coordinate position of a light spot of a laser beam irradiated on the surface of a refractory brick collected by a second camera;
FIG. 5 is a first image of a wordline beam impinging on the surface of a refractory brick captured by a third camera;
FIG. 6 is an image of a word line laser beam irradiated onto the surface of the refractory brick collected by the third camera for the second time;
FIG. 7 is a schematic diagram illustrating the principle of the present invention for determining whether a refractory brick meets the thickness requirement.
In the figure: 1. a cantilever beam; 2. a third laser generator; 3. a third camera; 4. a cross beam; 5. a second camera; 6. a right upright post; 7. a belt; 8. a first photosensor; 9. a first laser generator; 10. a first camera; 11. a second laser generator; 12. a second photosensor; 13. a servo motor; 14. a refractory brick.
Detailed Description
For further understanding of the contents, features and effects of the present invention, the following embodiments are enumerated in conjunction with the accompanying drawings, and the following detailed description is given:
referring to fig. 1 to 7, a system for detecting curvature of refractory brick based on structured light vision includes a detection platform and a vision controller; the detection platform is provided with a portal frame and a horizontal conveying device moving back and forth, and the refractory brick 14 to be detected is laterally erected on the horizontal conveying device; a left upright post of the portal frame is provided with a first camera 10 and a first laser generator 9; a right upright post 6 of the portal frame is provided with a second camera 5 and a second laser generator 11; the first laser generator 9 and the second laser generator 11 emit point-shaped laser beams to correspondingly irradiate the left side surface and the right side surface of the refractory brick 14 respectively; a cantilever beam 1 is arranged on a cross beam 4 of the portal frame; a third camera 3 and a third laser generator 2 are arranged on the cantilever beam 1, and the third laser generator 2 emits a linear laser beam to irradiate the upper side surface of the refractory brick 14; the first camera 10, the second camera 5 and the third camera 3 respectively and correspondingly acquire image information of the left side surface, the right side surface and the upper side surface of the firebrick 14; and respectively sending the acquired image information to the vision controller for processing. The first laser generator 9 and the second laser generator 11 are point lasers, and the third laser generator 2 is a line laser. The first camera 10 and the second camera 5 may be symmetrically disposed left and right, and the first laser generator 9 and the second laser generator 11 may be symmetrically disposed left and right. As shown in fig. 7, the short sides of the upper and lower surfaces of the firebrick 14 are long as the thickness of the firebrick 14, and the long sides are long as the length of the firebrick 14; when the firebrick 14 to be measured is positioned on the side, the lower surface of the firebrick 14 is in contact with the horizontal transfer surface of the horizontal conveyor; the long edge placing direction of the lower surface is the same as the advancing direction of the horizontal conveying device. That is, both side surfaces of the refractory bricks 14 having the largest area are perpendicular to the horizontal transfer surface of the horizontal transfer device and parallel to the traveling direction of the horizontal transfer device.
The vision controller can adopt a commercially available vision controller in the prior art, and the vision controller is a CV-X480F or an XG-X2800 vision controller of the Kenzhi company. The first camera 10, the second camera 5 and the third camera 3 can be industrial cameras CA-H035M manufactured by Kenzhi, the first laser generator 9 and the second laser generator 1211 can be spot lasers ZLM25AD650-12GD manufactured by Shenzhen Zhongsheng science and technology Limited, and the third laser generator 2 can be line lasers ZLM25AL650-12GD manufactured by Shenzhen Zhongsheng science and technology Limited.
The structure of the horizontal conveying device can be as follows:
the first method comprises the following steps: the horizontal transfer device may include: the belt conveyor comprises a belt 7, a servo motor 13 driving the belt 7 to operate and a servo driver driving the servo motor 13 to work.
And the second method comprises the following steps: the horizontal transfer device may include: the linear platform comprises a linear guide rail and a ball screw pair, a servo motor 13 driving the ball screw pair to operate and a servo driver driving the servo motor 13 to work.
The structure of the horizontal conveying device can also be other structures, such as a structure adopting a synchronous belt and a guide rail linear transmission auxiliary phase structure, a linear motor and the like.
The detection platform can also be provided with two photoelectric sensors for detecting the position of the refractory brick 14, namely a first photoelectric sensor 8 and a second photoelectric sensor 12; the first photoelectric sensor 8 detects the detection start position of the firebrick 14; the second photoelectric sensor detects the detection end position of the firebrick 14. The mounting position of the first photosensor 8 and the mounting position of the second photosensor are shown in fig. 1.
