CN111207695A - Hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light - Google Patents
Hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light Download PDFInfo
- Publication number
- CN111207695A CN111207695A CN202010038079.2A CN202010038079A CN111207695A CN 111207695 A CN111207695 A CN 111207695A CN 202010038079 A CN202010038079 A CN 202010038079A CN 111207695 A CN111207695 A CN 111207695A
- Authority
- CN
- China
- Prior art keywords
- strip steel
- laser
- end part
- line
- hot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/028—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring lateral position of a boundary of the object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
Abstract
The invention belongs to the field of machine vision, and particularly relates to a hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light. The method mainly adopts a double-line structured light method to carry out three-dimensional profile measurement on the shape of the end part of the strip steel running at a high speed of 120m/min on a hot rolling production line, and comprises the following operation steps: 1) building a system; 2) calibrating a camera; 3) calibrating a light plane; 4) solving three-dimensional space coordinates; 5) picture collection and pretreatment; 6) processing the light bar image; 7) establishing a triangular relation; 8) and (5) three-dimensional reconstruction to obtain a three-dimensional point cloud picture of the strip steel. The strip steel end shape is obtained and the strip steel width is calculated by projecting double-line structured light to a strip steel end plane, detecting the intersection point of the structured light and the strip steel edge through image processing, and converting the point from a two-dimensional coordinate system to a three-dimensional coordinate system according to the structured light triangulation theory.
Description
Technical Field
The invention belongs to the field of machine vision, and particularly relates to a hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light.
Background
In the hot rolling production process, after a hot rolling strip steel billet is rolled by a rough rolling mill set, the head and the tail of the strip steel are easy to deform and extend due to uneven pressure generated by the rough rolling mill on the strip steel, and in order to ensure the stability of subsequent production, the head and the tail of the strip steel need to be cut off before entering a finishing mill set.
Because the environment of a hot-rolled strip steel production line is severe, in the hot-rolled optimized shearing process, the traditional strip steel end shape detection is performed by using an off-line and manual method, the sampling time of the sampling is long, the labor intensity of workers is high, the measurement information cannot correspond to the production state in time, the state of the production line cannot be reflected in real time, the closed-loop control of production cannot be effectively realized, the effective operation rate of a rolling mill is reduced, and the rejection rate of strip steel is increased. Aiming at the severe environment and the detection uncertainty, a machine vision-based detection method is gradually provided in recent years, and a vision system for detecting the shape of the end part of the strip steel on line and in real time is provided so as to improve the product quality in the production process of the strip steel, ensure the production of the strip steel with high quality and high added value, and have important significance for the optimized shearing of the strip steel.
In the aspects of the prior papers and patents, the prior art has the following detection schemes for the shape of the end part of the strip steel: people of the university of China science university Shizhong Qiang and the like adopt an area array camera to detect the shape of the end part of the strip steel; obtaining the shape of the head of the plate blank by a linear array camera for Liwaijie of Beijing university of science and technology, and obtaining a mathematical expression of the shape of the edge of the head of the plate blank by linear regression; the Fuxin et al of Zhejiang university adopts image enhancement and segmentation technology to extract characteristic parameters of the strip steel head and tail image, such as eccentricity, number of crossing points, width gradient and the like, and processes the characteristic parameters through a neural network; the patent 'an online vision measuring device of hot rolling strip steel tip shape' adopts binocular vision to measure the strip steel tip shape. The method only uses monocular vision or binocular vision to detect the strip steel end, and cannot measure the strip steel width under the conditions of thickness change, vibration and inclination, so as to obtain complete three-dimensional information of the strip steel end shape. The patent 'a hot rolling strip three-line structured light machine vision width measuring method' adopts the method of binocular vision combining three-line structured light to measure the strip steel width, but to the edge that has the fillet, the edge point in the binocular camera is unmatched, and the error influence that produces the width measurement is great. The patent 'a three-dimensional profile scanning device and method of double line laser' introduces a three-dimensional profile scanning method for smooth metal surfaces, which adopts two laser light bars which are not parallel to each other for detection, and respectively adopts the two laser light bars for three-dimensional modeling, and then carries out comparison and two times of result point cloud fusion.
The method applies the structured light contour implementation measurement technology to the field of optimized shearing, and overcomes the interference of the traditional two-dimensional image contour extraction method on three-dimensional variables such as thickness change, jumping, rotation and the like on contour measurement; compared with other profile measuring methods, the method can measure the width of the bending section of the strip steel, and is more accurate in measuring the width of the plate surface with the fillet.
Disclosure of Invention
Aiming at the technical problems, the invention provides a hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light, which combines the double-line structured light and monocular vision methods to measure the three-dimensional contour of the strip steel end, has the characteristics of high measuring speed and non-contact type, can be used in a severe environment, and realizes the three-dimensional contour measurement of the shape of the hot-rolled strip steel end which runs at a high speed of 120m/min on a production line.
