CN113324483A - Measuring device and measuring method for size of medium-thickness plate - Google Patents
Measuring device and measuring method for size of medium-thickness plate Download PDFInfo
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- CN113324483A CN113324483A CN202110528158.6A CN202110528158A CN113324483A CN 113324483 A CN113324483 A CN 113324483A CN 202110528158 A CN202110528158 A CN 202110528158A CN 113324483 A CN113324483 A CN 113324483A
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- 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
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- 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
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Abstract
The invention discloses a device and a method for measuring the size of a medium plate, and belongs to the technical field of steel size detection. The measuring device comprises a roller conveying belt, and a photogrammetric camera, a 2D line laser measuring instrument and a displacement sensor which are sequentially arranged along the moving direction of the roller conveying belt. The method comprises the steps of utilizing 2D line laser to scan the edge outline of the plate to extract thickness information and plate offset, utilizing a photogrammetric camera to measure the relative distance between 2D line lasers, calculating the width of the plate by adding the relative distance and the offset, and utilizing a displacement sensor to measure the light stream on the surface of the plate to measure the movement speed of the plate and further calculate the displacement distance, thereby determining the length of the plate. The invention realizes high-precision and full-automatic measurement of the size of the medium plate and effectively improves the detection efficiency of the steel size.
Description
Technical Field
The invention relates to the fields of three-dimensional measurement, visual inspection and computer correlation, in particular to a device and a method for measuring the size of a medium plate.
Background
The medium plate is a processing mode of finished steel products, and the processing size of the medium plate needs to be strictly measured. At present, the length and the width of a medium plate are mainly measured by manually using a tape measure, and the thickness is measured by using a micrometer screw.
Due to the fact that the field operation environment is severe, manual labor intensity is high, cost is high, and measuring accuracy is difficult to guarantee. Therefore, a set of high-precision automatic dimension measurement system is urgently needed in dimension measurement of the medium-thick plate, and real-time online detection of the dimension of the medium-thick plate is realized under the condition of no intervention in normal production takt.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a device and a method for measuring the size of a medium plate, which realize high-precision automatic measurement of the size of the medium plate and solve the problems of high labor intensity and high cost of manual measurement and difficulty in ensuring the measurement accuracy in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a measurement device for a medium plate dimension, comprising: the device comprises a roller conveyor belt, and a photogrammetric camera, a 2D line laser measuring instrument and a displacement sensor which are sequentially arranged along the moving direction of the roller conveyor belt; the displacement sensor sets up directly over the running roller conveyer belt, and is located between two running roller gaps of running roller conveyer belt, 2D line laser measuring apparatu includes first 2D line laser measuring apparatu and second 2D line laser measuring apparatu, first 2D line laser measuring apparatu and second 2D line laser measuring apparatu set up perpendicularly respectively in the both sides of running roller conveyer belt, and first 2D line laser measuring apparatu and second 2D line laser measuring apparatu place straight line and running roller conveyer belt central line are perpendicular.
Further, the first 2D line laser measuring instrument and the second 2D line laser measuring instrument each include: the device comprises a 2D line laser measuring instrument body, a first fixed mounting head and a photogrammetric target; the first fixing and installing head is arranged at the bottom of the 2D line laser measuring instrument body, and a first photogrammetric target is arranged on one side of the 2D line laser measuring instrument body.
Further, a first photogrammetry target in the first 2D line laser measuring instrument and the second 2D line laser measuring instrument faces a field of view of the photogrammetry camera.
Further, the view fields of the first 2D line laser measuring instrument and the second 2D line laser measuring instrument form an angle of 60-90 degrees with the surface of the roller conveyor belt.
Further, the displacement sensor comprises a displacement sensor body, a second fixing and mounting head and a second photogrammetric target, wherein the second fixing and mounting head is arranged at the top of the displacement sensor body, and one side of the second photogrammetric target sensor body faces to the view field of the photogrammetric camera.
