CN115265371A - Steel plate online real-time measurement method based on line structured light - Google Patents

Steel plate online real-time measurement method based on line structured light Download PDF

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CN115265371A
CN115265371A CN202210731257.9A CN202210731257A CN115265371A CN 115265371 A CN115265371 A CN 115265371A CN 202210731257 A CN202210731257 A CN 202210731257A CN 115265371 A CN115265371 A CN 115265371A
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steel plate
image
camera
real
line
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马立东
李正楠
马立峰
姬小峰
张之腾
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Taiyuan University of Science and Technology
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Taiyuan University of Science and Technology
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B15/0007—Cutting or shearing the product
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D33/00—Accessories for shearing machines or shearing devices
    • B23D33/006—Accessories for shearing machines or shearing devices for obtaining pieces of a predetermined length, e.g. control arrangements

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  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a steel plate online real-time measuring method based on line structured light, which comprises the steps of tracking laser lines irradiated on the surface of a steel plate in real time by a camera, continuously acquiring images of the current state, transmitting the acquired real-time images back to an upper computer for analysis and processing, and calculating the length of the steel plate according to a coordinate conversion model; the upper computer transmits the length information of the steel plate to the roller way control system, so that the start and stop of the roller way are controlled, and the segmented shearing is realized by matching with a shearing machine. According to the invention, by designing a software operating system, a new detection method is provided in the aspects of calibration and sizing, the detection precision of the steel plate can be improved, the accurate sizing of the steel plate with the length of the produced wire is realized, and meanwhile, the length measuring system assists the shearing machine to realize the accurate shearing of the steel plate.

Description

Steel plate online real-time measurement method based on line structured light
Technical Field
The invention belongs to the field of irregular surface length measurement, and particularly relates to a steel plate online real-time measurement method based on line structured light.
Background
At present, domestic steel plate rolling sizes mainly select slabs of different specifications to roll according to customer requirements and cooling bed sizes, continuous hot rolling of steel plates cannot be achieved, and therefore production efficiency is low. Therefore, the continuous rolling steel plate needs to be cut to length by means of the segmented shear, and the conventional domestic factory usually adopts a mode of manual measurement or installation of a length measuring roller for the length measurement of the steel plate. Because the artificial measurement danger coefficient is high, the measurement accuracy is poor and the detection efficiency is low, and the mode of adopting the length measuring roller to measure has the influence of factors such as roller surface abrasion, thereby leading to great measurement error, causing the inaccurate phenomenon of scale, having produced great loss to industrial production benefit. Therefore, a nondestructive testing technology for the steel plate based on the line structured light is needed to be designed to realize the real-time online length measurement of the steel plate, so that the automation of the segmented shearing process is realized, the rolling speed is accelerated, the manual participation is reduced, and the detection efficiency and the detection real-time performance are improved.
Disclosure of Invention
In order to solve the problems in the background art, the present invention mainly provides a method for measuring a steel plate on line in real time based on line structured light.
In order to achieve the purpose, the invention provides the following technical scheme: the method comprises the steps that a camera tracks laser lines irradiated on the surface of a steel plate in real time, current state images are continuously collected, the collected real-time images are transmitted back to an upper computer for analysis and processing, and the length of the steel plate is calculated according to a coordinate conversion model; the upper computer transmits the length information of the steel plate to the roller way control system, so that the start and stop of the roller way are controlled, and the steel plate is matched with a shearing machine to realize segmented shearing. According to the invention, by designing a software operating system, a new detection method is provided in the aspects of calibration and sizing, the detection precision of the steel plate can be improved, the accurate sizing of the steel plate with the length of the produced wire is realized, and meanwhile, the length measuring system assists the shearing machine to realize the accurate shearing of the steel plate.
