CN114964024A - Steel pipe measuring device - Google Patents

Steel pipe measuring device Download PDF

Info

Publication number
CN114964024A
CN114964024A CN202210889491.4A CN202210889491A CN114964024A CN 114964024 A CN114964024 A CN 114964024A CN 202210889491 A CN202210889491 A CN 202210889491A CN 114964024 A CN114964024 A CN 114964024A
Authority
CN
China
Prior art keywords
coordinate system
camera
steel pipe
diameter
object space
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.)
Granted
Application number
CN202210889491.4A
Other languages
Chinese (zh)
Other versions
CN114964024B (en
Inventor
刘国栋
吴昆鹏
王雪原
苏成
王少聪
刘任栋
李忠武
李艳楠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hainan Longxiangyuan Technology Co ltd
Chengde Jianlong Special Steel Co Ltd
USTB Design and Research Institute Co Ltd
Original Assignee
Hainan Longxiangyuan Technology Co ltd
Chengde Jianlong Special Steel Co Ltd
USTB Design and Research Institute Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hainan Longxiangyuan Technology Co ltd, Chengde Jianlong Special Steel Co Ltd, USTB Design and Research Institute Co Ltd filed Critical Hainan Longxiangyuan Technology Co ltd
Priority to CN202210889491.4A priority Critical patent/CN114964024B/en
Publication of CN114964024A publication Critical patent/CN114964024A/en
Application granted granted Critical
Publication of CN114964024B publication Critical patent/CN114964024B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • 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
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30136—Metal
    • 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
    • G06T2207/30244—Camera pose
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a steel pipe measuring device, comprising: the calibration module is used for calibrating the 3D cameras distributed on each side face of the bar material with the cross section being a regular hexagon to obtain a conversion matrix from a position point of a coordinate system of the 3D cameras to a space coordinate system of an object; the acquisition conversion module is used for mapping the position point coordinates of the surface of the steel pipe acquired by the calibrated 3D camera under the camera coordinate system to an object space coordinate system through a conversion matrix to obtain the position point coordinates of the surface of the steel pipe under the object space coordinate system, wherein the steel pipe is used for coaxially replacing the bar after the 3D camera is calibrated; and the diameter calculation module is used for obtaining the diameter of the steel pipe by taking a circular equation as a final fitting target through a least square method according to the position point coordinates of the surface of the steel pipe under the object space coordinate system. The invention can automatically detect the diameter of the pipe and ensure the accuracy and timeliness of steel pipe quality judgment.