Furthermore, the photogrammetric camera is fixed on the ground beside the roller conveyor belt through a support rod, and a 2D line laser measuring instrument and a displacement sensor are contained in the view field of the photogrammetric camera.
The invention also provides a measuring method of the measuring device for the size of the medium plate, which specifically comprises the following steps:
step S1, after calibrating the photogrammetric camera (4), setting the transmission speed v of the roller conveyor belt (1), starting the roller conveyor belt (1), opening the 2D line laser measuring instrument (3) and the displacement sensor (2), and placing the medium plate on the roller conveyor belt (1);
step S2, length measurement of the medium plate: when the front end of the medium plate runs to the position below the displacement sensor (2), the entering time stamp t of the medium plate is recordedinWhen the rear end of the medium-thick plate leaves the position below the displacement sensor (2), the leaving time stamp t of the medium-thick plate is recordedoutCalculating the length L ═ v × (t) of the medium plateout-tin)；
Step S3, thickness measurement of the medium plate: the method comprises the steps that a medium plate runs to the position below a 2D line laser measuring instrument (3), the 2D line laser measuring instrument scans the edge outline of a plate to obtain section point cloud data, a photogrammetric camera (4) obtains the posture of a first photogrammetric target (303) on the 2D line laser scanning instrument (3), posture compensation is conducted on the obtained section point cloud data to obtain section point cloud data P after posture compensation, and the surface change s of each point in a single scanning line point cloud in the section point cloud data P after posture compensation is calculatediExtracting two points with maximum surface change as section characteristic points q1、q2According to the feature point q of the cross section1、q2Calculating the thickness T of the two sides of the medium plate to be | q1-q２Taking the average value of the thicknesses of the two sides of the medium plate as the thickness of the medium plate;
step S4, according to the end point p of the single scanning line point cloudnAnd section characteristic point q1、q2Respectively calculate the medium and heavy platesOffset b on both sides1、b2，b1、b2The general formula of calculation of (A) is: b min { p ═n-q1|，pn-q2|}；
Step S5, measuring the width of the medium plate: the photogrammetric camera (4) intermittently measures a first photogrammetric target (303) and a second photogrammetric target (203) in a visual field of the photogrammetric camera, obtains the spatial position and the posture of the 2D line laser measuring instrument (3) and the displacement sensor (2) relative to the photogrammetric camera (4), maps the positions of the first 2D line laser measuring instrument (3-1) and the second 2D line laser measuring instrument (3-2) under the coordinate system of the photogrammetric camera (4) into a three-dimensional space, calculates the distance D between the first 2D line laser measuring instrument (3-1) and the second 2D line laser measuring instrument (3-2), and calculates the offset b of two sides of the plate according to the distance D and the calculated offset b of the two sides of the plate1，b2Calculating the width W of the plate d-bl-b2。
Further, the surface variation si of each point in step S3 is obtained by:
wherein λ is0λ1，λ2(λ＜λ1＜λ2) Respectively any point p in the attitude compensated cross section point cloud dataiThe covariance matrix eigenvalues of k neighborhood points.
Compared with the prior art, the invention has the following beneficial effects: the device for measuring the size of the medium plate uses the displacement sensor to measure the length of the medium plate, uses the 2D line laser measuring instrument to collect the edge data of the plate to measure the thickness of the thick plate, uses 2D line laser measuring instruments to measure the width of the medium plate by matching with the photogrammetry cameras, and can complete the high-precision measurement of the size of the medium plate on line in real time. The medium plate measuring device is simple to assemble, manual intervention is not needed in the measuring process, the labor cost is reduced, the medium plate measuring efficiency is improved, and the actual operation requirement is met.