The invention is realized by the following technical scheme:
the method is based on a measuring method of double-line structured light monocular vision, and can realize the measurement of the three-dimensional profile shape of the strip steel end and obtain the strip steel end width under the condition of not contacting the strip steel end by utilizing the laser triangulation principle.
Further, the method comprises the steps of:
(1) constructing a measuring system: 1 CCD area-array camera and a double-line laser projector are arranged at the end part of the strip steel; the double-line laser projector is used for emitting two parallel lasers to the surface of the end part of the strip steel, two laser light bars are formed on the surface of the end part of the strip steel after two laser planes are projected to the surface of the end part of the strip steel, the two laser light bars are modulated due to the change of the depth of the surface of the end part of the strip steel, and the CCD area array camera collects images containing the laser light bars from the other position;
(2) calibrating a camera: calibrating the CCD area-array camera by using the acquired image to obtain internal parameters and external parameters of the camera;
(3) light plane calibration: calibrating a laser plane by using the collected image containing the laser light bar and camera parameters (including camera internal parameters and external parameters) to obtain light plane parameters of the double-line structured light;
(4) solving three-dimensional space coordinates: obtaining a conversion relation between a pixel coordinate system and a camera coordinate system according to the internal parameters and the external parameters of the camera and the light plane parameters of the double-line structured light obtained in the step (2) and the step (3), and deducing a three-dimensional profile measurement model of the end part of the hot-rolled strip steel;
(5) picture acquisition and pretreatment: after collecting the image containing the laser light stripe on the surface of the end part of the strip steel to be detected, carrying out binarization on the collected image containing the laser light stripe, then adopting Gaussian filtering to reduce noise, and finally carrying out strip steel edge extraction;
(6) processing the light bar image: fitting the central coordinates of the laser light bars;
(7) establishing a triangular relation: establishing a triangular relation among the CCD area-array camera, the twin-line laser projector and the strip steel to be detected;
(8) three-dimensional reconstruction: and calculating the space pose coordinates of the laser light stripes on the surface of the end part of the hot-rolled strip steel according to the three-dimensional profile measurement model of the end part of the hot-rolled strip steel, converting the space pose coordinates into a global measurement coordinate system to obtain a three-dimensional point cloud picture of the end part of the strip steel, performing three-dimensional reconstruction on the basis, measuring the width of the strip steel, and finally obtaining the three-dimensional profile of the end part of the hot-rolled strip steel and the width of the.
Further, the twin line laser projector is a combination of 2 independent inline lasers.
Further, the color of the laser projected by the twin-line laser projector is green in consideration of the color of the hot-rolled strip steel, so that the interference of the color of the hot-rolled strip steel on the laser lines is reduced.
Further, the 2 independent linear lasers are arranged in parallel and are perpendicular to the surface of the strip steel to be detected.
Furthermore, the CCD area-array camera is arranged above the strip steel production line in an inclined mode, and an included angle of 30-60 degrees is formed between the CCD area-array camera and a laser line emitted by the twin-line laser projector.
Further, in the step (2), the internal parameters of the CCD area-array camera include an internal parameter matrix and a distortion coefficient, and the external parameters include rotation matrix and translation matrix parameters.
Further, in the step (6), the coordinates of the center of the laser light stripe are fitted, specifically, the coordinates of the center of the stripe are obtained by adopting gaussian curve fitting.
Further, in the step (7), based on a laser measurement principle, according to a pinhole camera model and a projection theory, the three-dimensional profile measurement model of the end of the hot-rolled strip steel is as follows:
in the formula: rho is a scale factor of the CCD area-array camera, K is an internal parameter matrix of the CCD area-array camera, R is a rotation matrix, T is a translation matrix, (X)w,Yw,Zw) Is the coordinates under the camera coordinate system, and (u, v) is the coordinates under the image pixel coordinate system; a is1，b1，c1，d1Plane equation coefficient of laser plane emitted for a linear laser2，b2，c2，d2Is the plane equation coefficient of the laser plane emitted by another linear laser.
Further, in the step (8), two laser light bar linear equations are established according to the pixel coordinates of the two laser light bars, the intersection point of the two laser light bar linear equations and the two light plane equations is solved, the strip steel end shape three-dimensional coordinates in the camera coordinate system are obtained, the three-dimensional profile information obtained by scanning the two laser lines is compared and analyzed, the data of the same profile are aligned, interference points are removed through comparison, and the real strip steel end three-dimensional profile information is obtained.