The invention also provides an embodiment of a method for detecting the curvature of the refractory brick based on structured light vision, which comprises the following steps: vertically placing the refractory brick 14 to be tested on a horizontal conveying device which moves forwards and backwards, and enabling the length direction of the refractory brick 14 to be parallel to the moving direction of the horizontal conveying device; the horizontal conveying device is operated, and two laser generators are adopted to respectively emit point-shaped laser beams to irradiate the left side surface and the right side surface of the refractory brick 14; a laser generator is adopted to emit a linear laser beam to irradiate the upper side surface of the refractory brick 14; correspondingly acquiring image information of the left side surface, the right side surface and the upper side surface of the refractory brick 14 by using three cameras respectively; and respectively sending the acquired image information to the vision controller for processing.
The horizontal conveying device can adopt a servo driver to drive a servo motor 13, and the servo motor 13 drives a refractory brick 14 to horizontally move back and forth through a transmission structure such as a platform formed by a belt 7, a ball screw and a guide rail.
During detection, the horizontal conveying device can be started to enable the refractory brick 14 to be detected to move forwards, when the front side edge of the refractory brick 14 moves to the position of the first photoelectric sensor 8, the first photoelectric sensor 8 can send a signal to the servo controller, and the servo controller can send a pulse signal to the three cameras to trigger the cameras to shoot; when the front edge of the firebrick 14 moves to the second photosensor position, the second photosensor 12 can send a signal to the servo controller, and the servo controller can stop sending pulse signals to the three cameras.
The camera corresponding to the image information on the upper side of the firebrick 14 may be triggered at least twice during the time that the servo controller sends a pulse signal to the camera. Can be triggered to take a picture at least twice to acquire the upper side image information.
Further, three cameras corresponding to the image information of the left side, the right side and the upper side of the firebrick 14 may be named as a first camera 10, a second camera 5 and a third camera 3, respectively; the specific steps of the vision controller processing the signals acquired by the three cameras may be:
The working principle of the invention is described below in connection with a preferred embodiment of a structured light vision based firebrick curvature detection system of the invention:
the invention relates to a refractory brick curvature detection system based on structured light vision, which adopts the principle of structured light vision and adopts three cameras, three laser generators and a set of horizontal conveying device. The device comprises a detection platform and a visual controller; the detection platform is provided with a portal frame and a horizontal conveying device moving back and forth, the large-sized refractory bricks 14 can be bent along the length direction, and the refractory bricks 14 to be detected are laterally erected on the horizontal conveying device; a left upright post of the portal frame is provided with a first camera 10 and a first laser generator 9; a right upright post 6 of the portal frame is provided with a second camera 5 and a second laser generator 11; the first laser generator 9 and the second laser generator 11 emit point-shaped laser beams to correspondingly irradiate the left side surface and the right side surface of the refractory brick 14 respectively; a cantilever beam 1 is arranged on a cross beam 4 of the portal frame; a third camera 3 and a third laser generator 2 are arranged on the cantilever beam 1, and the third laser generator 2 emits a linear laser beam to irradiate the upper side surface of the refractory brick 14; the first camera 10, the second camera 5 and the third camera 3 respectively and correspondingly acquire image information of the left side surface, the right side surface and the upper side surface of the firebrick 14; and respectively sending the acquired image information to the vision controller for processing. Said first laser generator 9 and said second laser generator are point lasers; the third laser generator 2 is a line laser. The first camera 10 and the second camera 5 may be disposed in bilateral symmetry, and the first laser generator 9 and the second laser generator 11 may be disposed in bilateral symmetry.
The third laser generator 2 emits a linear laser beam to be irradiated onto the upper side of the refractory bricks 14, and the third camera 3 collects image information of the upper side of the refractory bricks 14, so that the actual thickness of the refractory bricks 14 after firing can be measured.
Thus, two cameras and two point lasers are respectively arranged on the left and right upright posts 6 of the portal frame and used for measuring the corresponding bending degree. The horizontal conveyor may comprise a belt 7 driven by a servo motor 13, and is used for driving the refractory bricks 14 to accurately run in the running direction of the belt 7. When the first photoelectric sensor 8 is shielded by the front edge of the firebrick 14, the detection signal is sent to the servoAnd the driver and the servo motor 13 send a pulse to the three cameras every time the servo controller rotates for a certain angle, and the pulse is used for triggering the first camera 10, the second camera 5 and the third camera 3 to take a picture. When the second photoelectric sensor detects the front side edge of the refractory brick, a detection signal is sent out and sent to the servo driver, and the servo controller stops sending pulse signals to the three cameras. The rotation angle a of the servo motor 13 can be freely set, and the frequency of the pulse transmitted to the outside by the corresponding servo controller is changed. The coordinate system O-XYZ of the whole measuring apparatus is shown in FIG. 1. When the servo motor 13 rotates a certain angle and the servo controller sends out a pulse outwards, the third camera 3 is triggered to take two pictures, the captured images are shown in fig. 5 and 6, and X is calculated1X2And X3X4The average length of (2) is calculated as the average thickness H of the refractory brick 141. When the servo motor 13 rotates a certain angle and the servo controller sends out a pulse outwards, the first camera 10 and the second camera 5 are triggered to take pictures, coordinates of laser irradiation points at the moment of shooting of the two cameras are triggered to be shown in fig. 3 and 4, and the shooting times of the first camera 10 and the second camera 5 need to be set in the vision controller.