Drawings
FIG. 1 is a schematic structural view of a thick plate dimension measuring device according to the present invention;
FIG. 2 is a schematic structural diagram of a displacement sensor according to the present invention;
FIG. 3 is a schematic structural diagram of a 2D line laser measuring instrument according to the present invention;
FIG. 4 is a schematic view of a photogrammetric camera according to the present invention;
FIG. 5 is a flow chart of the measurement of the dimensions of the thick plate according to the present invention;
FIG. 6 is a schematic view of thickness measurement of a medium plate according to the present invention;
FIG. 7 is a schematic view of a single scanning line and cross-sectional feature points of laser scanning of the 2D line laser measuring instrument according to the present invention;
fig. 8 is a schematic diagram of target and pose recognition: FIG. 8 is a schematic view of the target on the left, and FIG. 8 is a schematic view of the attitude on the right;
FIG. 9 is a schematic view of the measurement of the width of the sheet material according to the present invention.
Detailed Description
In order to make the advantages and technical solutions of the present invention clearer and clearer, the present invention is described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a thick plate dimension measuring device according to the present invention, which comprises: the device comprises a roller conveyor belt 1, and a photogrammetric camera 4, a 2D line laser measuring instrument 3 and a displacement sensor 2 which are sequentially arranged along the moving direction of the roller conveyor belt 1; the displacement sensor 2 is arranged right above the roller conveyor belt 1 and located between two roller gaps of the roller conveyor belt 1, and prevents laser of the displacement sensor 2 from directly striking rollers of the roller conveyor belt 1, so that the laser directly returns to the displacement sensor 2 to interfere measurement of medium-thickness plates, the 2D line laser measuring instrument comprises a first 2D line laser measuring instrument 3-1 and a second 2D line laser measuring instrument 3-2, the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2 are respectively and vertically arranged on two sides of the roller conveyor belt 1, and straight lines where the first 2D line laser measuring instrument 3-1 and the second line laser measuring instrument 3-2 are located are perpendicular to a central line of the roller conveyor belt 1.
The roller conveyor belt 1 comprises rollers, bearings and a frame, wherein the frame carries the rollers in an approximately static state, the rollers convey objects by rotating, and the bearings support the rollers to rotate so as to reduce the friction coefficient in the rotating process of the rollers.
The schematic structural diagram of the 2D line laser measuring instrument of the present invention is shown in fig. 2, and each of the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2 includes: a 2D line laser measuring instrument body 301, a first fixed mounting head 302, and a photogrammetric target 303; the first fixing and mounting head 302 is arranged at the bottom of the 2D line laser measuring instrument body 301 and is fixedly connected with the 2D line laser measuring instrument body 301 through a bolt, one end of the supporting rod is fixedly connected with the first fixing and mounting head 302, the other end of the supporting rod is connected with a frame of the roller conveyor belt 1 through a bolt, a first photogrammetry target 303 is arranged on one side of the 2D line laser measuring instrument body 301, and the first photogrammetry target 303 in the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2 faces to the field of view of the photogrammetry camera. The view fields of the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2 and the surface of the roller conveyor belt 1 form an angle of 60-90 degrees, so that the photogrammetric camera 4 can accurately obtain the targets carried on the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2.
Fig. 3 shows a schematic structural diagram of a displacement sensor according to the present invention, which includes: displacement sensor fuselage 201, second fixed mounting head 202 and second photogrammetry target 203, second fixed mounting head 202 sets up in the top of displacement sensor fuselage 201, through bolt and displacement sensor fuselage 201 fixed connection, the top of supporting the tripod passes through bolt fixed connection with second fixed mounting head 202, the frame fixed connection of bolt and roller conveyer belt 1 is passed through to the bottom of supporting the tripod, one side of second photogrammetry target 203 sensor fuselage 201, towards the visual field of photogrammetry camera 4.