Further, when the tested plate surface of the hot-rolled strip steel vibrates up and down, inclines and buckles the plate surface, the laser line correspondingly generates displacement, rotation and bending, the coordinate of the laser line in a three-dimensional space is restored, and the width of the plate surface to be tested is obtained by calculating the curve length of the laser line.
The invention has the beneficial technical effects that:
the hot-rolled strip steel end three-dimensional contour measuring method based on the double-line structured light overcomes the technical problems of low strip steel end shape detection speed, low efficiency and insufficient precision in the prior art, can eliminate the measuring error caused by the adverse effects of three-dimensional changes of strip steel thickness, bending, jumping, rotation and the like on width and contour measurement and the like in the hot rolling production process by reducing the coordinates of the laser line in a three-dimensional space, can greatly improve the measuring precision, ensures the validity of the measuring result, meets the real-time requirement, and has lower algorithm complexity.
By combining the method for detecting the shape of the end part of the strip steel, the method provided by the invention can realize the online, real-time, automatic and non-contact measurement of the profile of the end part of the strip steel, is favorable for forming closed-loop control of production and measurement, has high measurement speed, can be used in a severe environment, has higher measurement precision and simple equipment, can improve the production efficiency and the product quality, effectively reduces the labor intensity of workers, and meets the requirements of the strip steel rolling process.
Drawings
FIG. 1 is a schematic diagram of a system for measuring the profile of the end of a hot rolled strip with a double line structured light according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of laser triangulation in an embodiment of the invention.
FIG. 3 is a flowchart of a method for measuring an end profile of a hot rolled strip according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
The embodiment of the invention provides a hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light, and FIG. 1 is a measuring schematic diagram of the method, as shown in FIG. 1, after two laser planes are projected onto the surface of an object by projecting double-line structured light to a strip steel end plane, a laser light bar is formed on the surface of the object, the two light bars are modulated due to the change of the depth of the surface of the object, and an image containing the laser light bar is collected from the other position by a camera. The intersection point of the structured light and the strip steel edge is detected through image processing, the point is converted from a two-dimensional coordinate system to a three-dimensional coordinate system according to a structured light triangulation theory, three-dimensional information on a modulation image light bar can be obtained through calibration of camera parameters and laser plane parameters, and further the strip steel end shape can be obtained and the strip steel width can be calculated. The method has low algorithm complexity, can eliminate the adverse effect of three-dimensional changes such as the thickness, the bending, the jumping, the rotation and the like of the rolled piece on the width and the contour measurement, and meets the real-time requirement.
In this embodiment, the method specifically includes the following steps:
(1) constructing a measuring system: 1 CCD area-array camera and a double-line laser projector are arranged at the end part of the strip steel; the double-line laser projector is used for emitting two parallel lasers to the surface of the end part of the strip steel; specifically, the twin-line laser projector is a combination of 2 independent linear lasers, and the 2 independent linear lasers are arranged in parallel and are perpendicular to the surface of the strip steel to be detected; the laser projectors are arranged in parallel and emit two parallel lasers to the surface of the strip steel, after two laser planes are projected to the surface of the end part of the strip steel, two laser light bars are formed on the surface of the end part of the strip steel, the two laser light bars are modulated due to the change of the depth of the surface of the end part of the strip steel, and the CCD area array camera collects images containing the laser light bars from the other position; during measurement, the CCD area-array camera is arranged above the strip steel production line in an inclined mode, an included angle of 30-60 degrees is formed between the CCD area-array camera and a laser line emitted by the twin-line laser projector for image acquisition, and the CCD area-array camera is a monocular vision system.
(2) Calibrating a camera: calibrating a CCD area-array camera by using the acquired image, specifically, calibrating by using a Zhang Zhen camera calibration method to obtain internal parameters and external parameters of the camera, wherein the internal parameters comprise an internal parameter matrix and a distortion coefficient, and the external parameters comprise a rotation matrix and a translation matrix parameter; the relation between the world coordinate system and the camera coordinate system, and the relation between the camera coordinate system and the pixel coordinate system can be known from the parameters of the camera.
(3) Light plane calibration: calibrating a laser plane by utilizing the collected image containing the laser light bars and camera parameters (including camera internal parameters and external parameters) to obtain light plane parameters of the double-line structured light;
(4) solving three-dimensional space coordinates: obtaining a conversion relation between a pixel coordinate system and a camera coordinate system according to the internal parameters and the external parameters of the camera and the light plane parameters of the double-line structured light obtained in the step (2) and the step (3), and deducing a three-dimensional profile measurement model of the end part of the hot-rolled strip steel;
(5) picture acquisition and pretreatment: after collecting the image containing the laser light stripe on the surface of the end part of the strip steel to be detected, carrying out binarization on the collected image containing the laser light stripe, then adopting Gaussian filtering to reduce noise, and finally carrying out strip steel edge extraction; in the actual measurement process, the image information is affected by the surrounding environment, so that the image needs to be preprocessed to eliminate noise;
(6) processing the light bar image: the laser light bar center extraction algorithm mainly comprises a threshold value method, an extreme value method, a gravity center method, a curve fitting method and the like, wherein a Gaussian curve is adopted to fit the laser light bar center coordinates in the embodiment;
(7) establishing a triangular relation: establishing a triangular relation among the CCD area-array camera, the twin-line laser projector and the strip steel to be detected; specifically, an integral model of the two-line structured light measurement system is established by adopting a laser triangulation principle according to a pinhole camera model and a projection theory.
