CN111640148A - Online three-dimensional imaging method for roll surface of roll squeezer - Google Patents
Online three-dimensional imaging method for roll surface of roll squeezer Download PDFInfo
- Publication number
- CN111640148A CN111640148A CN202010450897.3A CN202010450897A CN111640148A CN 111640148 A CN111640148 A CN 111640148A CN 202010450897 A CN202010450897 A CN 202010450897A CN 111640148 A CN111640148 A CN 111640148A
- Authority
- CN
- China
- Prior art keywords
- line
- point cloud
- camera
- dimensional
- roll
- 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
- 238000003384 imaging method Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 claims description 15
- 238000012937 correction Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000011900 installation process Methods 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 7
- 239000000428 dust Substances 0.000 abstract description 4
- 239000000779 smoke Substances 0.000 abstract description 4
- 230000008439 repair process Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 7
- 239000011159 matrix material Substances 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000012824 chemical production Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an online three-dimensional imaging method for a roll surface of a roll squeezer, which comprises the following steps: s1: calibrating a system; calibrating the binocular vision system through a specific calibration object, and solving the internal reference and the external reference of the binocular camera; s2: reconstructing local point cloud; and recovering the three-dimensional point cloud of the roller surface in the single line laser irradiation area through the roller surface pictures irradiated by the pair of line lasers. The invention can accurately carry out three-dimensional reconstruction on the roll surface in the working state of the roll squeezer, measure the reconstructed data, send out an alarm in time when the condition that the roll surface is seriously damaged is found, remind maintenance personnel to repair the roll surface as early as possible, thereby improving the operation rate of equipment, reducing the maintenance cost, indirectly improving the product quality, being capable of adapting to severe working environment, and having strong anti-interference performance on factors such as smoke dust, noise and the like.
Description
Technical Field
The invention relates to the technical field of roller presses, in particular to an online three-dimensional imaging method for a roller surface of a roller press.
Background
The roller press is widely applied to industries such as building material cement, metallurgical mine, chemical production and the like, has the advantages of high efficiency, energy conservation, environmental protection and the like, is commonly used for grinding hard materials such as steel slag, iron ore, quartz ore and the like, and the roller surface of the roller press is usually ensured to be wear-resistant by adopting a mode of embedding hard alloy studs.
The roller press mainly applies pressure to materials through relative rotation between two rollers, crushed materials are extruded to form a compact material bed, the next process is carried out from the lower parts of the two rollers, and the ground materials are high in hardness and high in abrasiveness, so that roller surface studs can be worn to different degrees after normally running for a period of time, too large metal impurities can directly damage the roller surface, and the roller surface is locally peeled off even in a large area.
If the damaged roll surface is not repaired or replaced in time, unqualified material processing can be caused, and the next process can be directly carried out, so that the product quality is seriously influenced, the roll surface is greatly abraded all the time, and if the roll surface is not timely detected and maintained, the equipment operation rate is low, and the product quality is reduced. Therefore, the key for improving the production quality and the production efficiency is to carry out timely detection and maintenance on the roll surface of the roll squeezer.
The traditional roll surface detection method adopts a manual mode based on human eye judgment or soft rope measurement, has the defects of low efficiency, poor precision, long time consumption, high cost and the like, and cannot meet the requirement of large-scale equipment detection in the existing factory, so improvement is needed.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an online three-dimensional imaging method for a roll surface of a roll squeezer.
In order to achieve the purpose, the invention adopts the following technical scheme:
an online three-dimensional imaging method for a roll surface of a roll squeezer comprises the following steps:
s1: calibrating a system; calibrating the binocular vision system through a specific calibration object, and solving the internal reference and the external reference of the binocular camera;
s2: reconstructing local point cloud; recovering three-dimensional point cloud of the roller surface in a single line laser irradiation area through the roller surface picture irradiated by the pair of line lasers;
s3: point cloud splicing; the binocular camera moves left and right on the lead screw guide rail at a specified speed, the roller surface images are shot at a certain frame rate and are opposite, three-dimensional coordinates of single line laser are recovered for each pair of images, a plurality of line point clouds are spliced into a surface, and then, when reconstruction algorithm is carried out, the roller surface rotates at a certain angular speed, and a plurality of circles of scanning data are spliced into complete roller surface data.