With the system, a preferred embodiment of the method for detecting the curvature of the refractory brick 14 based on the structured light vision of the invention is as follows:
step a, when the firebricks 14 run on the belt 7 and the first photoelectric sensor 8 sends a signal to the servo controller to start sending out pulses at a certain frequency, each time the pulse is sent out, the first camera 10 and the second camera 5 are triggered to take a picture, wherein the third camera 3 is triggered to take a picture twice in all the sent pulses. All pictures taken by the first camera 10, the second camera 5, the third camera 3 are saved in the vision controller. When the first camera 10, the second camera 5 and the third camera 3 capture the set number of times, the reception of the external trigger signal is stopped, and when the second photoelectric sensor sends a signal, the servo controller also stops sending the pulse to the outside.
Step b, the vision controller inputs two pictures shot by the third camera 3Out of X1X2And X3X4And calculating the average value H1. While the vision controller extracts the points E from the pictures taken by the first camera 10 and the second camera 5iAnd point Fi(wherein i ═ 1, 2, 3 · · n) image coordinate data (X)di,Ydi)。
Step c, according to point EiAnd point FiThe image coordinate system data of (2) is subjected to coordinate transformation. Will (X)di,Ydi) Conversion of coordinate data into coordinate data of world coordinate system, e.g. Ei(XwEi,YwEi,ZwEi) And Fi(XwFi,YwFi,ZwFi) Then, the coordinate value after coordinate transformation is vertically projected downwards to obtain ei(Xwei,YweiM) and fi(Xwfi,YwfiM), where m is a constant.
D, setting the light spots collected by the first camera as E1Dots, E2Dots, E3Point … EnPoints are obtained by vertically and downwards projecting and corresponding to the points to obtain e1Points, e2Points, e3Point … enPoint; let a straight line Y pass through e1Points, enPoints, the equation of a straight line is: k is1x+b1(ii) a According to e1Points, enFinding k from the coordinates of the points1、b1A value of (d); setting the light spots collected by the second camera as F1Dot, F2Dot, F3Point … FnPoints are obtained by vertically and downwards projecting and corresponding the points to obtain f1Point, f2Point, f3Point … fnPoint; let straight line R pass f1Point, fnPoints, the equation of a straight line is: k is2x+b2(ii) a According to f1Point, fnFinding k from the coordinates of the points2、b2A value of (d);
step e, then according to the distance formula from the point to the straight line
All coordinate points e are calculatedi(wherein i is 2, 3,4. n-1) to the line Y2＝max{d2,…dn-1}; in the same way according to the formula
All coordinate points f are calculatedi(wherein i ═ 2, 3, 4. cndot. n-1) maximum distance H to straight line R3＝max{d2,…dn-1}。
Step f, finally judging that H is H1-H2-H3And if the requirement is met, an OK signal is given, and if the requirement is met, an NG signal is given.
Thus, according to the structured light laser vision principle, the pixel coordinate (X) of a certain laser spotd,Yd) Is converted into coordinates (X) in a world coordinate systemw,Yw,Zw) And then projected vertically downward as coordinates (X)w,Yw)，ZwM, where m is a constant. According to the formula y ═ k1x+b1And e1、enCoordinate calculating equation of straight line Y, and similarly obtaining formula Y ═ k2x+b2And f1、fnAnd solving a linear equation R. Then according to the formula
Calculate ei(wherein i ═ 2, 3, 4. cndot. n-1) to the line Y2And according to a formula
Calculate fi(wherein i ═ 2, 3, 4. cndot. n-1) maximum distance H to straight line R3. Finally, judging that H is H1-H2-H3And if the requirement is met, an OK signal is given, and if the requirement is met, an NG signal is given.