(8) Three-dimensional reconstruction: and calculating the space pose coordinates of the laser light stripes on the surface of the end part of the hot-rolled strip steel according to the three-dimensional profile measurement model of the end part of the hot-rolled strip steel, converting the space pose coordinates into a global measurement coordinate system to obtain three-dimensional points of the end part of the strip steel, performing three-dimensional reconstruction on the three-dimensional points and measuring the width of the strip steel on the basis, and finally obtaining the three-dimensional profile of the end part of the hot-rolled strip steel.
In this embodiment, the triangulation relationship is established in step (7) by using a laser triangulation method, and fig. 2 is a schematic diagram of laser triangulation, the basic idea of laser triangulation is to provide geometric information in a scene by using geometric information in structured light, and determine three-dimensional information of an object according to the geometric relationship between a camera, the structured light, and the object, according to the geometric relationship in fig. 2, the included angle between the plane of the structured light and the optical axis of the camera is α degrees, and a world coordinate system O is takenw-XwYwZwOrigin O ofwAt the intersection of the camera's optical axis and the structured light plane, XwAxis and YwAxes respectively associated with the camera coordinate system XcAxis and YcAxis parallel, ZwAnd ZcCoinciding but in the opposite direction. O iswAnd OcIs l. The world coordinate system and the camera coordinate system have the following relations:
the image of A is A ', and in the world coordinate system, the equation of OA' is:
in the world coordinate system, the equation for the structured light plane is:
Xw＝Zwtgα (3)
obtaining by solution:
because the rectangular coordinate system O is defined on the digital imagepUv, the coordinates (u, v) of each pixel being the number of columns and rows of the pixel in the image array, respectively, (u, v) being the coordinates of the image point in the digital image coordinate system in pixel units. The physical position of the image point on the image plane, and establishing a two-dimensional coordinate system O of the image plane expressed by physical unitsiXy, the x-axis and y-axis of the coordinate system being parallel to the u-axis and v-axis, respectively, the origin being the intersection of the optical axis of the camera and the image plane, generally centered on the image, but in practical cases having a small offset, at OpCoordinates in-uv are noted as (u)0,v0). Each pixel has a physical dimension S in the directions of the x-axis and the y-axisxAnd SyThen, the coordinates of any one pixel in the image under two coordinate systems are expressed in the form of homogeneous coordinates and a matrix, and have the following relationship:
the inverse relationship is:
the corresponding relation between the world coordinate points of the pixel points can be obtained as follows:
according to the pinhole camera model and the projection theory, the overall model of the two-line structured light measurement system is as follows:
in the formula: rho is a scale factor of the CCD area-array camera, K is an internal parameter matrix of the CCD area-array camera, R is a rotation matrix, T is a translation matrix, (X)w,Yw,Zw) Is the coordinates under the camera coordinate system, and (u, v) is the coordinates under the image pixel coordinate system; a is1，b1，c1，d1Plane equation coefficient of laser plane emitted for a linear laser2，b2，c2，d2Is the plane equation coefficient of the laser plane emitted by another linear laser.
FIG. 3 is an overall flow chart of the method in the embodiment of the invention. When a laser line emitted by a double-line laser emitter is projected on the surface of an object, the laser line is modulated by the shape of the end part of the strip steel, an industrial camera shoots in detail and transmits the shot laser line into a computer, image binaryzation, noise filtering, laser strip center extraction and the like are carried out in the computer through an image processing module, then a double-line structured light model is established according to camera parameters (including internal parameters and external parameters) and light plane parameters obtained through calibration, and three-dimensional point cloud data of the end part of the strip steel is obtained by combining measurement data and the width of the strip steel is measured.
