CN202420446U - On-line non-contact medium and thick plate contour detection device based on double projection algorithm - Google Patents
On-line non-contact medium and thick plate contour detection device based on double projection algorithm Download PDFInfo
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- CN202420446U CN202420446U CN2012200131004U CN201220013100U CN202420446U CN 202420446 U CN202420446 U CN 202420446U CN 2012200131004 U CN2012200131004 U CN 2012200131004U CN 201220013100 U CN201220013100 U CN 201220013100U CN 202420446 U CN202420446 U CN 202420446U
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Abstract
The utility model discloses an on-line non-contact medium and thick plate contour detection device based on a double projection algorithm. In the detection system, an area array complementary metal oxide semiconductor (CMOS) camera is used for acquiring an image of line laser which is incident on the surface of medium and thick plate strip steel, the shot image is processed by using the double projection algorithm, longitudinal position coordinates and endpoint position coordinates of a laser line in the image are accurately extracted, height information of the surface of the medium and thick plate can be calculated through the longitudinal position coordinates of the laser line, spatial position coordinates of edges of the measured strip steel can be determined through the height information of the surface of the medium and thick plate and the endpoint position coordinates of the laser line in combination with the visual calibration of the camera, speed data of the strip steel which are measured by a laser Doppler velocimeter are combined, and a contour curve of the medium and thick plate strip steel can be obtained after the coordinates and the data are processed by a computer. The device realizes the on-line non-contact high-speed detection of contours of two sides of medium and thick plate strip steels, and also realizes the on-line non-contact high-speed detection of contours of heads and tails of the medium and thick plate strip steels.
Description
Technical field
The utility model relates to a kind of online contactless cut deal profile pick-up unit based on reprojection's algorithm.
Background technology
At present; Steel industry requires increasingly high to the efficient and the accuracy of detection of belt steel rolling production line; Cut deal sheet material automatic assembly line particularly, because its transporting velocity on roller-way is high, this has brought great difficulty for the online detection of cut deal face profile; This just requires the profile detection system not only will possess the high-speed image frequency acquisition, and image processing algorithm extracts effective information in the image more to require to possess efficiently.
Cut deal sheet material is as a kind of special steel grade of steel industry, because its Facing material, the changeableness of texture and the polytrope of production line operating mode adopt the lighting system of ordinary light source to receive the interference of extraneous uncertain factor easily and cause certain detection error.Therefore, further improve the antijamming capability in the profile detection system, need to change its lighting system.
Because there are very big uncertainty in rolling cut deal sheet material head, tail wheel profile shape, adopt the accurately profile information of this part of traditional detection principle, even can not detect it.Moreover; Existing profile detector based on ccd image sensor can't be accomplished the wide detection of band steel wheel independently; Because it can't measure the elevation information of the relative roller plane of belt steel surface; But depending on upper level system or other height detection equipment, this has seriously limited the range of application of profile detector.
Summary of the invention
The purpose of the utility model is to the deficiency of current cut deal profile detector technology, and a kind of online contactless cut deal profile pick-up unit based on reprojection's algorithm is provided.
Online contactless cut deal profile detection system based on reprojection's algorithm comprises cut deal profile pick-up unit and control device;
Cut deal profile pick-up unit comprises the vision overlapping region of installation site, LDV, screw, the two adjacent surface battle array CMOS cameras of sensor cabinet, linear laser source, face battle array CMOS camera, camera lens, face battle array CMOS camera, by axis, optoelectronic switch receiver and the optoelectronic switch transmitter of measuring tape steel, band steel rollgang, camera axis and formed plane of camera mounting points and left side battle array CMOS camera;
High planes such as sensor cabinet inherence are provided with two face battle array CMOS cameras; On face battle array CMOS camera, camera lens is housed; And the both sides at its face battle array CMOS camera are respectively equipped with a plurality of linear laser source, and the angle between linear laser source and the face battle array CMOS camera axis is the 2-12 degree, and LDV is fixed on the lower end of sensor cabinet through screw; Band steel rollgang is provided with by the measuring tape steel; Be provided with the vision overlapping region of two adjacent surface battle array CMOS cameras on by the measuring tape steel, the axis of the installation site of face battle array CMOS camera and left side battle array CMOS camera forms camera axis and the formed plane of camera mounting points, and the optoelectronic switch receiver is installed in the dead ahead of sensor cabinet; The optoelectronic switch transmitter be installed in the optoelectronic switch receiver under form correlation; And the optoelectronic switch transmitter is installed on the elevation plane on the plane that is lower than band steel rollgang, and face battle array CMOS camera links to each other with the camera industrial computer, and LDV links to each other with the front end industrial computer; And the front end industrial computer links to each other with the camera industrial computer through netting twine, and the sensor cabinet is placed on the portal frame;
Control device comprises face battle array CMOS camera, LDV, the image pick-up card based on the CPCI interface, camera industrial computer, the serial port expanding module based on the CPCI interface, collection of simulant signal card, digital I/O control card, front end industrial computer;
The front end industrial computer links to each other with serial port expanding module based on the CPCI interface with the camera industrial computer respectively; The camera industrial computer links to each other with image pick-up card based on the CPCI interface; Image pick-up card based on the CPCI interface links to each other with two face battle array CMOS cameras, links to each other with LDV, collection of simulant signal card and digital I/O signal controller respectively based on the serial port expanding module of CPCI interface.