In a preferred embodiment, the online measurement method comprises the following specific steps:
step 1: several cameras are calibrated. After the camera and the laser are adjusted to be in proper poses, two steel rulers with the length of 50m are paved on two sides of a laser line on the surface of the roller way along the outlet direction of a steel plate by taking the shearing edge of a shearing machine as a starting point, a white plastic thin plate with a smooth surface is used as a calibration object, and the position of the center line of the white plastic thin plate is found out and marked; secondly, placing the plastic sheet on the surfaces of two steel rulers in the corresponding visual field range of the camera to be calibrated, aligning the center line of the plastic sheet with the scale of one of the steel rulers, recording the actual scale value of the point in a software system, and finding a plurality of different positions in the visual field of each camera in the same way to record the actual scale value; in addition, obtaining the position coordinates of two ends of the plastic sheet through sudden changes formed on two sides after the laser lines are printed on the plastic sheet in a pixel coordinate system, calculating an average value through a software system to obtain a middle position coordinate, and calculating to obtain an actual position corresponding to the center line by utilizing a conversion relation between the pixel coordinate and a world coordinate;
step 2: after the calibration work is finished, according to the ambient light and the reflection influence of the field roller surface, setting the exposure time of each camera to be 4000-5000 mu s and the gain to be 0-23.9dB in a software operating system respectively, and reducing the external influence factors to the minimum to meet the measurement precision requirement;
and step 3: and observing the real-time position of the steel plate in the image by setting the ROI area, tracking the position of the plate head in real time, and calculating the actual distance from the head of the output steel plate to the shearing edge of the shearing machine through coordinates.
And 4, step 4: and carrying out background recording on the image acquired by each camera. The method has the advantages that the method is characterized in that the method comprises the steps that the recording is carried out once when the roller way is static, and the recording is carried out once before a steel plate enters the visual field of a first camera through a shearing machine when the roller way rotates, so that the influence of image redundancy bright spots caused by vibration when the roller way rotates on the length measurement of the steel plate can be better considered;
in a preferred embodiment, let A be the steel plate head tracking point, then its coordinate (X) in world coordinate systemW,YW,ZW) The following relationship exists with the coordinates (u, v) in the pixel coordinate system:
Figure 720552DEST_PATH_IMAGE001
(1)
in the formula: s is the value of the point in the z direction under the camera coordinate system，mm；
Figure 175804DEST_PATH_IMAGE002
Figure 341206DEST_PATH_IMAGE003
F is the focal length of the camera 3, mm, dx, dy are the physical size of a single pixel, mm; u. u0，v0Is the image plane center, pixel;
Figure 172896DEST_PATH_IMAGE004
is a rotation matrix of the world coordinate system to the camera coordinate system,
Figure 5723DEST_PATH_IMAGE005
is a translation matrix from the world coordinate system to the camera coordinate system.
In the actual calibration process, only the value of the Xw axis direction needs to be known in the world coordinate system O-XwYwZw where the laser line is located, and the other directions are all 0 values; in the pixel coordinate system o-uv where the laser line is located, only the value on the u axis needs to be known, and the value on the v axis is processed as 0, the above formula can be changed as follows:
Figure 631876DEST_PATH_IMAGE006
(2)
in the formula:
Figure 284574DEST_PATH_IMAGE007
，
Figure 919955DEST_PATH_IMAGE008
；
converting the contents of both sides of equation (2) can obtain the following equation:
Figure 76130DEST_PATH_IMAGE009
(3)
in the formula:
Figure 404343DEST_PATH_IMAGE010
，
Figure 278758DEST_PATH_IMAGE011
，
Figure 717830DEST_PATH_IMAGE012
；
converting equation (3) into a matrix form can obtain:
Figure 495555DEST_PATH_IMAGE013
(4)
selecting coordinates of n points (n is more than or equal to 3) in the world coordinate system and the camera coordinate system in the space, and obtaining the conversion relation between the world coordinate system and the pixel coordinate system of the point A
Figure 994670DEST_PATH_IMAGE014
And completing the calibration of the camera 3 in practical application.
Converting the formula (3) can obtain:
Figure 356381DEST_PATH_IMAGE015
(5)
in the formula (5), X is the actual position coordinate of the tracking point A; r0、R1、R2Is a conversion coefficient; u is the pixel coordinate in the horizontal direction.