Description

Steel pipe measuring device
Technical Field
The invention belongs to the technical field of steel pipe production control, and particularly relates to a steel pipe measuring device.
Background
The processing technology of the seamless steel tube is complex, and at least relates to relevant equipment such as long-scale blank sawing, annular furnace, perforating machine, rolling mill, sizing mill, cooling bed, tube row sawing, straightening machine, dust blowing and sucking, flaw detector, length measuring weighing machine, packing machine and the like, wherein generally, each equipment is provided by different manufacturers, each equipment is provided with independent PLC control work, the PLC of each equipment is connected with MES (production execution system), the MES is used for carrying out flow control among the equipment, and obtaining relevant production information and the like is implemented. The material moving path is changeable when one long billet passes through each device for processing, and relates to a technological process that one long billet is changed into a plurality of fixed billets, and after the fixed billets are rolled into steel pipes, the steel pipes are sawed into a plurality of steel pipes.
In the aspect of pipe quality detection, particularly for the outer diameter of a pipe, after a batch of pipe production is completed, a quality inspector usually extracts a part of the pipe from the pipe to detect the pipe, and the off-line detection mode has time lag, and the data of off-line steel pipe size precision analysis cannot well reflect the actual condition of the steel pipe one by one. Moreover, the spot check is only to spot check several roots, perform off-line measurement and recording, and judge after comprehensively considering all factors by special quality inspection personnel. The quality testing personnel can only give final judgment through a small amount of sampling data (an off-line sampling mode), wrong judgment often occurs, and quality disputes also exist when the quality testing personnel judge the qualified outgoing products.
Under the background of continuously increasing industrial automation degree, the automatic detection of the diameter of the pipe in the production process of the steel pipe needs to be realized, and at present, no better on-line solution exists.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a steel pipe measuring device, including:
the calibration module is used for calibrating the 3D cameras distributed on each side face of the bar material with the cross section being a regular hexagon to obtain a conversion matrix from a position point of a coordinate system of the 3D cameras to a space coordinate system of an object;
the acquisition conversion module is used for mapping the position point coordinates of the surface of the steel pipe acquired by the calibrated 3D camera under the camera coordinate system to an object space coordinate system through a conversion matrix to obtain the position point coordinates of the surface of the steel pipe under the object space coordinate system, wherein the steel pipe is coaxially replaced with the rod after the 3D camera is calibrated;
and the diameter calculation module is used for obtaining the diameter of the steel pipe by taking a circular equation as a final fitting target through a least square method according to the position point coordinates of the surface of the steel pipe under the object space coordinate system.
Optionally, a two-dimensional camera coordinate system X0A0Y0, an intermediate auxiliary coordinate system X1A1Y1, and an object space coordinate system X2A1Y2 are established, wherein the camera coordinate system is A3D camera center as a coordinate origin A0 in a cross section, a camera target plane parallel direction is an X0 axis, and a camera target plane vertical direction is a Y0 axis; the middle auxiliary coordinate system takes the center of a regular hexagon as an origin A1 in the cross section, the parallel direction of the side face opposite to the 3D camera is an X1 axis, and the direction vertical to the side face is a Y1 axis; the object space coordinate system is based on the center of a regular hexagon as an origin a1, the horizontal width direction of the bar is an axis X2, and the vertical width direction of the bar is an axis Y2.
Optionally, in the calibration module, calibrating the 3D cameras distributed on each side of the bar material with the cross section being a regular hexagon to obtain a transformation matrix from a position point of a coordinate system of the 3D camera to a coordinate system of an object space, including:
obtaining an X0 axial direction position X0 on the camera target surface image corresponding to the minimum distance D position of the opposite side from the camera according to the output data of the 3D camera, obtaining an X0 axial direction position X1 of one corner point of the opposite side on the camera target surface image according to the output data of the 3D camera, obtaining an X0 axial direction position X2 of the other corner point of the opposite side on the camera target surface image according to the output data of the 3D camera,
the position information of the position point of the camera coordinate system under the middle auxiliary coordinate system is obtained as follows:
Figure 100002_DEST_PATH_IMAGE001
Figure 91778DEST_PATH_IMAGE002
Figure 100002_DEST_PATH_IMAGE003
Figure 822974DEST_PATH_IMAGE004
a is the position of the corner point of the adjacent side surface opposite to the side surface in the X0 axis direction on the camera target surface image;
b is the position of the corner point of the other side surface which is adjacent to the opposite side surface in the X0 axial direction on the camera target surface image;
Figure 100002_DEST_PATH_IMAGE005
representing the X1 axis of the camera coordinate system position point in the intermediate auxiliary coordinate systemCoordinates;
Figure 550758DEST_PATH_IMAGE006