Due to three-dimensional disturbances such as rolled piece thickness variation, bending, jumping, rotation and the like, the measurement of the width and the profile of the end part of the hot-rolled strip steel is adversely affected. The method adopts a three-dimensional profile measurement algorithm to restore the profile after three-dimensional disturbance to a measurement reference surface, and eliminates the influence of three-dimensional disturbance such as the thickness, the jump, the bending, the rotation and the like of a rolled piece. The double-line structured light measurement method adopts a laser triangulation distance measurement principle, two laser lines are projected onto a measured surface, and an area-array camera is adopted to shoot the position and the shape of a laser projection line; for the detected plate surface with up-and-down vibration, inclination, plate surface buckling and edge round angle, the laser line can correspondingly generate displacement, rotation and bending, the coordinate of the laser line in a three-dimensional space is restored, and the width of the plate surface can be obtained by calculating the curve length of the laser line.
Claims (10)
1. A hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light is characterized by comprising the following steps:
(1) constructing a measuring system: 1 CCD area-array camera and a double-line laser projector are arranged at the end part of the strip steel; the double-line laser projector is used for emitting two parallel lasers to the surface of the end part of the strip steel, two laser light bars are formed on the surface of the end part of the strip steel after two laser planes are projected to the surface of the end part of the strip steel, the two laser light bars are modulated due to the change of the depth of the surface of the end part of the strip steel, and the CCD area array camera collects images containing the laser light bars from the other position;
(2) calibrating a camera: calibrating the CCD area-array camera by using the acquired image to obtain internal parameters and external parameters of the camera;
(3) light plane calibration: calibrating a laser plane by using the collected image containing the laser light bars and the camera parameters to obtain light plane parameters of the double-line structured light;
(4) solving three-dimensional space coordinates: obtaining a conversion relation between a pixel coordinate system and a camera coordinate system according to the internal parameters and the external parameters of the camera and the light plane parameters of the double-line structured light obtained in the step (2) and the step (3), and deducing a three-dimensional profile measurement model of the end part of the hot-rolled strip steel;
(5) picture acquisition and pretreatment: after collecting the image containing the laser light stripe on the surface of the end part of the strip steel to be detected, carrying out binarization on the collected image containing the laser light stripe, then adopting Gaussian filtering to reduce noise, and finally carrying out strip steel edge extraction;
(6) processing the light bar image: fitting the central coordinates of the laser light bars;
(7) establishing a triangular relation: establishing a triangular relation among the CCD area-array camera, the twin-line laser projector and the strip steel to be detected;
(8) three-dimensional reconstruction: and calculating the space pose coordinates of the laser light stripes on the surface of the end part of the hot-rolled strip steel according to the three-dimensional profile measurement model of the end part of the hot-rolled strip steel, converting the space pose coordinates into a global measurement coordinate system to obtain a three-dimensional point cloud picture of the end part of the strip steel, performing three-dimensional reconstruction on the basis, measuring the width of the strip steel, and finally obtaining the three-dimensional profile of the end part of the hot-rolled strip steel and the width of the.
2. The method of claim 1, wherein the twin line laser projector is a combination of 2 independent inline lasers.
3. The method as claimed in claim 1 or 2, wherein the color of the laser projected by the twin line laser projector is green.
4. The method for measuring the three-dimensional profile of the end part of the hot-rolled strip steel based on the double-line structured light as claimed in claim 2, wherein the 2 independent linear lasers are arranged in parallel and are perpendicular to the surface of the strip steel to be measured.
5. The method for measuring the three-dimensional profile of the end part of the hot-rolled strip steel based on the double-line structured light as claimed in claim 1, wherein the CCD area-array camera is installed obliquely above a strip steel production line, and an included angle between the CCD area-array camera and a laser line emitted by the double-line laser projector is 30-60 degrees.
6. The method for measuring the three-dimensional profile of the end part of the hot-rolled strip steel based on the double-line structured light as claimed in claim 1, wherein in the step (2), the internal parameters of the CCD area array camera comprise an internal parameter matrix and a distortion coefficient, and the external parameters comprise rotation matrix and translation matrix parameters.
7. The method for measuring the three-dimensional profile of the end part of the hot-rolled strip steel based on the double-line structured light as claimed in claim 1, wherein in the step (6), the coordinates of the center of the laser light bar are fitted, specifically, the coordinates of the center of the stripe are obtained by Gaussian curve fitting.
8. The method for measuring the three-dimensional profile of the end of the hot-rolled strip steel based on the two-line structured light as claimed in claim 1, wherein in the step (7), based on the laser measurement principle, according to the pinhole camera model and the projection theory, the three-dimensional profile measurement model of the end of the hot-rolled strip steel is as follows:
in the formula: rho is a scale factor of the CCD area-array camera, K is an internal parameter matrix of the CCD area-array camera, R is a rotation matrix, T is a translation matrix, (X)w,Yw,Zw) Is the coordinates under the camera coordinate system, and (u, v) is the coordinates under the image pixel coordinate system; a is1，b1，c1，d1Plane equation coefficient of laser plane emitted for a linear laser2，b2，c2，d2Is the plane equation coefficient of the laser plane emitted by another linear laser.