In a preferred embodiment, according to the thickness of the steel plate on site being 10-50mm, the ROI area is set to be 4096 × 130pixel in consideration of the sizes of the actually acquired image and the measured target, so that the image processing speed can be greatly improved, irrelevant image information is removed, the image is observed rapidly in real time, the position of the steel plate is tracked, and the problem of low image processing speed is solved.
In a preferred embodiment, due to the surface characteristics of the hot rolled steel plate, the laser line breakpoints on the surface of the steel plate exist in the image acquired by the camera in real time, so that the leftmost position of the laser line is found by traversing the pixel data in each row of ROI image areas, then the pixel data is sequentially traversed from left to right in rows from the leftmost position, the pixel data with break and continue is found, and finally the pixels between the breakpoints are filled with data.
In a preferred embodiment, in order to ensure the reliability of the measurement, an overlapping area exists between adjacent cameras, and a gray value comparison-based method is adopted for the overlapping area. The method comprises the steps of adopting weighted gray level processing to images of an overlapping area acquired by two cameras which are continuously arranged and provided with the overlapping area, comparing the average gray level value of the images of the overlapping area and the images of the overlapping area, setting the image with the larger gray level value as a processable image area, and abandoning the other image area to realize processing division of the overlapping area, thereby avoiding multiple processing of the overlapping area and non-uniformity of results.
In a preferred embodiment, in the background recording process, laser lines irradiate at the center of a roller way, a camera acquires images of the roller way when no steel plate passes through the roller way and the roller way rotates, only the laser lines irradiating the roller surface and the roller gap exist in the images, and highlight points of the laser lines existing in the v direction in the images are recorded in the image background through an image traversal method; when the steel plate enters the roller way, the camera collects images with the steel plate in real time, the bright spot at the head of the steel plate is obviously higher than the bright spot recorded under the background, at the moment, the v value corresponding to the bright spot position of the head in the real-time image is subtracted from the v value corresponding to the position in the background image record, and the low bright spot recorded under the background is removed; and the central gray value of the bright point appearing in the image collected in real time is more than 15, so the bright point is the point needing to be tracked in real time.
In a preferred embodiment, the center line of the laser is refined by using a gray scale gravity center method, and the formula is as follows:
Figure 333564DEST_PATH_IMAGE016
wherein g isiFor the pixel gray values involved in the calculation, uiAnd U is the corresponding pixel coordinate in the horizontal direction and the gray scale gravity center coordinate in the horizontal direction. And accurate positioning is realized by fitting the gray central point set.
In a preferred embodiment, the calculated length of the steel plate is fed back to the roller way control system, and the steel plate is driven to advance to a specified length position by a driving motor.
In a preferred embodiment, the upper computer end sends a shearing instruction, and the shearing machine starts precise segmented shearing.
The invention has the beneficial effects that:
1. according to the invention, the accurate length measurement of the steel plate is realized by fixing the camera and the laser beside the roller way through the bracket, the cost is low, and the operation and maintenance are convenient.
2. The invention utilizes the digital image processing technology to process and analyze the condition of the on-site steel plate in real time, realizes the automation and the intellectualization of a production line and can realize the real-time detection of the length of the steel plate.
3. According to the invention, through the configuration of intelligent equipment, the developed software system and the real-time online detection method are combined, so that the production efficiency can be greatly improved, and the labor intensity of workers can be reduced.
Drawings
Fig. 1 is an overall configuration diagram of the length measuring system.
Fig. 2 is a diagram of the respective system components.
Fig. 3 is a flow chart of real-time length detection of a steel plate.
FIG. 4 is a schematic diagram of the length measurement of a steel plate.
FIG. 5 is a calibration data recording interface diagram.
Detailed Description
The objects and functions of the present invention and methods for accomplishing the same will be apparent by reference to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The essence of the description is merely to assist a person skilled in the relevant art in further understanding the specific details of the invention. Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The same reference numbers refer to the same or analogous parts, or to the same or analogous steps.