representing the Y1 axis coordinate of the position point of the camera coordinate system under the middle auxiliary coordinate system;
obtaining a conversion matrix from the position point of the camera coordinate system to the middle auxiliary coordinate system according to the position information of the position point of the camera coordinate system in the middle auxiliary coordinate system
Figure 100002_DEST_PATH_IMAGE007
Comprises the following steps:
Figure 101826DEST_PATH_IMAGE008
constructing a conversion matrix from the position point of the middle auxiliary coordinate system to the object space coordinate system
Figure 429383DEST_PATH_IMAGE009
Comprises the following steps:
Figure 421610DEST_PATH_IMAGE010
the included angle between the middle auxiliary coordinate system and the object space coordinate system is
Figure 117033DEST_PATH_IMAGE011
。
Optionally, obtaining the diameter of the steel pipe by using a least square method and taking a circular equation as a final fitting target according to the coordinates of the position points of the surface of the steel pipe in the object space coordinate system, where the method includes:
and randomly taking an initial angle, extracting the position point coordinates of the surface of the steel pipe in an object space coordinate system at intervals to obtain a data subset, and performing equation fitting on the data subset by using a least square method to obtain the diameter of a fitting circle as the diameter of the steel pipe.
Optionally, randomly selecting an initial angle, extracting a data subset from coordinates of position points of the surface of the steel pipe in an object space coordinate system at intervals, and performing equation fitting on the data subset by using a least square method to obtain a diameter of a fitting circle as the diameter of the steel pipe, including: and repeatedly extracting for m times by adopting different interval angles to obtain m data subsets, respectively obtaining the diameters by utilizing a least square method, and taking the diameter mean value as the diameter of the steel pipe.
Optionally, for the m data subsets, diameters obtained by a least square method are respectively used, wherein the difference between the maximum diameter and the minimum diameter is used as the ovality of the steel pipe.
According to the steel pipe measuring device disclosed by the invention, the diameter of the pipe can be detected on line, and the diameter of all the pipes is detected, so that the misjudgment condition of the conventional spot check is avoided, and the accuracy and timeliness of the quality judgment of the steel pipe are ensured.
Drawings
The above features and technical advantages of the present invention will become more apparent and readily appreciated from the following description of the embodiments thereof taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic diagram showing a camera arrangement according to the present invention.
Fig. 2 is a schematic diagram showing a two-dimensional coordinate system according to the present invention.
Fig. 3 shows the relationship between the object space coordinate system and the intermediate auxiliary coordinate system according to the present invention.
Fig. 4 is a schematic diagram showing a 3D camera according to the present invention capturing a side image of a bar.
Detailed Description
The embodiments of the present invention will be described below with reference to the accompanying drawings. Those of ordinary skill in the art will recognize that the described embodiments can be modified in various different ways, or combinations thereof, without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Furthermore, in the present description, the drawings are not to scale and like reference numerals refer to like parts.
FIG. 1 is a schematic diagram showing a camera arrangement to which the present invention relates; fig. 2 is a schematic diagram showing the invention in relation to a two-dimensional coordinate system. Fig. 3 shows the relationship between the object space coordinate system and the intermediate auxiliary coordinate system according to the present invention. Fig. 4 is a schematic diagram showing a 3D camera according to the present invention capturing a side image of a bar. A steel pipe measuring apparatus, which measures the diameter of a pipe by a 3D camera, will be described with reference to fig. 1 to 4, and includes the following steps:
in step S1, as shown in fig. 1, one 3D camera 10 is disposed on each side of the bar 100 having a regular hexagonal cross section, so that each 3D camera is on the same cross section and the target surface of the 3D camera 10 is parallel to the corresponding side. As shown in fig. 2 and 3, a two-dimensional camera coordinate system X0A0Y0, an intermediate auxiliary coordinate system X1A1Y1, and an object space coordinate system X2A1Y2 are established. The camera coordinate system takes the center of a 3D camera as a coordinate origin A0 in the cross section, the parallel direction of the camera target surface is an X0 axis, and the vertical direction of the camera target surface is a Y0 axis; the middle auxiliary coordinate system takes the center of a regular hexagon as an origin A1 in the cross section, the parallel direction of the side face opposite to the 3D camera is an X1 axis, and the direction vertical to the side face is a Y1 axis; the object space coordinate system takes the center of a regular hexagonal shape as an origin a1, the horizontal width direction of the bar as an X2 axis, and the vertical width direction of the bar as a Y2 axis. The camera coordinate system is the same as the number of cameras, for example, 6 camera coordinate systems are established by arranging one 3D camera along each of six sides of the regular hexagon. Correspondingly, since the camera coordinate system location points are to be converted to the object space coordinate system, there is an intermediate auxiliary coordinate system for each camera coordinate system.