The image that face battle array CMOS camera is taken is given the image pick-up card based on the CPCI interface through Camera Link communications; Image pick-up card based on the CPCI interface carries out pre-service to photographic images; And the image after will handling is transferred to the camera industrial computer through the CPCI communication interface; The camera industrial computer carries out data interaction through TCP/IP Ethernet and front end industrial computer; The velocity information that LDV records is spreaded card through the serial ports that RS232 communication protocol is transferred to based on the CPCI interface; Collection of simulant signal card and digital I/O signal controller through RS485 communication protocol with spread based on the serial ports of CPCI interface that to stick into line data mutual, spread based on the serial ports of CPCI interface that cartoon is crossed the CPCI communication interface and the front end industrial computer carries out data interaction.
The beneficial effect that the utility model compared with prior art has
1) adopt a plurality of linear laser source to be radiated on the surface of cut deal; Form a long laser rays through connecting method between the adjacent laser rays across whole belt steel surface, sensing range and the laser rays of raising strip width along the homogeneity of light intensity on its length direction;
2) adopt the overlapping mode of part vision to take the laser rays that is incident on the belt steel surface between the two adjacent surface battle array CMOS cameras, this vision style of shooting can guarantee that the profile of band steel side and head, tail can both be detected;
3) in order to make laser rays in the captured image of face battle array CMOS camera can reflect the elevation information of belt steel surface, linear laser source impinges upon line laser on the belt steel surface with certain inclination angle;
4) based on the image processing algorithm of reprojection's algorithm, can be with the accurate sub-pixel of extraction precision of laser rays endpoint location coordinate in the image;
5) utilize face battle array CMOS camera to take the laser rays that is incident on the belt steel surface, this profile testing method based on machine vision has been realized the wide non-contact detection of band steel wheel;
6) utilize LDV to measure band steel transporting velocity on roller-way,, and on the velocity survey precision, have higher rechecking precision, improved the wide degree of accuracy that detects of band steel wheel without the non-contact measurement of having realized strip speed;
7) in detection system, to have comprised air cooling system and water-cooled system in order reducing with of the interference of the various operating modes of steel automatic assembly line, to have made face battle array CMOS camera, linear laser source and LDV be operated in best detected state detection system.
Description of drawings
Fig. 1 is based on the pick-up unit synoptic diagram of the online contactless cut deal profile detection system of reprojection's algorithm;
Fig. 2 is based on the control device synoptic diagram of the online contactless cut deal profile detection system of reprojection's algorithm;
Fig. 3 is based on the overview flow chart that reprojection's algorithm extracts laser rays endpoint location coordinate in the image.