The following is illustrated by specific examples, such as FIGS. 1-5: a steel plate online real-time measuring method based on line structured light is characterized in that a camera 3 tracks laser lines irradiated on the surface of a steel plate in real time, continuously collects images in the current state, transmits the collected real-time images back to an upper computer for analysis and processing, and calculates the length of the steel plate according to a coordinate conversion model; the upper computer transmits the length information of the steel plate to the roller way control system, so that the start and stop of the roller way are controlled, and the shearing machine 1 is matched to realize segmented shearing. According to the invention, by designing a software operating system, a new detection method is provided in the aspects of calibration and sizing, the detection precision of the steel plate can be improved, the accurate sizing of the steel plate with the long production line can be realized, and meanwhile, the length measuring system assists the shearing machine 1 to realize the accurate shearing of the steel plate.
The camera 3 is calibrated by placing a plastic sheet with a flat surface on the surfaces of two steel scales in the visual field range corresponding to the camera 3 to be calibrated, aligning the center line of the plastic sheet with the scale of one of the steel scales, recording the actual scale value of the point in a software system, and finding a plurality of different positions in the visual field of each camera 3 in the same way to record the actual scale value.
And obtaining the position coordinates of the two ends of the plastic sheet by sudden changes formed on the two sides after the laser line is shot on the flat plastic sheet in a pixel coordinate system, calculating an average value by a software system to obtain a middle position coordinate, and calculating by utilizing a conversion relation between the pixel coordinate and the world coordinate to obtain an actual position corresponding to the central line.
The real-time image needs to be provided with an ROI (region of interest), the real-time position of the steel plate in the image is observed, the position of the plate head is tracked in real time, and the actual distance from the head of the output steel plate to the shearing edge of the shearing machine is calculated through coordinates.
The coordinate conversion model is used for converting a world coordinate system and a pixel coordinate system and comprises the following specific steps: coordinates (X) in world coordinate systemW,YW,ZW) The following relationship exists with the coordinates (u, v) in the pixel coordinate system:
Figure 464331DEST_PATH_IMAGE017
wherein X is the actual position coordinate of the tracking point A; r0、R1、R2To turn toChanging coefficients; u is the pixel coordinate in the horizontal direction. Knowing the pixel coordinates of the target laser spot, the coordinates of the target laser spot in the world coordinate system can be obtained from the derived coordinate conversion relation.
The overlapping areas between the cameras 3 are processed by a gray value comparison-based method, so that the inconsistency of the measurement results is avoided.
The thinning method of the laser line adopts a gray scale gravity center method to extract the gray scale gravity center of the laser line image, thereby improving the measurement precision.
The background recording is to record the coordinate value of the highlight point in the v direction in the collected image, to make a difference between the v values of the same position in the steel plate image and the non-steel plate image, and to compare the central gray value of the highlight point.
The length of the steel plate is transmitted to a roller way control system through an upper computer controller, and the steel plate is matched with the shearing machine 1 to realize accurate shearing.
The specific working process of the invention is as follows: the arranged camera 3 is first calibrated. Adjusting the poses of the camera 3 and the laser 2 to proper angles respectively to enable laser lines emitted by the laser 2 to irradiate the central position of the surface of the roller way 4, fixing 0m position of two 50m long steel rulers at the initial position by taking the shearing edge 1 of the shearing machine as the initial position, and spreading the steel rulers on the surface of the roller way at certain intervals along the outlet direction of a steel plate to ensure the straightness of the steel rulers and ensure that the laser lines are positioned between the two steel rulers; taking a regular white plastic thin plate with a smooth surface as a calibration object, finding out the position of the center line of the regular white plastic thin plate to be marked, placing the white plastic thin plate on the surfaces of two steel rulers in the visual field range corresponding to the camera 3 to be calibrated to enable a laser line to irradiate the white plastic thin plate, aligning the center line of the white plastic thin plate with one of the steel ruler scales, recording the actual scale value of the point in a software system, and finding out a plurality of different positions in the visual field of each camera 3 in the same way to record the actual scale value; then obtaining the position coordinates of the two ends of the white plastic sheet through the sudden change formed by the two sides after the laser line is printed on the white plastic sheet in a pixel coordinate system, calculating the average value of the two ends through a software system to obtain the middle position coordinate, calculating the actual position corresponding to the central line through the conversion relation between different coordinate systems, and comparing the actual position coordinate with the position coordinate obtained by the system calculation to realize high-precision positioning;