9. The method for measuring the three-dimensional profile of the end part of the hot-rolled strip steel based on the double-line structured light as claimed in claim 1, wherein in the step (8), two laser light bar linear equations are established according to pixel coordinates of two laser light bars, an intersection point of the two laser light bar linear equations and two light plane equations is solved, a three-dimensional profile of the shape of the end part of the strip steel under a camera coordinate system is obtained, three-dimensional profile information obtained by scanning the two laser lines is compared and analyzed, data of the same profile are aligned, interference points are removed through comparison, and real three-dimensional profile information of the end part of the strip steel is obtained.
10. The method for measuring the three-dimensional profile of the end part of the hot-rolled strip steel based on the double-line structured light as claimed in claim 1, is characterized in that when the tested plate surface of the hot-rolled strip steel vibrates up and down, inclines and buckles the plate surface, the laser line correspondingly generates displacement, rotation and bending, the coordinate of the laser line in the three-dimensional space is reduced, and the width of the tested plate surface is obtained by calculating the curve length of the laser line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010038079.2A CN111207695A (en) | 2020-01-14 | 2020-01-14 | Hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010038079.2A CN111207695A (en) | 2020-01-14 | 2020-01-14 | Hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111207695A true CN111207695A (en) | 2020-05-29 |
Family
ID=70789659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010038079.2A Pending CN111207695A (en) | 2020-01-14 | 2020-01-14 | Hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111207695A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111709573A (en) * | 2020-06-15 | 2020-09-25 | 重庆钢铁股份有限公司 | Optimal daughter board planning method and system for hot-cutting and shearing steel plate to be sheared |
| CN112880742A (en) * | 2021-01-24 | 2021-06-01 | 宝钢工程技术集团有限公司 | Multifunctional slab monitor and using method thereof |
| CN112950765A (en) * | 2021-03-08 | 2021-06-11 | 北京理工大学 | Cavity straightness detection method based on point cloud modeling |
| CN113074660A (en) * | 2021-03-26 | 2021-07-06 | 深度光学科技(天津)有限公司 | Surface shape measuring method for large-size transparent object |
| CN113198854A (en) * | 2021-04-23 | 2021-08-03 | 北京科技大学 | Machine vision-based hot-rolled strip steel optimized shearing method |
| CN113219903A (en) * | 2021-05-07 | 2021-08-06 | 东北大学 | Billet optimal shearing control method and device based on depth vision |
| CN113358052A (en) * | 2021-04-09 | 2021-09-07 | 宿迁学院 | Express size measuring device and method |
| CN113379844A (en) * | 2021-05-25 | 2021-09-10 | 成都飞机工业（集团）有限责任公司 | Large-range surface quality detection method for airplane |
| CN113551605A (en) * | 2021-09-22 | 2021-10-26 | 湖南凌翔磁浮科技有限责任公司 | Magnetic suspension track induction plate pin looseness detection device and detection method |
| CN113744242A (en) * | 2021-09-03 | 2021-12-03 | 上海柏楚电子科技股份有限公司 | Plate detection method and device, electronic equipment and storage medium |
| CN113776456A (en) * | 2021-08-31 | 2021-12-10 | 中国铁道科学研究院集团有限公司 | Curve section steel rail outline measurement error correction method and device based on double-line laser |
| CN114061699A (en) * | 2021-10-29 | 2022-02-18 | 中国科学院沈阳自动化研究所 | Metal liquid level measurement system of continuous ingot casting line of non ferrous metal |
| CN114083051A (en) * | 2021-12-01 | 2022-02-25 | 太原科技大学 | Steel plate fixed-length shearing system and method based on line structured light |
| CN114252025A (en) * | 2020-09-20 | 2022-03-29 | 浙江四点灵机器人股份有限公司 | Multi-parallel line laser object three-dimensional contour measuring device and measuring method |
| CN114264243A (en) * | 2021-12-31 | 2022-04-01 | 深圳明锐理想科技有限公司 | Method for detecting crimping welding spots and measuring line arc height between crimping welding spots |
| CN114264253A (en) * | 2021-12-09 | 2022-04-01 | 北京科技大学 | High-temperature object three-dimensional contour non-contact measuring device and measuring method thereof |
| CN114485480A (en) * | 2022-01-19 | 2022-05-13 | 暨南大学 | Linear confocal three-dimensional profile measurement method, system, device and medium |
| CN114522983A (en) * | 2022-02-05 | 2022-05-24 | 上海研视信息科技有限公司 | Belt head guiding and detecting system based on machine vision |