Embodiment
Like Fig. 1, shown in 2, comprise cut deal profile pick-up unit and control device based on the online contactless cut deal profile detection system of reprojection's algorithm;
Cut deal profile pick-up unit comprises the vision overlapping region 8 of installation site 5, LDV 6, screw 7, the two adjacent surface battle array CMOS cameras of sensor cabinet 1, linear laser source 2, face battle array CMOS camera 3, camera lens 4, face battle array CMOS camera, by axis 12, optoelectronic switch receiver 13 and the optoelectronic switch transmitter 14 of measuring tape steel 9, band steel rollgang 10, camera axis and formed plane 11 of camera mounting points and left side battle array CMOS camera;
High planes such as sensor cabinet 1 inherence are provided with two face battle array CMOS cameras 3; On face battle array CMOS camera 3, camera lens 4 is housed; And the both sides at its face battle array CMOS camera 3 are respectively equipped with a plurality of linear laser source 2, and the angle between linear laser source 2 and face battle array CMOS camera 3 axis is the 2-12 degree, and LDV 6 is fixed on the lower end of sensor cabinet 1 through screw 7; Band steel rollgang 10 is provided with by measuring tape steel 9; Be provided with the vision overlapping region 8 of two adjacent surface battle array CMOS cameras on by measuring tape steel 9, the axis 12 of the installation site of face battle array CMOS camera 3 and left side battle array CMOS camera forms camera axis and the formed planes 11 of camera mounting points, and optoelectronic switch receiver 13 is installed in the dead ahead of sensor cabinet 1; Optoelectronic switch transmitter 14 be installed in optoelectronic switch receiver 13 under form correlation; And optoelectronic switch transmitter 14 is installed on the elevation plane on the plane that is lower than band steel rollgang 10, and face battle array CMOS camera 3 links to each other with the camera industrial computer, and LDV 6 links to each other with the front end industrial computer; And the front end industrial computer links to each other with the camera industrial computer through netting twine, and sensor cabinet 1 is placed on the portal frame;
Control device comprises face battle array CMOS camera, LDV, the image pick-up card based on the CPCI interface, camera industrial computer, the serial port expanding module based on the CPCI interface, collection of simulant signal card, digital I/O control card, front end industrial computer;
The front end industrial computer links to each other with serial port expanding module based on the CPCI interface with the camera industrial computer respectively; The camera industrial computer links to each other with image pick-up card based on the CPCI interface; Image pick-up card based on the CPCI interface links to each other with two face battle array CMOS cameras, links to each other with LDV, collection of simulant signal card and digital I/O signal controller respectively based on the serial port expanding module of CPCI interface.
The image that face battle array CMOS camera is taken is given the image pick-up card based on the CPCI interface through Camera Link communications; Image pick-up card based on the CPCI interface carries out pre-service to photographic images; And the image after will handling is transferred to the camera industrial computer through the CPCI communication interface; The camera industrial computer carries out data interaction through TCP/IP Ethernet and front end industrial computer; The velocity information that LDV records is spreaded card through the serial ports that RS232 communication protocol is transferred to based on the CPCI interface; Collection of simulant signal card and digital I/O signal controller through RS485 communication protocol with spread based on the serial ports of CPCI interface that to stick into line data mutual, spread based on the serial ports of CPCI interface that cartoon is crossed the CPCI communication interface and the front end industrial computer carries out data interaction.
As shown in Figure 3; Pretreated image is handled in the camera industrial computer, utilizing for the first time projection algorithm based on the method for the online contactless cut deal profile detection system of reprojection's algorithm; To extract the lengthwise position coordinate of laser rays center line in the image; Lengthwise position coordinate with this center line is that benchmark is respectively got 2 capable totally 5 row up and down as the target line that extracts laser rays endpoint location coordinate in the image; The utilization projection algorithm second time is handled this five-element's laser rays respectively again, obtains the sub-pixel location coordinate that each row is gone up the laser rays end points, removes wherein maximal value and minimum value; Then remaining three are averaged, with the endpoint location coordinate of this mean value as laser rays in the image.
Step based on the online contactless cut deal profile testing method of reprojection's algorithm is following:
1) utilize band steel rollgang 10 will be transported to the below of sensor cabinet 1 by measuring tape steel 9, linear laser source 2 incides by measuring tape steel 9 surfaces and forms the laser rays across the entire belt steel;
2) utilize optoelectronic switch receiver 13 to take to be incident on and measure belt steel surface along the speed on its length direction by measuring tape steel 9 lip-deep laser rays and LDV 6 with optoelectronic switch transmitter 14 synchronous face battle array CMOS cameras 3;
3) face battle array CMOS camera 3 captured image information are transferred to the image pick-up card on the camera industrial computer through Camera Link interface; Image pick-up card on the phase computes is responsible for image is carried out pre-service; Comprise medium filtering and the cutting of thanking to the zone, and pretreated image is transferred to the camera industrial computer through the CPCI interface;
4) LDV 5 will be transferred to the front end industrial computer through RS232 communication protocol by the speed data of measuring tape steel 9;
5) in the camera industrial computer; Utilization projection algorithm is for the first time handled pretreated image; To extract the lengthwise position coordinate of laser rays center line in the image; The lengthwise position coordinate of laser rays center line has reflected the elevation information of belt steel surface in the image, and the combining camera vision calibration just can go out the height of belt steel surface through the lengthwise position measurement of coordinates that extracts laser rays center line in the image;
6) the lengthwise position coordinate with laser rays center line in the above-mentioned image is a benchmark, respectively gets 2 row up and down and totally 5 goes as the target line that extracts laser rays endpoint location coordinate in the images;
7) the utilization projection algorithm second time is handled respectively each row of above-mentioned 5 row target lines; Obtain each row and go up the sub-pixel location coordinate of laser rays end points; Contrast the endpoint location coordinate of each row laser rays; Remove wherein maximal value and minimum value, then the endpoint location coordinate of remaining triplex row laser rays is averaged, with the endpoint location coordinate of this mean value as laser rays in the image; The endpoint location coordinate of laser rays has reflected the locus coordinate of strip edge edge in the image, and the height of combining camera vision calibration and belt steel surface can become the endpoint location coordinate conversion of laser rays in the image locus coordinate of strip edge edge;
8) through the tcp/ip communication agreement with the locus coordinates transmission of strip edge edge to the front end industrial computer; And the speed that the locus coordinate and the LDV 5 of strip edge edge records mated the outline data that generates the band steel one by one, and will be shown to the user with the outline data of steel with the form of curve.