Step S2, each camera shoots the corresponding side image, and establishes the transformation matrix from the camera coordinate system position point to the object space coordinate system by using the side image, which comprises:
step S21, as shown in fig. 4, obtaining an X0 axis direction position on the shot camera target surface image corresponding to the minimum distance D position of the side from the camera according to the 3D camera output data as X0, obtaining an X0 axis direction position X1 of one corner point of the opposite side on the camera target surface image according to the 3D camera output data, obtaining an X0 axis direction position X2 of the other corner point of the opposite side on the camera target surface image according to the 3D camera output data, thereby obtaining position information of the camera coordinate system position points in the middle auxiliary coordinate system as follows:
Figure 952134DEST_PATH_IMAGE001
Figure 430520DEST_PATH_IMAGE012
Figure 667466DEST_PATH_IMAGE013
Figure 471474DEST_PATH_IMAGE004
Figure 793871DEST_PATH_IMAGE005
representing the X1 axis coordinates of the position point of the camera coordinate system under the middle auxiliary coordinate system;
Figure 138265DEST_PATH_IMAGE006
indicating the Y1 axis coordinates of the camera coordinate system location point in the intermediate secondary coordinate system.
a is the position of the edge of the adjacent side surface of the opposite side surface in the X0 axial direction on the camera target surface image;
b is the position of the edge of the other side surface adjacent to the opposite side surface in the X0 axial direction on the camera target surface image.
Step S22, according to the position information of the camera coordinate system position point in the middle auxiliary coordinate system, obtaining the transformation matrix from the camera coordinate system position point to the middle auxiliary coordinate system
Figure 839505DEST_PATH_IMAGE007
Comprises the following steps:
Figure 470206DEST_PATH_IMAGE014
step S23, constructing an intermediate aidTransformation matrix from coordinate system position point to object space coordinate system
Figure 624107DEST_PATH_IMAGE009
Comprises the following steps:
Figure 100088DEST_PATH_IMAGE010
the included angle between the middle auxiliary coordinate system and the object space coordinate system is
Figure 921413DEST_PATH_IMAGE011
。
S3, using a calibrated 3D camera to surround the steel pipe, namely using the steel pipe to coaxially replace a rod material for calibration, and shooting the periphery of the steel pipe, wherein the output data of the 3D camera comprises the transverse position of the surface of the steel pipe under a camera coordinate system and the position away from the surface of the steel pipe;
step S4, the data output by each camera in the camera coordinate system is based on the two transformation matrixes obtained in step S2
Figure 129541DEST_PATH_IMAGE007
And
Figure 160950DEST_PATH_IMAGE009
and synchronously mapping to an object space coordinate system, wherein the data mapping relation is as follows:
Figure DEST_PATH_IMAGE015
wherein
Figure 378305DEST_PATH_IMAGE016
，
Figure 319716DEST_PATH_IMAGE017
Outputting the position of the surface of the steel pipe in the camera coordinate system parallel to the direction of the target surface of the camera and the position away from the surface of the steel pipe in the camera coordinate system;
Figure 29571DEST_PATH_IMAGE018
，
Figure 220381DEST_PATH_IMAGE019
the position information of the surface of the steel pipe under the object space coordinate system is obtained.
And step S5, according to the position point coordinates in the object space coordinate system obtained in the step S4, obtaining the diameter and ellipticity information of the steel pipe by using a circular equation as a final fitting target through a least square method according to the position point coordinates.
Specifically, the output data points of each 3D camera may be counted according to the transformation matrix obtained in step S4
Figure 913530DEST_PATH_IMAGE007
And
Figure 302923DEST_PATH_IMAGE009
and obtaining data under an object space coordinate system, randomly taking an initial angle from the data, extracting the data at certain intervals, performing equation fitting on the extracted data subset by using a least square method to obtain the diameter of a fitting circle, namely the diameter of the steel pipe, repeating the process for m times to obtain m groups of diameter values, taking the average value as the average diameter of the steel pipe, wherein the difference between the maximum diameter and the minimum diameter is the ellipticity of the steel pipe.
For example, the initial angle is 60 degrees, the interval angle is 60 degrees, the data subset is obtained by extraction, and the diameter of the fitting circle is obtained by performing equation fitting by using the least square method, namely the diameter of the steel pipe. Then extracting data subsets with the initial angle of 30 degrees and the interval angle of 50 degrees, performing equation fitting by using a least square method to obtain the diameter of a fitting circle, namely the diameter of the steel pipe, then obtaining m groups of diameter values, and taking an average value to obtain the diameter of the steel pipe. Wherein the difference between the maximum diameter and the minimum diameter is the ovality of the steel tube.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A steel pipe measuring device, characterized by comprising:
the calibration module is used for calibrating the 3D cameras distributed on each side face of the bar material with the cross section being a regular hexagon to obtain a conversion matrix from a position point of a coordinate system of the 3D cameras to a space coordinate system of an object;