| CN115205466A (en) * | 2022-07-25 | 2022-10-18 | 江苏濠汉信息技术有限公司 | Structured light-based three-dimensional reconstruction method and system for power transmission channel |
| CN115406356A (en) * | 2022-11-02 | 2022-11-29 | 湖南科天健光电技术有限公司 | Rail corrugation measuring method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2297879A1 (en) * | 2000-02-03 | 2001-08-03 | Comact Optimisation Inc. | Apparatus and method for determining the shape of a piece in movement |
| CN102297658A (en) * | 2011-05-20 | 2011-12-28 | 南京航空航天大学 | Three-dimensional information detection method based on dual laser |
| CN107578464A (en) * | 2017-06-30 | 2018-01-12 | 长沙湘计海盾科技有限公司 | A kind of conveyor belt workpieces measuring three-dimensional profile method based on line laser structured light |
| CN107631699A (en) * | 2017-08-18 | 2018-01-26 | 中北大学 | Weld seam three-dimensional appearance construction method based on network laser |
| CN109341576A (en) * | 2018-10-09 | 2019-02-15 | 广东奥普特科技股份有限公司 | A kind of method of rapid survey object surface three-dimensional morphology and color |
-
2020
- 2020-01-14 CN CN202010038079.2A patent/CN111207695A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2297879A1 (en) * | 2000-02-03 | 2001-08-03 | Comact Optimisation Inc. | Apparatus and method for determining the shape of a piece in movement |
| CN102297658A (en) * | 2011-05-20 | 2011-12-28 | 南京航空航天大学 | Three-dimensional information detection method based on dual laser |
| CN107578464A (en) * | 2017-06-30 | 2018-01-12 | 长沙湘计海盾科技有限公司 | A kind of conveyor belt workpieces measuring three-dimensional profile method based on line laser structured light |
| CN107631699A (en) * | 2017-08-18 | 2018-01-26 | 中北大学 | Weld seam three-dimensional appearance construction method based on network laser |
| CN109341576A (en) * | 2018-10-09 | 2019-02-15 | 广东奥普特科技股份有限公司 | A kind of method of rapid survey object surface three-dimensional morphology and color |
Non-Patent Citations (1)
| Title |
|---|
| 田忠运: "基于双线结构光三维检测技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111709573A (en) * | 2020-06-15 | 2020-09-25 | 重庆钢铁股份有限公司 | Optimal daughter board planning method and system for hot-cutting and shearing steel plate to be sheared |
| CN114252025A (en) * | 2020-09-20 | 2022-03-29 | 浙江四点灵机器人股份有限公司 | Multi-parallel line laser object three-dimensional contour measuring device and measuring method |
| CN112880742A (en) * | 2021-01-24 | 2021-06-01 | 宝钢工程技术集团有限公司 | Multifunctional slab monitor and using method thereof |
| CN112950765A (en) * | 2021-03-08 | 2021-06-11 | 北京理工大学 | Cavity straightness detection method based on point cloud modeling |
| CN113074660A (en) * | 2021-03-26 | 2021-07-06 | 深度光学科技(天津)有限公司 | Surface shape measuring method for large-size transparent object |
| CN113074660B (en) * | 2021-03-26 | 2022-09-20 | 深度光学科技(天津)有限公司 | Surface shape measuring method for large-size transparent object |
| CN113358052A (en) * | 2021-04-09 | 2021-09-07 | 宿迁学院 | Express size measuring device and method |
| CN113198854A (en) * | 2021-04-23 | 2021-08-03 | 北京科技大学 | Machine vision-based hot-rolled strip steel optimized shearing method |
| CN113219903A (en) * | 2021-05-07 | 2021-08-06 | 东北大学 | Billet optimal shearing control method and device based on depth vision |
| CN113379844A (en) * | 2021-05-25 | 2021-09-10 | 成都飞机工业（集团）有限责任公司 | Large-range surface quality detection method for airplane |
| CN113776456A (en) * | 2021-08-31 | 2021-12-10 | 中国铁道科学研究院集团有限公司 | Curve section steel rail outline measurement error correction method and device based on double-line laser |
| CN113776456B (en) * | 2021-08-31 | 2023-08-08 | 中国铁道科学研究院集团有限公司 | Method and device for correcting curve section steel rail profile measurement error based on double-line laser |
| CN113744242A (en) * | 2021-09-03 | 2021-12-03 | 上海柏楚电子科技股份有限公司 | Plate detection method and device, electronic equipment and storage medium |
| CN113744242B (en) * | 2021-09-03 | 2023-08-15 | 上海柏楚电子科技股份有限公司 | Method and device for detecting plate, electronic equipment and storage medium |
| CN113551605B (en) * | 2021-09-22 | 2024-02-27 | 湖南凌翔磁浮科技有限责任公司 | Magnetic levitation track induction plate pin relaxation detection device and detection method |
| CN113551605A (en) * | 2021-09-22 | 2021-10-26 | 湖南凌翔磁浮科技有限责任公司 | Magnetic suspension track induction plate pin looseness detection device and detection method |
| CN114061699A (en) * | 2021-10-29 | 2022-02-18 | 中国科学院沈阳自动化研究所 | Metal liquid level measurement system of continuous ingot casting line of non ferrous metal |