Fig. 4 shows a schematic structural diagram of the photogrammetric camera of the present invention, and the photogrammetric camera 4 includes: the photogrammetric survey camera body 401 and the third fixing and mounting head 402 are arranged at the bottom of the photogrammetric survey camera body 401 and connected with the photogrammetric survey camera body 401 through bolts, one end of the supporting rod is fixedly connected with the third fixing and mounting head 401, and the other end of the supporting rod is fixed on the ground beside the roller conveyor belt 1, so that the visual field of the photogrammetric survey camera 4 is ensured to contain the 2D line laser measuring instrument 3 and the displacement sensor 2.
The invention also provides a method for measuring the dimension of the medium plate, which specifically comprises the following steps as shown in fig. 5:
step S1, after calibrating the photogrammetric camera 4, setting the transmission speed v of the roller conveyor belt 1, starting the roller conveyor belt 1, opening the 2D line laser measuring instrument 3 and the displacement sensor 2, and placing the medium plate on the roller conveyor belt 1;
step S2, length measurement of the medium plate: when the front end of the medium plate runs below the displacement sensor 2, the optical flow in the field of view of the displacement sensor 2 changes, and the displacement sensor 1 is triggered to record the entry timestamp t of the medium plateinWhen the rear end of the medium-thick plate leaves the lower part of the displacement sensor 2, the photocurrent change disappears, and the leaving time stamp t of the medium-thick plate is recordedoutBy means of a departure time stamp toutAnd an entry timestamp tinThe time that the medium and thick plate passes through displacement sensor 2 is calculated to the difference, and according to the transmission speed v of running roller conveyer belt 1 multiply the time that panel passes through displacement sensor and calculate the motion displacement of medium and thick panel, be the length L of medium and thick panel promptly:
L＝v×(tout-tin)；
step S3, the thickness of the medium plate is measured as shown in fig. 6: the method comprises the steps that a medium-thick plate runs to the position below a 2D line laser measuring instrument 3, the 2D line laser measuring instrument projects line laser on the surface of the plate to form diffuse reflection by scanning the edge outline of the plate, reflected light forms an image on a CMOS (complementary metal oxide semiconductor) inside the 2D line laser measuring instrument 3, two-dimensional pixels are mapped to three-dimensional coordinates to obtain point cloud data through the mapping relation between two-dimensional pixels and three-dimensional space coordinates determined in the camera calibration process, the posture of a first photogrammetry target 303 on the 2D line laser measuring instrument 3 is obtained through a photogrammetry camera 4, the obtained section point cloud data are subjected to posture compensation to obtain section point cloud data P after posture compensation, and surface change s of each point in a single scanning line point cloud in the section point cloud data P after posture compensation is calculatediSurface variation of each point siObtained by the following method:
wherein λ is0，λ1，λ2λ0＜λ1＜λ2) Respectively any point p in the attitude compensated cross section point cloud dataiThe covariance matrix eigenvalues of k neighborhood points.
Extracting two points with maximum surface change as section characteristic points q1、q2FIG. 7 is a schematic diagram of a single scanning line and a cross-sectional feature point according to the cross-sectional feature point q1、q2Calculating the thickness T of the two sides of the medium plate to be | q1-q2Taking the average value of the thicknesses of the two sides of the medium plate as the thickness of the medium plate;
step S4, according to the end point p of the scanning line point cloudnAnd section characteristic point q1，q2Respectively calculating the offset b of the two sides of the medium plate1、b2，b1、b2The general formula of calculation of (A) is: b ═ min { | pn-q1|，|pn-q2L }; to compensate for the displacement of the displacement sensor 2 and the 2D line laser scanner 3 due to vibration of the roller conveyor belt 1 or human factors.