9) the collection of simulant signal card links to each other with temperature sensor; Be responsible for the temperature in the sensor cabinet 1 is gathered in real time; And the temperature signal of gathering is transferred to the serial port expanding module based on the CPCI interface through RS485 communication protocol; Numeral I/O signal controller is responsible for the status information of profile detector system is monitored, and is responsible for digital signal in the output profile detector system with the control water-cooled and the air-cooled circulation system.
Described first time, projection algorithm was:
Each all gray values of pixel points of row in the image are projected on the along slope coordinate of this row, promptly obtain adding up and being designated as T of all pixel gray-scale values on this row
i
In the formula, and f (i, j) for the capable j of i in the image lists the pixel corresponding gray, m is vertical width of image, n is the transverse width of image.
To adding up and T of gray-scale value on the above-mentioned pixel
iCompare, choose the lengthwise position coordinate Y of the pairing row of maximal value as laser rays center line in the image.
{Y＝k|T
k＝MAX[T
1，T
2，…T
i…T
m]}
In the formula, k is gray-scale value accumulation and the pairing along slope coordinate of maximum row position on the pixel.
Described second time, projection algorithm was:
To the wherein delegation among the above-mentioned five-element in the image; Intercepting comprises the part of laser rays end points and handles; To carrying out uniformly-spaced linear interpolation according to its gray-scale value between two neighbor pixels; Make between two neighbor pixels to comprise multiple spot, n the pairing horizontal ordinate in insertion point
is after j lists pixel:
And f
n(i, j) ∈ positive integer, dawn f (i, j+1) ≠ f (i, j) }
In the formula, f
n(i is that (i is j) with f (i, the value that the n point that j+1) inserts between the value is corresponding at f j); (i j) lists the pixel corresponding gray for the j of this delegation to f, f (i; J+1) list the pixel corresponding gray for the j+1 of this delegation, i is the ordinate of pixel, and j is the horizontal ordinate of pixel.
To the row after the linear interpolation, the value y that horizontal ordinate x is corresponding with it constitutes new function and is expressed as:
y＝f(x)
Utilize longitudinal projection for the second time, promptly add up the number that each gray-scale value comprises between the 0-255, pairing number was N when the note gray-scale value was k
k
N
k＝∑g
k(x)k＝0，1，…255
To N
kSearching for and choosing number is 1 its gray-scale value k that tackles, and can calculate its pairing horizontal ordinate x according to gray-scale value k, utilizes the method for weighting to calculate the sub-pix horizontal ordinate of laser rays end points again:
In the formula, X is the sub-pix horizontal ordinate of this row laser rays end points, and N ' is the number of 1 gray-scale value for number, x
I 'It is the pairing horizontal ordinate of the individual gray-scale value of i '.