Preferably, in S2, the local point cloud reconstruction step further includes the following steps:
s21: correcting distortion; due to the influence of the shape of a lens of the camera and the assembly error in the camera, the binocular camera can generate certain radial distortion and tangential distortion in the imaging process, so that the image needs to be corrected by distortion parameters obtained by calibrating the camera, and the image completely conforms to a camera imaging geometric model;
s22: performing three-dimensional correction; the premise of recovering the three-dimensional point cloud of the roller surface according to the parallax is that two imaging planes of the binocular camera are completely aligned in a line mode, and due to errors existing in the hardware installation process, the absolute line alignment of the two camera planes is required to be achieved through a stereo correction algorithm;
s22: extracting a laser central line; the laser stripes have a certain width in the left and right images, and in order to improve the precision of the measuring system, the pixel coordinates of the central line of the laser stripe are required to be accurately extracted;
s23: stereo matching; line alignment of left and right images can be realized according to epipolar rectification, line laser is vertical, and matching of corresponding positions of the two images can be realized by searching the position of the laser center line of the two images in each line;
s24: calculating three-dimensional coordinates; and after the stereo matching is finished, calculating the parallax corresponding to the laser centers of the two images, and then calculating the coordinates of the space points of the line laser irradiation area according to the triangulation principle.
Preferably, in S3, the implementation of the point cloud splicing part needs to fix four landmark points within the view, each pair of images can calculate the spatial coordinates of the four landmark points, and the point cloud is converted into a unified world coordinate system according to the four known spatial coordinates to implement the splicing of the line point cloud.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can accurately carry out three-dimensional reconstruction on the roll surface under the working state of the roll squeezer, measure the reconstructed data, and send out an alarm in time when the situation that the roll surface is seriously damaged is found, thereby reminding maintenance personnel to repair the roll surface as early as possible, improving the operation rate of equipment, reducing the maintenance cost and indirectly improving the product quality.
2. The method is suitable for measuring the abrasion of the roll surfaces (stud roll surfaces, groove roll surfaces, herringbone roll surfaces, welding roll surfaces and the like) of various forms and materials, in addition, the roll surfaces are irradiated in a laser mode to obtain binocular images, the method can adapt to severe working environments, has strong anti-interference performance on factors such as smoke dust, noise and the like, and the algorithm design comprises a large number of compensation algorithms, so that tiny errors in the installation process of the device can be corrected, and more accurate measurement is realized.
In conclusion, the roller surface three-dimensional reconstruction method can accurately carry out three-dimensional reconstruction on the roller surface in the working state of the roller press, measures the reconstructed data, sends out an alarm in time when the condition that the roller surface is seriously damaged is found, and reminds maintenance personnel to repair the roller surface as early as possible, so that the operation rate of equipment is improved, the maintenance cost is reduced, the product quality is indirectly improved, the roller surface three-dimensional reconstruction method can adapt to severe working environment, and has strong anti-interference performance on factors such as smoke dust, noise and the like.
Drawings
FIG. 1 is a flow chart of the method of the present invention for on-line three-dimensional imaging of the roll surface of a roll press;
FIG. 2 is a schematic view of binocular image stereo rectification;
FIG. 3 is a schematic illustration of laser fringes after binocular threshold segmentation;
FIG. 4 is a schematic diagram of the laser line center extraction result;
fig. 5 is a principle diagram of binocular vision space point coordinate restoration based on parallax.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, an online three-dimensional imaging method for a roll surface of a roll squeezer comprises the following steps:
s1: calibrating a system; the binocular vision system is calibrated through a specific calibration object, and the internal reference and the external reference of the binocular camera are solved.
Wherein, the internal reference matrix K of the binocular camera is only related to the internal structure of the camera parts and consists of the focal length f in the x and y directionsx,fyAnd camera optical center coordinates u0,v0Determining that the external parameters of the binocular camera are a world coordinate system to camera coordinate system down-conversion matrix M2It consists of a rotation matrix R of 3 × 3 and a three-dimensional translation vector t, the transformation between a spatial point P (Xw, Yw, Zw) and the projected point coordinates (u, v) in the image is shown as follows:
wherein s is a scale factor, M is a 3 x 4 projection matrix, when the binocular camera is calibrated, the optical center of one camera is usually used as the origin of a world coordinate system, and the rotation matrix and the translation vector from the other camera pose to the camera pose are external parameters of the binocular vision system.
S2: reconstructing local point cloud; and recovering the three-dimensional point cloud of the roller surface in the single line laser irradiation area through the roller surface pictures irradiated by the pair of line lasers.