Step S5, width measurement of the medium plate, as shown in fig. 9: the photogrammetric camera 4 measures the first photogrammetric target 303 and the second photogrammetric target 203 in the visual field thereof every 2s to obtain the spatial position and posture of the 2D line laser measuring instrument 3 and the displacement sensor 2 relative to the photogrammetric camera 4, as shown in fig. 8, the left diagram of fig. 8 is a schematic diagram of the target, the right diagram of fig. 8 is a schematic diagram of the posture of the target which is collected by the photogrammetric camera and is carried on the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2, and the posture of the target in the visual field of the photogrammetric camera reflects the postures of the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2 in the three-dimensional coordinate system. The positions of the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2 under the coordinate system of the photogrammetric camera 4 are mapped to a three-dimensional space, and the calculation is carried outThe distance D between the first 2D line laser measuring instrument 3-1 and the second 2D line laser measuring instrument 3-2 is calculated according to the distance D and the offset b at the two sides of the plate1，b2Calculating the width W of the plate d-b1-b2
Examples
The measuring device for the size of the medium plate is used for measuring the size of the medium plate with the length of 8.21m, the thickness of 21.5cm and the width of 2.3m, and compared with the actual size of the measuring device, the measuring result of the measuring device has the errors of both the length and the width of less than 10cm and the error of the thickness of less than 2cm, thereby completely meeting the requirement of size measurement; meanwhile, the device for measuring the size of the medium plate is simple to assemble, less in manual intervention, high in automation degree and high in measurement precision, effectively reduces the labor cost, improves the efficiency of plate size detection, and meets the actual operation requirement.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and all the modifications and improvements made by the technical solution of the present invention by the ordinary engineers in the field shall fall within the protection scope of the present invention without departing from the design concept of the present invention, and the technical content of the protection of the present invention is fully set forth in the claims.
Claims (8)
1. A measurement device for medium plate dimensions, comprising: the device comprises a roller conveyor belt (1), and a photogrammetric camera (4), a 2D line laser measuring instrument (3) and a displacement sensor (2) which are sequentially arranged along the moving direction of the roller conveyor belt (1); the displacement sensor (2) is arranged right above the roller conveying belt (1) and is located between two roller gaps of the roller conveying belt (1), the 2D line laser measuring instrument comprises a first 2D line laser measuring instrument (3-1) and a second 2D line laser measuring instrument (3-2), the first 2D line laser measuring instrument (3-1) and the second 2D line laser measuring instrument (3-2) are respectively and vertically arranged on two sides of the roller conveying belt (1), and the straight line where the first 2D line laser measuring instrument (3-1) and the second 2D line laser measuring instrument (3-2) are located is perpendicular to the central line of the roller conveying belt (1).
2. The apparatus for measuring the dimension of a medium plate according to claim 1, wherein the first 2D line laser measuring instrument (3-1) and the second 2D line laser measuring instrument (3-2) each comprise: the device comprises a 2D line laser measuring instrument body (301), a first fixed mounting head (302) and a photogrammetric target (303); the first fixing and installing head (302) is arranged at the bottom of the 2D line laser measuring instrument body (301), and a first photogrammetric target (303) is arranged on one side of the 2D line laser measuring instrument body (301).
3. The device for measuring the dimensions of a medium plate according to claim 2, characterized in that the first photogrammetry target (303) in the first 2D line laser gauge (3-1) and the second 2D line laser gauge (3-2) faces the field of view of the photogrammetry camera (4).
4. The measuring device for the dimensions of a medium plate according to claim 2, characterized in that the fields of view of the first 2D line laser measuring instrument (3-1) and the second 2D line laser measuring instrument (3-2) are both at an angle of 60 ° to 90 ° to the surface of the roller conveyor belt (1).
5. The measurement device for dimensions of medium plates according to claim 1, characterized in that the displacement sensor (2) comprises a displacement sensor body (201), a second fixed mounting head (202) and a second photogrammetry target (203), the second fixed mounting head (202) being arranged on top of the displacement sensor body (201), the second photogrammetry target (203) being on the side of the sensor body (201) facing the field of view of the photogrammetry camera (4).
6. The device for measuring the dimensions of medium plates according to claim 1, characterized in that the photogrammetric camera (4) is fixed on the ground beside the roller conveyor belt (1) by a support rod, and the field of view of the photogrammetric camera (4) contains the 2D line laser measuring instrument (3) and the displacement sensor (2).