and secondly parameter setting is performed for all the cameras 3. According to the ambient light and the reflection influence of the field roller surface, the exposure time of each camera 3 is set to be 4000-5000 microseconds and the gain is set to be 0-23.9dB in a software operating system, so that the external influence factor is reduced to the minimum; the ROI area is then set up on the software interface. Setting a selection area of the ROI to be 4096 multiplied by 130 pixels according to the requirement that the thickness of a steel plate to be detected on site is 10-50mm, traversing pixel data in each line of ROI areas to find the leftmost position of a laser line, traversing the pixel data from the leftmost position to the right in rows, setting the position of less than 10 pixels between two continuous pixel data as the breakpoint position of the laser line, filling the pixels between the two points with data, and completing the laser line breakpoint in the image until all the pixel data in the ROI areas are completed to enable the laser line to be in a continuous state, thinning the center position of the laser line by a gray scale gravity center method, and extracting the gray scale gravity center of the completed laser line image, wherein the formula is as follows:
Figure 868768DEST_PATH_IMAGE018
wherein g isiFor the pixel gray values involved in the calculation, uiAnd U is the gray scale gravity center coordinate in the horizontal direction.
The images captured by each camera 3 are then background recorded. Respectively collecting background images of the steel plate before the steel plate enters the visual field of a first camera through the shearing machine 1 when the roller way 4 is static and the roller way 4 rotates, and recording highlight points in the v direction corresponding to u in the images; when the steel plate enters the roller way 4, the camera 3 collects images with the steel plate in real time, the bright spot at the head of the steel plate is obviously higher than the bright spot recorded under the background in front, at the moment, the v value corresponding to the bright spot position of the head of the steel plate in the real-time image is subtracted from the v value corresponding to the position in the background image record, and the low bright spot recorded under the background in front is removed; the central gray value of a bright point appearing in the image acquired in real time is more than 15, so that the bright point is a point required to be tracked in real time; the central gray value of the bright spot appearing in the image collected in real time is more than 15, so that the bright spot is a spot needing to be tracked in real time, the real-time position of the steel plate in the image is observed, the position of the plate head is tracked in real time, the actual distance from the head of the output steel plate to the shearing edge of the shearing machine 1 is calculated through coordinates, and the length of the steel plate is further obtained; and finally, the detected length of the steel plate is transmitted to a roller way control system, the roller way 4 is driven to rotate through a PLC program section, when the length reaches the position of the obtained length, the roller way 4 is stopped, the shearing machine 1 is started to carry out segmented shearing, and the segmented steel plate is transported to a corresponding cooling bed to be cooled.

Claims (6)

1. A steel plate online real-time measurement method based on line structured light is characterized in that: the method comprises the following steps:
step 1: calibrating a plurality of cameras (3);
adjusting the poses of the camera (3) and the laser (2) to enable the laser line position and the center position of the roller way to be kept horizontal, enabling the camera to observe five rotating rollers in the visual field and enabling the laser line in the collected image to be horizontal;
taking the cutting edge of the shearing machine (1) as a starting point, laying two steel rulers with the length of 50m on two sides of a laser line on the surface of the roller way (4) along the outlet direction of a steel plate, taking a white plastic thin plate with a smooth surface as a calibration object, and finding out the position of the center line of the white plastic thin plate for marking; secondly, placing the plastic sheet on the surfaces of two steel rulers in the visual field range corresponding to the camera (3) to be calibrated, aligning the center line of the plastic sheet with the scale of one of the steel rulers, recording the actual scale value of the point in a software system, and finding a plurality of different positions in the visual field of each camera (3) in the same way to record the actual scale value; in addition, the position coordinates of the two ends of the plastic sheet are obtained through sudden changes formed on the two sides after the laser lines are shot on the plastic sheet in a pixel coordinate system, the middle position coordinate is obtained through calculating the average value through a software system, and then the actual position corresponding to the center line is obtained through calculating by utilizing the conversion relation between the pixel coordinate and the world coordinate;
step 2: after the calibration work is finished, according to the ambient light and the reflection influence of the field roller surface, setting the exposure time of each camera (3) to be 4000-5000 mu s and the gain to be 0-23.9dB in a software operating system respectively, and reducing the external influence factors to the minimum to meet the requirement of measurement precision;
and 3, step 3: observing the real-time position of the steel plate in the image by setting the ROI area, tracking the position of the plate head in real time, and calculating the actual distance from the head of the output steel plate to the shearing edge of the shearing machine through coordinates;
and 4, step 4: carrying out background recording on the image collected by each camera (3);
the recording is carried out once when the roller table (4) is stationary and once when the roller table (4) is rotated, the recording is carried out once before the steel plate enters the field of view of the first camera (3) through the shearing machine (1).