S3: point cloud splicing; the binocular camera moves left and right on the lead screw guide rail at a specified speed, the roller surface images are shot at a certain frame rate and are opposite, three-dimensional coordinates of single line laser are recovered for each pair of images, a plurality of line point clouds are spliced into a surface, and then, when reconstruction algorithm is carried out, the roller surface rotates at a certain angular speed, and a plurality of circles of scanning data are spliced into complete roller surface data.
The measuring system only calibrates the camera once, the calibrated internal and external parameters are kept unchanged, and because the position relation between the camera and the world coordinate system is relatively fixed, the position of the world coordinate system is continuously changed, and each optical strip is obtained under different world coordinate systems, the three-dimensional information of the whole measured object needs to be reflected, and the data under the different coordinate systems need to be converted into the same world coordinate system. In the measuring process, the position of the marking point is kept unchanged all the time, so that the conversion relation between each world coordinate system and the world coordinate system at the scanning initial position can be calculated according to a series of three-dimensional coordinates of the marking point in different world coordinate systems.
In S2, the local point cloud reconstruction step further includes the following steps:
s21: correcting distortion; due to the influence of the shape of the lens of the camera and the assembly error inside the camera, the binocular camera can generate certain radial distortion and tangential distortion in the imaging process, so that the image is corrected by distortion parameters obtained by calibrating the camera, and the image completely conforms to the imaging geometric model of the camera.
Because the linear camera model cannot accurately describe the imaging geometric relationship due to defects of the camera lens in the manufacturing process, positioning errors in the assembling process and the like, the linear camera model needs to be subjected to distortion correction after image acquisition, the invention mainly corrects the radial distortion, and the correction formula can be expressed by the following formula:
wherein(Xd,Yd) Actual image plane image coordinates, k, shifted for lens distortion1,k2,k3The distortion coefficient of the lens can be obtained when the camera is calibrated.
S22: performing three-dimensional correction; the premise of recovering the three-dimensional point cloud of the roller surface according to the parallax is that the two imaging planes of the binocular camera are completely aligned in a line mode, and due to errors existing in the hardware installation process, the absolute line alignment of the two camera planes is required to be achieved through a stereo correction algorithm.
The invention adopts a Bouguet method to carry out epipolar rectification, the rectification process is shown in figure 4, according to the epipolar geometrical relationship, a space point and the optical centers of a left camera and a right camera form a plane which is called as an epipolar plane, the intersection line of the plane and an image plane is called as an epipolar line, and the image plane in actual conditions is like piR,πTAs shown, a certain included angle exists, after the stereo correction, the two image planes are completely parallel, and the corresponding polar lines are aligned.
S23: extracting a laser central line; the laser stripes have a certain width in the left and right images, and in order to improve the precision of the measurement system, the central line pixel coordinates (sub-pixel level) of the line laser stripes need to be accurately extracted.
The method comprises the following steps of firstly carrying out denoising and filtering on a light bar image, removing isolated noise in a target and a background in the image, and simultaneously well keeping the detail information of laser stripes, processing the laser stripe image by adopting value filtering, sequencing pixels in a neighborhood according to gray levels, and then selecting a group of intermediate values as output pixel values, wherein the following formula is as follows:
g(m,n)=MedianA{fA(m+k,n+l),(k,l)∈R} (3)
in the formula of MedianAThe algorithm is a middle value of the window A, can eliminate isolated noise points, reduces the influence of smoke dust in a working environment on an image, then performs self-adaptive threshold segmentation on the image, extracts the outline positions of laser stripes and mark points in the image, finally extracts the center coordinates of the mark points and refines the light stripes, removes edge pixel points of the outline with a certain width successively, and obtains a center skeleton of a single pixel of the light stripe (as shown in figure 4) under the condition of not influencing the connectivity of the light stripe.
S24: stereo matching; the line alignment of the left image and the right image can be realized according to the epipolar rectification, the line laser is vertical, and the matching of the corresponding positions of the two images can be realized by searching the position of the laser central line of the two images in each line.
Step S25: calculating three-dimensional coordinates; and after the stereo matching is finished, calculating the parallax corresponding to the laser centers of the two images, and then calculating the coordinates of the space points of the line laser irradiation area according to the triangulation principle.
The schematic diagram of binocular stereo vision is shown in fig. 7, and according to similarity of triangles, the coordinates of the obtained space points are as follows:
wherein B is a baseline distance, which is the distance between the optical centers of the two cameras, and D ═ xT-xRAnd is the disparity between the corresponding matched feature points.