Claims (1)
1. the online contactless cut deal profile pick-up unit based on reprojection's algorithm is characterized in that comprising cut deal profile pick-up unit and control device; Cut deal profile pick-up unit comprises sensor cabinet (1); Linear laser source (2); Face battle array CMOS camera (3); Camera lens (4); The installation site (5) of face battle array CMOS camera; LDV (6); Screw (7); The vision overlapping region (8) of two adjacent surface battle array CMOS cameras; By measuring tape steel (9); Band steel rollgang (10); The axis (12) of camera axis and the formed plane of camera mounting points (11) and left side battle array CMOS camera; Optoelectronic switch receiver (13) and optoelectronic switch transmitter (14); High planes such as sensor cabinet (1) inherence are provided with two face battle array CMOS cameras (3); Camera lens (4) is housed on face battle array CMOS camera (3); And be respectively equipped with a plurality of linear laser source (2) in the both sides of its face battle array CMOS camera (3); Angle between linear laser source (2) and face battle array CMOS camera (3) axis is the 2-12 degree; LDV (6) is fixed on the lower end of sensor cabinet (1) through screw (7), and band steel rollgang (10) is provided with by measuring tape steel (9), is provided with the vision overlapping region (8) of two adjacent surface battle array CMOS cameras on by measuring tape steel (9); The axis (12) of the installation site of face battle array CMOS camera (3) and left side battle array CMOS camera forms camera axis and the formed plane of camera mounting points (11); Optoelectronic switch receiver (13) is installed in the dead ahead of sensor cabinet (1), optoelectronic switch transmitter (14) be installed in optoelectronic switch receiver (13) under form correlation, and optoelectronic switch transmitter (14) is installed on the elevation plane on plane that is lower than band steel rollgang (10); Face battle array CMOS camera (3) links to each other with the camera industrial computer; LDV (6) links to each other with the front end industrial computer, and the front end industrial computer links to each other with the camera industrial computer through netting twine, and sensor cabinet (1) is placed on the portal frame; Control device comprises face battle array CMOS camera, LDV, the image pick-up card based on the CPCI interface, camera industrial computer, the serial port expanding module based on the CPCI interface, collection of simulant signal card, digital I/O control card, front end industrial computer; The front end industrial computer links to each other with serial port expanding module based on the CPCI interface with the camera industrial computer respectively; The camera industrial computer links to each other with image pick-up card based on the CPCI interface; Image pick-up card based on the CPCI interface links to each other with two face battle array CMOS cameras, links to each other with LDV, collection of simulant signal card and digital I/O signal controller respectively based on the serial port expanding module of CPCI interface; The image that face battle array CMOS camera is taken is given the image pick-up card based on the CPCI interface through Camera Link communications; Image pick-up card based on the CPCI interface carries out pre-service to photographic images; And the image after will handling is transferred to the camera industrial computer through the CPCI communication interface; The camera industrial computer carries out data interaction through TCP/IP Ethernet and front end industrial computer; The velocity information that LDV records is spreaded card through the serial ports that RS232 communication protocol is transferred to based on the CPCI interface; Collection of simulant signal card and digital I/O signal controller through RS485 communication protocol with spread based on the serial ports of CPCI interface that to stick into line data mutual, spread based on the serial ports of CPCI interface that cartoon is crossed the CPCI communication interface and the front end industrial computer carries out data interaction.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538705A (en) * | 2012-01-12 | 2012-07-04 | 杭州浙大精益机电技术工程有限公司 | Secondary-projection-algorithm-based on-line non-contact contour detection system and method of intermediate-thick plate |
| CN104296691A (en) * | 2014-10-28 | 2015-01-21 | 电子科技大学 | Aircraft engine tail profile measurement device and method based on machine vision |
| US9467638B2 (en) | 2013-08-13 | 2016-10-11 | The Hong Kong University Of Science And Technology | Sensory array with non-correlated double sampling random access-reset pixel and multi-channel readout |
-
2012
- 2012-01-12 CN CN2012200131004U patent/CN202420446U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538705A (en) * | 2012-01-12 | 2012-07-04 | 杭州浙大精益机电技术工程有限公司 | Secondary-projection-algorithm-based on-line non-contact contour detection system and method of intermediate-thick plate |
| CN102538705B (en) * | 2012-01-12 | 2014-11-05 | 杭州浙达精益机电技术股份有限公司 | Secondary-projection-algorithm-based on-line non-contact contour detection system and method of intermediate-thick plate |
| US9467638B2 (en) | 2013-08-13 | 2016-10-11 | The Hong Kong University Of Science And Technology | Sensory array with non-correlated double sampling random access-reset pixel and multi-channel readout |
| CN104296691A (en) * | 2014-10-28 | 2015-01-21 | 电子科技大学 | Aircraft engine tail profile measurement device and method based on machine vision |
| CN104296691B (en) * | 2014-10-28 | 2017-04-19 | 电子科技大学 | Aircraft engine tail profile measurement device and method based on machine vision |
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Effective date of registration: 20200825 Address after: Room 701, 7 / F, building 2, smart cube technology center, 139 Xiangyuan Road, Gongshu District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG ZHEDA INSIGMA ENVIRONMENTAL ENGINEERING Co.,Ltd. Address before: Room 107, building 1, No. 1500 Wenyi West Road, Yuhang District Patentee before: HANGZHOU ZHEJIANG UNIVERSITY JINGYI ELECTROMECHANICAL TECHNOLOGY ENGINEERING Co.,Ltd. |
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