2. The on-line real-time measurement method of the line structured light steel plate according to claim 1, wherein the coordinates (X) in the world coordinate systemW,YW,ZW) The following relationship exists with the coordinates (u, v) in the pixel coordinate system:
Figure 276170DEST_PATH_IMAGE001
wherein X is the actual position coordinate of the tracking point A; r is0、R1、R2Is a conversion coefficient; u is the pixel coordinate in the horizontal direction;
knowing the pixel coordinates of the target laser point, the coordinate position of the target laser point in the world coordinate system can be obtained through the coordinate conversion relation.
3. The line structured light based steel plate online real-time measurement method of claim 1, wherein: and setting the ROI area to be 4096 x 130pixel according to the thickness of the steel plate in the field of 10-50mm by considering the sizes of the actually acquired image and the measured target.
4. The line structured light based steel plate online real-time measurement method of claim 1, wherein: traversing the pixel data in each row of ROI image areas to preferentially find the leftmost position of the laser line, then sequentially traversing the pixel data of the laser line from the leftmost position to the left to the right in rows, finding the intermittent pixel data, and finally filling the data of the pixels between break points.
5. The line structured light based steel plate online real-time measurement method of claim 1, wherein: in order to ensure the measurement reliability, an overlapping area exists between the adjacent cameras (3), and a method based on gray value comparison is adopted for the overlapping area; the method comprises the steps of adopting weighted gray scale processing to images of an overlapping area acquired by two cameras (3) which are continuously arranged and have the overlapping area, comparing the average gray scale value of the images, setting the image with the larger gray scale value as a processable image area, and abandoning the other image, so that the phenomenon that the overlapping area is processed for many times and the result is not uniform is avoided.
6. The online real-time measurement method for the steel plate based on the line structured light of claim 1, which is characterized in that:
in the background recording process, laser lines irradiate at the center of the roller way (4), a camera (3) collects images of the roller way (4) when no steel plate passes through and the roller way (4) rotates, only the laser lines irradiating the roller surface and the roller gap exist in the images at the moment, and highlight points of the laser lines existing in the v direction in the images are recorded in the image background through an image traversing method; when a steel plate enters a roller way, a camera (3) collects images with the steel plate in real time, bright spots at the head of the steel plate are obviously higher than bright spots recorded under the background in front, at the moment, a v value corresponding to the bright spot position of the head of the steel plate in the real-time image is subtracted from a v value corresponding to the position in the background image record, and low bright spots recorded under the background in front are removed; and the central gray value of the bright point appearing in the image collected in real time is more than 15, so the bright point is the point needing to be tracked in real time.
CN202210731257.9A 2022-06-26 2022-06-26 Steel plate online real-time measurement method based on line structured light Pending CN115265371A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115574725A (en) * 2022-12-08 2023-01-06 江苏金恒信息科技股份有限公司 Steel plate size measuring method and system based on line structured light
CN116499362A (en) * 2023-06-26 2023-07-28 太原科技大学 Steel plate size online measurement system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115574725A (en) * 2022-12-08 2023-01-06 江苏金恒信息科技股份有限公司 Steel plate size measuring method and system based on line structured light
CN116499362A (en) * 2023-06-26 2023-07-28 太原科技大学 Steel plate size online measurement system
CN116499362B (en) * 2023-06-26 2023-09-15 太原科技大学 Steel plate size online measurement system

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