The first camera 10, the second camera 5, the third camera 3, the first laser generator 9, the second laser generator 1211, the third laser generator 2, the vision controller, the servo motor 13, the servo driver and other components can be commercially available products. The specific circuit connection and control method can be realized by adopting the circuit connection and the conventional control method of the conventional technical means according to the product specification.
The above-mentioned embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to carry out the same, and the present invention shall not be limited to the embodiments, i.e. the equivalent changes or modifications made within the spirit of the present invention shall fall within the scope of the present invention.
Claims (5)
1. A firebrick curvature detection method based on structured light vision is characterized in that a firebrick to be detected is vertically placed on a horizontal conveying device which moves back and forth, and the length direction of the firebrick is parallel to the moving direction of the horizontal conveying device; the horizontal conveying device is operated, and two laser generators are adopted to respectively emit point-shaped laser beams to irradiate the left side surface and the right side surface of the refractory brick; emitting a linear laser beam by a laser generator to irradiate the upper side surface of the refractory brick; correspondingly acquiring image information of the left side surface, the right side surface and the upper side surface of the refractory brick by adopting three cameras respectively; respectively sending the acquired image information to the visual controller for processing; the three cameras which correspondingly acquire the image information of the left side surface, the right side surface and the upper side surface of the refractory brick are named as a first camera, a second camera and a third camera respectively; the specific steps of the vision controller for processing the signals collected by the three cameras are as follows:
step 1, inputting image signals which are shot and collected by a third camera in sequence by a vision controller, calculating the average thickness value of the upper side surface, and setting the average thickness value as H1；
Step 2, respectively extracting coordinate data of light spots of the laser beams irradiated on the surfaces of the refractory bricks from image signals collected by the first camera and the second camera by the vision controller; converting the extracted coordinates of the light spots into coordinates of a world coordinate system by using coordinates of a coordinate system with the center of the camera as an origin;
step 3, setting the light spots collected by the first camera as E1Dots, E2Dots, E3Point … EnPoint out, willThe vertical downward projection of the point is corresponding to obtain e1Points, e2Points, e3Point … enPoint; let a straight line Y pass through e1Points, enPoints, the equation of a straight line is: k is1x+b1(ii) a According to e1Points, enFinding k from the coordinates of the points1、b1A value of (d); setting the light spots collected by the second camera as F1Dot, F2Dot, F3Point … FnPoints are obtained by vertically and downwards projecting and corresponding the points to obtain f1Point, f2Point, f3Point … fnPoint; let straight line R pass f1Point, fnPoints, the equation of a straight line is: k is2x+b2(ii) a According to f1Point, fnFinding k from the coordinates of the points2、b2A value of (d);
step 4, calculating e according to a distance formula from the point to the straight line2Points, e3Point … en-1The maximum distance of the point from the straight line Y is set as H2(ii) a Calculating f2Point, f3Point … fn-1The maximum distance of the point from the straight line R is set as H3；
Step 5, judging that H is H1-H2-H3And if the thickness requirement is met, outputting a qualified signal, otherwise, outputting a bad signal.
2. The method for detecting the curvature of the refractory brick based on the structured light vision is characterized in that two photoelectric sensors for detecting the position of the refractory brick are arranged, wherein the two photoelectric sensors are a first photoelectric sensor and a second photoelectric sensor respectively; wherein the first photoelectric sensor detects the detection initial position of the refractory brick; the second photoelectric sensor detects the detection end position of the firebrick.
3. The method for detecting the curvature of the refractory brick based on the structured light vision as claimed in claim 2, wherein the horizontal conveying device adopts a servo driver to drive a servo motor, and the servo motor drives the refractory brick to horizontally move back and forth.
4. The method for detecting the curvature of the refractory brick based on the structured light vision as claimed in claim 3, wherein the horizontal conveying device is started to move the refractory brick to be detected forward, when the front edge of the refractory brick moves to the position of the first photoelectric sensor, the first photoelectric sensor sends a signal to the servo controller, and the servo controller sends pulse signals to the three cameras to trigger the cameras to shoot; when the front edge of the refractory brick moves to the position of the second photoelectric sensor, the second photoelectric sensor sends a signal to the servo controller, and the servo controller stops sending pulse signals to the three cameras.
5. The method for detecting the curvature of the refractory brick based on the structured light vision is characterized in that a camera corresponding to the camera for acquiring the image information of the upper side of the refractory brick is triggered at least twice during the period that the servo controller sends a pulse signal to the camera.
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| CN109540037A (en) * | 2019-01-25 | 2019-03-29 | 吉林大学 | Rail vehicle axle head grounding device abrasion loss orthogonal formula detection system |
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2019
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