the acquisition conversion module is used for mapping the position point coordinates of the surface of the steel pipe acquired by the calibrated 3D camera under the camera coordinate system to an object space coordinate system through a conversion matrix to obtain the position point coordinates of the surface of the steel pipe under the object space coordinate system, wherein the steel pipe is coaxially replaced with the rod after the 3D camera is calibrated;
and the diameter calculation module is used for obtaining the diameter of the steel pipe by taking a circular equation as a final fitting target through a least square method according to the position point coordinates of the surface of the steel pipe under the object space coordinate system.
2. The steel pipe measuring apparatus according to claim 1,
establishing a two-dimensional camera coordinate system X0A0Y0, an intermediate auxiliary coordinate system X1A1Y1 and an object space coordinate system X2A1Y2, wherein the camera coordinate system takes the center of A3D camera as a coordinate origin A0 in the cross section, the parallel direction of a camera target surface is an X0 axis, and the vertical direction of the camera target surface is a Y0 axis; the middle auxiliary coordinate system takes the center of a regular hexagon as an origin A1 in the cross section, the parallel direction of the side face opposite to the 3D camera is an X1 axis, and the direction vertical to the side face is a Y1 axis; the object space coordinate system is based on the center of a regular hexagon as an origin a1, the horizontal width direction of the bar is an axis X2, and the vertical width direction of the bar is an axis Y2.
3. The steel pipe measuring apparatus according to claim 2,
in the calibration module, 3D cameras distributed on each side face of a regular hexagon bar with a cross section are calibrated to obtain a conversion matrix from a position point of a coordinate system of the 3D camera to a space coordinate system of an object, and the method comprises the following steps:
obtaining an X0 axial direction position X0 on the camera target surface image corresponding to the minimum distance D position of the opposite side from the camera according to the output data of the 3D camera, obtaining an X0 axial direction position X1 of one corner point of the opposite side on the camera target surface image according to the output data of the 3D camera, obtaining an X0 axial direction position X2 of the other corner point of the opposite side on the camera target surface image according to the output data of the 3D camera,
the position information of the position point of the camera coordinate system under the middle auxiliary coordinate system is obtained as follows:
Figure DEST_PATH_IMAGE001
Figure 247067DEST_PATH_IMAGE002
Figure DEST_PATH_IMAGE003
Figure 960945DEST_PATH_IMAGE004
a is the position of the corner point of the adjacent side surface opposite to the side surface in the X0 axis direction on the camera target surface image;
b is the position of the corner point of the other side surface which is opposite to the side surface and adjacent to the side surface in the X0 axis direction on the camera target surface image;
Figure DEST_PATH_IMAGE005
representing the X1 axis coordinates of the position point of the camera coordinate system under the middle auxiliary coordinate system;
Figure 599737DEST_PATH_IMAGE006
representing the Y1 axis coordinate of the position point of the camera coordinate system under the middle auxiliary coordinate system;
obtaining a conversion matrix from the position point of the camera coordinate system to the middle auxiliary coordinate system according to the position information of the position point of the camera coordinate system in the middle auxiliary coordinate system
Figure DEST_PATH_IMAGE007
Comprises the following steps:
Figure 60192DEST_PATH_IMAGE008
constructing a conversion matrix from the position point of the middle auxiliary coordinate system to the object space coordinate system
Figure 343406DEST_PATH_IMAGE009
Comprises the following steps:
Figure 759344DEST_PATH_IMAGE010
the included angle between the middle auxiliary coordinate system and the object space coordinate system is
Figure 495219DEST_PATH_IMAGE011
。
4. The steel pipe measuring device according to claim 3, wherein the obtaining of the diameter of the steel pipe by using the least square method with the circular equation as a final fitting target according to the coordinates of the position points of the surface of the steel pipe in the object space coordinate system comprises:
and randomly taking an initial angle, extracting the position point coordinates of the surface of the steel pipe in an object space coordinate system at intervals to obtain a data subset, and performing equation fitting on the data subset by using a least square method to obtain the diameter of a fitting circle as the diameter of the steel pipe.
5. The steel pipe measuring apparatus according to claim 4, wherein the step of obtaining the initial angle at random, extracting the data subset from the coordinates of the position points of the surface of the steel pipe in the object space coordinate system at the interval angle, and performing equation fitting on the data subset by using a least square method to obtain the diameter of the fitting circle as the diameter of the steel pipe comprises:
and repeatedly extracting for m times by adopting different interval angles to obtain m data subsets, respectively obtaining the diameters by utilizing a least square method, and taking the diameter mean value as the diameter of the steel pipe.
6. The steel pipe measuring apparatus according to claim 5, wherein diameters obtained by a least square method are respectively used for the m subsets of data, and a difference between a maximum diameter and a minimum diameter is used as an ovality of the steel pipe.
CN202210889491.4A 2022-07-27 2022-07-27 Steel pipe measuring device Active CN114964024B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210889491.4A CN114964024B (en) 2022-07-27 2022-07-27 Steel pipe measuring device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210889491.4A CN114964024B (en) 2022-07-27 2022-07-27 Steel pipe measuring device