In S3, the implementation of the point cloud splicing part needs to fix four landmark points in the view of the scene, each pair of images can calculate the spatial coordinates of the four landmark points, and the point cloud is converted into a uniform world coordinate system according to the four known spatial coordinates to implement the splicing of the line point cloud.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. The online three-dimensional imaging method for the roll surface of the roll squeezer is characterized by comprising the following steps:
s1: calibrating a system; calibrating the binocular vision system through a specific calibration object, and solving the internal reference and the external reference of the binocular camera;
s2: reconstructing local point cloud; recovering three-dimensional point cloud of the roller surface in a single line laser irradiation area through the roller surface picture irradiated by the pair of line lasers;
s3: point cloud splicing; the binocular camera moves left and right on the lead screw guide rail at a specified speed, the roller surface images are shot at a certain frame rate and are opposite, three-dimensional coordinates of single line laser are recovered for each pair of images, a plurality of line point clouds are spliced into a surface, and then, when reconstruction algorithm is carried out, the roller surface rotates at a certain angular speed, and a plurality of circles of scanning data are spliced into complete roller surface data.
2. The online three-dimensional imaging method for the roll surface of the roller press as claimed in claim 1, wherein in S2, the local point cloud reconstruction step further comprises the following steps:
s21: correcting distortion; due to the influence of the shape of a lens of the camera and the assembly error in the camera, the binocular camera can generate certain radial distortion and tangential distortion in the imaging process, so that the image needs to be corrected by distortion parameters obtained by calibrating the camera, and the image completely conforms to a camera imaging geometric model;
s22: performing three-dimensional correction; the premise of recovering the three-dimensional point cloud of the roller surface according to the parallax is that two imaging planes of the binocular camera are completely aligned in a line mode, and due to errors existing in the hardware installation process, the absolute line alignment of the two camera planes is required to be achieved through a stereo correction algorithm;
s23: extracting a laser central line; the laser stripes have a certain width in the left and right images, and in order to improve the precision of the measuring system, the pixel coordinates of the central line of the laser stripe are required to be accurately extracted;
s23: stereo matching; line alignment of left and right images can be realized according to epipolar rectification, line laser is vertical, and matching of corresponding positions of the two images can be realized by searching the position of the laser center line of the two images in each line;
s24: calculating three-dimensional coordinates; and after the stereo matching is finished, calculating the parallax corresponding to the laser centers of the two images, and then calculating the coordinates of the space points of the line laser irradiation area according to the triangulation principle.
3. The on-line three-dimensional imaging method for the roll surface of the roll squeezer as recited in claim 1, wherein in S3, the implementation of the point cloud splicing part requires fixing four landmark points within the view angle, each pair of images can calculate the spatial coordinates of the four landmark points, and the point cloud is converted into a unified world coordinate system according to the four known spatial coordinates to implement the splicing of the point cloud of the line.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010450897.3A CN111640148A (en) | 2020-05-25 | 2020-05-25 | Online three-dimensional imaging method for roll surface of roll squeezer |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010450897.3A CN111640148A (en) | 2020-05-25 | 2020-05-25 | Online three-dimensional imaging method for roll surface of roll squeezer |
Publications (1)
Publication Number | Publication Date |
---|---|
CN111640148A true CN111640148A (en) | 2020-09-08 |
Family
ID=72331373
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010450897.3A Pending CN111640148A (en) | 2020-05-25 | 2020-05-25 | Online three-dimensional imaging method for roll surface of roll squeezer |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111640148A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113137935A (en) * | 2021-04-25 | 2021-07-20 | 四川大学 | RV reducer cycloid wheel wear testing system and method based on computer vision |
CN115180476A (en) * | 2022-08-24 | 2022-10-14 | 桂林电子科技大学 | Elevator traction sheave race form detection method based on three-dimensional reconstruction |