7. The measurement method for the measurement device for the dimension of the medium plate, disclosed by claim 1, is characterized by comprising the following steps of:
step S1, after calibrating the photogrammetric camera (4), setting the transmission speed v of the roller conveyor belt (1), starting the roller conveyor belt (1), opening the 2D line laser measuring instrument (3) and the displacement sensor (2), and placing the medium plate on the roller conveyor belt (1);
step S2, length measurement of the medium plate: when the front end of the medium plate runs to the position below the displacement sensor (2), the entering time stamp t of the medium plate is recordedinWhen the rear end of the medium-thick plate leaves the position below the displacement sensor (2), the leaving time stamp t of the medium-thick plate is recordedoutCalculating the length L ═ v × (t) of the medium plateout-tin)；
Step S3, thickness measurement of the medium plate: the method comprises the steps that a medium plate runs to the position below a 2D line laser measuring instrument (3), the 2D line laser measuring instrument scans the edge outline of a plate to obtain section point cloud data, a photogrammetric camera (4) obtains the posture of a first photogrammetric target (303) on the 2D line laser scanning instrument (3), posture compensation is conducted on the obtained section point cloud data to obtain section point cloud data P after posture compensation, and the surface change s of each point in a single scanning line point cloud in the section point cloud data P after posture compensation is calculatediExtracting two points with maximum surface change as section characteristic points q1、q2According to the feature point q of the cross section1、q2Calculating the thickness T of the two sides of the medium plate to be | q1-q2Taking the average value of the thicknesses of the two sides of the medium plate as the thickness of the medium plate;
step S4, according to the end point p of the single scanning line point cloudnAnd section characteristic point q1、q2Respectively calculating the offset b of the two sides of the medium plate1、b2，b1、b2The general formula of calculation of (A) is: b ═ min { | pn-q1|,|pn-q2|}；
Step S5, measuring the width of the medium plate: the photogrammetric camera (4) intermittently measures a first photogrammetric target (303) and a second photogrammetric target (203) in the field of view of the photogrammetric camera to obtain a 2D line laser measuring instrument (3) and a displacement sensor (2) relative to a photogrammetric phaseThe spatial position and the attitude of the machine (4) map the positions of the first 2D line laser measuring instrument (3-1) and the second 2D line laser measuring instrument (3-2) under the coordinate system of the photogrammetric camera (4) to a three-dimensional space, calculate the distance D between the first 2D line laser measuring instrument (3-1) and the second 2D line laser measuring instrument (3-2), and calculate the offset b of two sides of the plate according to the distance D and the calculated offset b of two sides of the plate1,b2Calculating the width W of the plate d-b1-b2。
8. The measuring method for the measuring device of the dimension of the medium plate according to claim 7, wherein the surface variation S of each point in the step S3iObtained by the following method:
wherein λ is0，λ1，λ2(λ0＜λ1＜λ2) Respectively any point p in the attitude compensated cross section point cloud dataiThe covariance matrix eigenvalues of k neighborhood points.
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| CN113720398A (en) * | 2021-11-01 | 2021-11-30 | 南京光衡科技有限公司 | Full-automatic tile multi-dimensional defect online measurement method |
| CN114313748A (en) * | 2022-01-29 | 2022-04-12 | 浙江凯乐士科技集团股份有限公司 | Automatic warehousing system |
| CN115406363A (en) * | 2022-11-02 | 2022-11-29 | 惠博新材料股份有限公司 | On-line size measuring device and method for specified length galvanized sheet |
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Denomination of invention: A measuring device and method for measuring the size of medium and thick plates Effective date of registration: 20231010 Granted publication date: 20230519 Pledgee: Bank of Nanjing Co.,Ltd. Jiangning sub branch Pledgor: Nanjing Yuntong Technology Co.,Ltd. Registration number: Y2023980060594 |
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