Publications (2)

Publication Number Publication Date
CN114964024A true CN114964024A (en) 2022-08-30
CN114964024B CN114964024B (en) 2022-11-01

Family

ID=82972017

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210889491.4A Active CN114964024B (en) 2022-07-27 2022-07-27 Steel pipe measuring device

Country Status (1)

Country Link
CN (1) CN114964024B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116818057A (en) * 2023-08-18 2023-09-29 江苏省计量科学研究院(江苏省能源计量数据中心) Flowmeter on-site metering system and method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101995231A (en) * 2010-09-20 2011-03-30 深圳大学 Three-dimensional detection system for surface of large thin-shell object and detection method thereof
CN109724531A (en) * 2018-10-18 2019-05-07 苏州光图智能科技有限公司 360 ° of contour measuring methods
CN109945779A (en) * 2017-12-21 2019-06-28 汉辰科技股份有限公司 Correction system and correlation method with an at least video camera
CN110487213A (en) * 2019-08-19 2019-11-22 杭州电子科技大学 Full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset
CN111896221A (en) * 2020-07-30 2020-11-06 四川大学 Alignment method of rotating optical measurement system for virtual coordinate system auxiliary camera calibration
CN112066879A (en) * 2020-09-11 2020-12-11 哈尔滨工业大学 Air floatation motion simulator pose measuring device and method based on computer vision
CN113551616A (en) * 2021-07-23 2021-10-26 哈尔滨工业大学（威海） Laser three-dimensional measuring instrument for conical array line

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101995231A (en) * 2010-09-20 2011-03-30 深圳大学 Three-dimensional detection system for surface of large thin-shell object and detection method thereof
CN109945779A (en) * 2017-12-21 2019-06-28 汉辰科技股份有限公司 Correction system and correlation method with an at least video camera
CN109724531A (en) * 2018-10-18 2019-05-07 苏州光图智能科技有限公司 360 ° of contour measuring methods
CN110487213A (en) * 2019-08-19 2019-11-22 杭州电子科技大学 Full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset
CN111896221A (en) * 2020-07-30 2020-11-06 四川大学 Alignment method of rotating optical measurement system for virtual coordinate system auxiliary camera calibration
CN112066879A (en) * 2020-09-11 2020-12-11 哈尔滨工业大学 Air floatation motion simulator pose measuring device and method based on computer vision
CN113551616A (en) * 2021-07-23 2021-10-26 哈尔滨工业大学（威海） Laser three-dimensional measuring instrument for conical array line

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116818057A (en) * 2023-08-18 2023-09-29 江苏省计量科学研究院(江苏省能源计量数据中心) Flowmeter on-site metering system and method
CN116818057B (en) * 2023-08-18 2023-11-17 江苏省计量科学研究院(江苏省能源计量数据中心) Flowmeter on-site metering system and method

Also Published As

Publication number Publication date
CN114964024B (en) 2022-11-01

Similar Documents

Publication Publication Date Title
CN103471531B (en) The online non-contact measurement method of axial workpiece linearity
CN114964024B (en) Steel pipe measuring device
CN104914111A (en) Strip steel surface defect on-line intelligent identification and detection system and detection method
JP5828817B2 (en) Shape inspection method for steel bars
CN101657277A (en) Method for detecting and classifying surface defects on continuously cast slabs
KR20170020408A (en) Forming machine and method for control of a forming machine
CN102141380A (en) Method for processing size and image of pipe end of non-contact measuring steel pipe
CN113843288A (en) Negative tolerance prediction method and system in rod rolling process
Hurník et al. Enhancing the accuracy of forging measurement using silhouettes in images
US20070227214A1 (en) Quality-control method for wire/rod rolling system
CN113446952B (en) Online non-contact shaft diameter measuring method
CN112058920B (en) Hole type calibration method and calibration system for rolling mill and guide
CN117554186A (en) Machine vision-based quality detection and analysis method for small-sized concrete prefabricated part
JP2015004544A (en) Inspection method and inspection device
JP2006247724A (en) Method and device for detecting bend of tube stock
CN110021027B (en) Edge cutting point calculation method based on binocular vision
CN204943046U (en) A kind of intelligent visual defect of pipeline diagnostic equipment
Zhihao et al. Research on dynamic measurement of hot ring rolling dimension based on machine vision
CN117686533B (en) Method for detecting pipe wall defects, adjacent continuous defects and drawing pipe wall defect images
Yang et al. Development of a camber measurement system in a hot rolling mill
CN104865271A (en) Detection method for distinguishing upper and lower surface image of transparent thin plate
JP2015518560A (en) System and method for workpiece measurement during forging by image processing
CN118758224A (en) DR digital image-based blade air film hole measurement method
Ren et al. Quantitatively evaluate the cylindricity of large size pipe fitting via laser displacement sensor and digital twin technology
CN109894378A (en) The hot forging online automatic detection method of knuckle

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
GR01 Patent grant
GR01 Patent grant