WO2023019833A1 (en) * | 2021-08-18 | 2023-02-23 | 梅卡曼德(北京)机器人科技有限公司 | Laser line scanning-based point cloud processing method and apparatus |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107480405A (en) * | 2017-09-15 | 2017-12-15 | 江苏科技大学 | A kind of Ship Anchoring system fault diagnosis and the method for increasing material reparation |
KR101883340B1 (en) * | 2017-08-23 | 2018-07-30 | (주)가하 | Position error compensation device of bogie for subsea tunnel |
US20190242697A1 (en) * | 2016-10-19 | 2019-08-08 | Hangzhou Scantech Company Limited | Three-dimensional scanning method containing multiple lasers with different wavelengths and scanner |
CN110288545A (en) * | 2019-06-27 | 2019-09-27 | 深圳易朴科技有限公司 | A kind of online three-dimensional image forming apparatus of roll surface of roller press and method |
CN110660093A (en) * | 2019-09-17 | 2020-01-07 | 上海工程技术大学 | Roller press roller surface reconstruction device and method based on structured light |
-
2020
- 2020-05-25 CN CN202010450897.3A patent/CN111640148A/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190242697A1 (en) * | 2016-10-19 | 2019-08-08 | Hangzhou Scantech Company Limited | Three-dimensional scanning method containing multiple lasers with different wavelengths and scanner |
KR101883340B1 (en) * | 2017-08-23 | 2018-07-30 | (주)가하 | Position error compensation device of bogie for subsea tunnel |
CN107480405A (en) * | 2017-09-15 | 2017-12-15 | 江苏科技大学 | A kind of Ship Anchoring system fault diagnosis and the method for increasing material reparation |
CN110288545A (en) * | 2019-06-27 | 2019-09-27 | 深圳易朴科技有限公司 | A kind of online three-dimensional image forming apparatus of roll surface of roller press and method |
CN210573937U (en) * | 2019-06-27 | 2020-05-19 | 深圳易朴科技有限公司 | Online three-dimensional imaging device of roll surface of roll squeezer |
CN110660093A (en) * | 2019-09-17 | 2020-01-07 | 上海工程技术大学 | Roller press roller surface reconstruction device and method based on structured light |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113137935A (en) * | 2021-04-25 | 2021-07-20 | 四川大学 | RV reducer cycloid wheel wear testing system and method based on computer vision |
WO2023019833A1 (en) * | 2021-08-18 | 2023-02-23 | 梅卡曼德(北京)机器人科技有限公司 | Laser line scanning-based point cloud processing method and apparatus |
CN115180476A (en) * | 2022-08-24 | 2022-10-14 | 桂林电子科技大学 | Elevator traction sheave race form detection method based on three-dimensional reconstruction |
CN115180476B (en) * | 2022-08-24 | 2023-04-14 | 桂林电子科技大学 | Elevator traction sheave race form detection method based on three-dimensional reconstruction |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN210573937U (en) | Online three-dimensional imaging device of roll surface of roll squeezer | |
CN111640148A (en) | Online three-dimensional imaging method for roll surface of roll squeezer | |
CN108759714B (en) | Coordinate system fusion and rotating shaft calibration method for multi-line laser profile sensor | |
CN107578464A (en) | A kind of conveyor belt workpieces measuring three-dimensional profile method based on line laser structured light | |
CN113465511B (en) | Steel coil size online measurement and omnibearing end surface defect online detection method | |
CN109903341A (en) | Join dynamic self-calibration method outside a kind of vehicle-mounted vidicon | |
CN112629441B (en) | 3D curved surface glass contour scanning detection method and system | |
CN106996748A (en) | A kind of wheel footpath measuring method based on binocular vision | |
CN103727927A (en) | High-velocity motion object pose vision measurement method based on structured light | |
CN112326671A (en) | Metal plate surface defect detection method based on machine vision | |
CN109648202B (en) | Additive manufacturing forming precision control method for non-flat surface autonomous recognition robot | |
CN102798349A (en) | Three-dimensional surface extraction method based on equal-gray line search | |
CN115330684A (en) | Underwater structure apparent defect detection method based on binocular vision and line structured light | |
CN111156921A (en) | Contour data processing method based on sliding window mean filtering | |
CN115578310A (en) | Binocular vision detection method and system for refractory bricks | |
CN109671084A (en) | A kind of measurement method of workpiece shapes | |
Ye et al. | Weld seam tracking based on laser imaging binary image preprocessing | |
CN104614372A (en) | Detection method of solar silicon wafer | |
Molleda et al. | A profile measurement system for rail manufacturing using multiple laser range finders | |
CN110842930A (en) | Visual device and measuring method for robot based on DLP and camera calibration | |
CN205607332U (en) | Measuring device is striden to bridge crane crane span structure based on machine vision | |
CN112509138B (en) | LCOS-based high-precision three-dimensional reconstruction system for indoor plastering robot | |
CN114581503A (en) | Coal mine underground environment modeling method and system | |
Mao et al. | Structured light-based dynamic 3D measurement system for cold-formed steel hollow sections | |
CN114708318B (en) | Unknown surface curvature measurement method based on depth camera |
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 |
Application publication date: 20200908 |