| CN114061699B (en) * | 2021-10-29 | 2022-07-12 | 中国科学院沈阳自动化研究所 | Metal liquid level measurement system of continuous ingot casting line of non ferrous metal |
| CN114083051A (en) * | 2021-12-01 | 2022-02-25 | 太原科技大学 | Steel plate fixed-length shearing system and method based on line structured light |
| CN114264253A (en) * | 2021-12-09 | 2022-04-01 | 北京科技大学 | High-temperature object three-dimensional contour non-contact measuring device and measuring method thereof |
| CN114264253B (en) * | 2021-12-09 | 2023-08-11 | 北京科技大学 | Non-contact measuring device and measuring method for three-dimensional profile of high-temperature object |
| CN114264243A (en) * | 2021-12-31 | 2022-04-01 | 深圳明锐理想科技有限公司 | Method for detecting crimping welding spots and measuring line arc height between crimping welding spots |
| CN114485480B (en) * | 2022-01-19 | 2023-08-01 | 暨南大学 | Line confocal three-dimensional contour measurement method, system, device and medium |
| CN114485480A (en) * | 2022-01-19 | 2022-05-13 | 暨南大学 | Linear confocal three-dimensional profile measurement method, system, device and medium |
| CN114522983B (en) * | 2022-02-05 | 2023-07-21 | 上海研视信息科技有限公司 | Belt head guide detection system based on machine vision |
| CN114522983A (en) * | 2022-02-05 | 2022-05-24 | 上海研视信息科技有限公司 | Belt head guiding and detecting system based on machine vision |
| CN115205466A (en) * | 2022-07-25 | 2022-10-18 | 江苏濠汉信息技术有限公司 | Structured light-based three-dimensional reconstruction method and system for power transmission channel |
| CN115205466B (en) * | 2022-07-25 | 2023-09-19 | 江苏濠汉信息技术有限公司 | Three-dimensional reconstruction method and system for power transmission channel based on structured light |
| CN115406356A (en) * | 2022-11-02 | 2022-11-29 | 湖南科天健光电技术有限公司 | Rail corrugation measuring method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111207695A (en) | Hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light | |
| CN110230998B (en) | Rapid and precise three-dimensional measurement method and device based on line laser and binocular camera | |
| CN110095061B (en) | Vehicle form and position detection system and method based on contour scanning | |
| CN108132017B (en) | Planar weld joint feature point extraction method based on laser vision system | |
| CN109272544B (en) | Structured light three-dimensional measurement model of pipeline all-position welding line and image processing method | |
| CN107798330A (en) | A kind of weld image characteristics information extraction method | |
| CN110298853B (en) | Visual inspection method for surface difference | |
| CN112116619B (en) | Multi-line structured light system stripe center line extraction method based on structural constraint | |
| CN109447939B (en) | Weld width prediction method before molten pool forming based on mixed spectrum vision | |
| CN113324478A (en) | Center extraction method of line structured light and three-dimensional measurement method of forge piece | |
| CN109300125B (en) | Method for extracting pantograph slide plate image of urban rail train in complex environment | |
| CN115482195B (en) | Train part deformation detection method based on three-dimensional point cloud | |
| CN111260708A (en) | Line structure optical center extraction method and system | |
| CN111879264A (en) | Flatness measurement and evaluation system based on line structured light | |
| CN112862858A (en) | Multi-target tracking method based on scene motion information | |
| CN104897174B (en) | Image striation noise suppressing method based on confidence evaluation | |
| Zhang et al. | Seam sensing of multi-layer and multi-pass welding based on grid structured laser | |
| CN111968079A (en) | Three-dimensional pavement crack extraction method based on section local extreme value and segmentation sparsity | |
| Usamentiaga et al. | Real-time inspection of long steel products using 3-D sensors: Calibration and registration | |
| CN109671084B (en) | Method for measuring shape of workpiece | |
| CN111640148A (en) | Online three-dimensional imaging method for roll surface of roll squeezer | |
| CN111156921A (en) | Contour data processing method based on sliding window mean filtering | |
| CN103411562B (en) | A kind of structured light strip center extraction method based on dynamic programming and average drifting | |
| CN113219903A (en) | Billet optimal shearing control method and device based on depth vision | |
| Molleda et al. | A profile measurement system for rail manufacturing using multiple laser range finders |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200529 |