CN210573937U - Online three-dimensional imaging device of roll surface of roll squeezer - Google Patents
Online three-dimensional imaging device of roll surface of roll squeezer Download PDFInfo
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- CN210573937U CN210573937U CN201921918788.9U CN201921918788U CN210573937U CN 210573937 U CN210573937 U CN 210573937U CN 201921918788 U CN201921918788 U CN 201921918788U CN 210573937 U CN210573937 U CN 210573937U
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- G06T5/80—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The utility model discloses an online three-dimensional imaging device of roll squeezer roll surface, including master control set, roll squeezer roll surface, step motor, lead screw guide rail, image collector, lead screw guide rail installs in the place ahead of roll squeezer roll surface, and is parallel with the axis of roll squeezer roll surface place running roller, image collector comprises a two mesh cameras and a linear laser scanner, image collector installs on lead screw guide rail, lead screw guide rail is connected with step motor. The utility model discloses can carry out three-dimensional reconstruction to the roll surface accurate under roll squeezer operating condition to measuring the data of rebuilding, when discovering the serious condition of roll surface damage, in time send out the police dispatch newspaper, remind maintainer to restore the roll surface as early as possible, thereby improve equipment's operating rate, reduce the maintenance cost, improve product quality indirectly, can adapt to abominable operational environment, have very strong interference immunity to factors such as smoke and dust, noise.
Description
Technical Field
The utility model relates to a roll squeezer technical field especially relates to an online three-dimensional imaging device of roll squeezer roll surface.
Background
The roller press is widely applied to industries such as building material cement, metallurgical mine, chemical production and the like, has the advantages of high efficiency, energy conservation, environmental protection and the like, is commonly used for grinding hard materials such as steel slag, iron ore, quartz ore and the like, and the roller surface of the roller press is usually ensured to be wear-resistant by adopting a mode of embedding hard alloy studs.
The roller press mainly applies pressure to materials through relative rotation between two rollers, crushed materials are extruded to form a compact material bed, the next process is carried out from the lower parts of the two rollers, and the ground materials are high in hardness and high in abrasiveness, so that roller surface studs can be worn to different degrees after normally running for a period of time, too large metal impurities can directly damage the roller surface, and the roller surface is locally peeled off even in a large area.
If the damaged roll surface is not repaired or replaced in time, unqualified material processing can be caused, and the next process can be directly carried out, so that the product quality is seriously influenced, the roll surface is greatly abraded all the time, and if the roll surface is not timely detected and maintained, the equipment operation rate is low, and the product quality is reduced. Therefore, the key for improving the production quality and the production efficiency is to carry out timely detection and maintenance on the roll surface of the roll squeezer.
The traditional roll surface detection method adopts a manual mode based on human eye judgment or soft rope measurement, has the defects of low efficiency, poor precision, long time consumption, high cost and the like, and cannot meet the requirement of large-scale equipment detection in the existing factory, so improvement is needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects existing in the prior art and providing an online three-dimensional imaging device for the roll surface of a roll squeezer.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an online three-dimensional imaging device of roll squeezer roll surface, includes master control set, roll squeezer roll surface, step motor, lead screw guide, image collector, lead screw guide installs in the place ahead of roll squeezer roll surface, and is parallel with the axis of roll squeezer roll surface place running roller, image collector comprises a two mesh cameras and a linear laser scanner, image collector installs on lead screw guide, lead screw guide is connected with step motor, master control set and step motor are connected, master control set and roll squeezer roll surface are connected, and are equipped with travel switch on the circuit between master control set and the roll squeezer roll surface, two mesh cameras are connected with the computer.
Preferably, the binocular cameras are respectively located on two sides of the linear laser scanner and are arranged in parallel, and the binocular cameras, the linear laser scanner and the binocular cameras are all over against the roll surface of the roll squeezer.
Compared with the prior art, the beneficial effects of the utility model reside in that:
1. the utility model discloses can carry out three-dimensional reconstruction to the roll surface of accurate under roll squeezer operating condition to measuring the data of rebuilding, measuring accuracy error is less than 1mm, when discovering the serious condition of roll surface damage, in time sends out the police dispatch newspaper, reminds maintainer to restore the roll surface as early as possible, thereby improve equipment's operating rate, reduce the maintenance cost, indirectly improve product quality.
2. The utility model is suitable for a roll surface (stud roll surface, slot roll surface, chevron shape roll surface, welding roll surface etc.) wearing and tearing of various forms and material are measured, in addition, shine the roll surface through the laser mode and acquire two mesh images, can adapt to abominable operational environment, have very strong interference immunity to factors such as smoke and dust, noise, and algorithm design has contained a large amount of compensation algorithm, can correct the small error in the device installation, realizes more accurate measurement.
To sum up, the utility model discloses can carry out three-dimensional reconstruction to the roll surface accurate under the roll squeezer operating condition to measuring the data of rebuilding, when discovering the serious condition of roll surface damage, in time send out the police dispatch newspaper, remind maintainer to restore the roll surface as early as possible, thereby improve equipment's operating rate, reduce the maintenance cost, indirectly improve product quality, can adapt to abominable operational environment, have very strong interference immunity to factors such as smoke and dust, noise.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of a binocular line laser scanner of the present invention;
FIG. 3 is a flow chart of a method for online three-dimensional imaging of a roll surface of a roll squeezer;
FIG. 4 is a schematic view of binocular image stereo rectification;
FIG. 5 is a schematic illustration of laser fringes after binocular threshold segmentation;
FIG. 6 is a schematic diagram of the laser line center extraction result;
fig. 7 is a principle diagram of binocular vision space point coordinate restoration based on parallax.
In the figure: the automatic control device comprises a main control device 1, a travel switch 2, a computer 3, a stepping motor 4, an image collector 5, a lead screw guide rail 6, a roller surface of a roller press 7, a binocular camera 8 and a linear laser scanner 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Referring to fig. 1-2, an online three-dimensional imaging device for a roll surface of a roller press comprises a main control device 1, a roll surface 7 of the roller press, a stepping motor 4, a lead screw guide rail 6 and an image collector 5, wherein the lead screw guide rail 6 is installed in front of the roll surface 7 of the roller press and is parallel to the axis of a roller where the roll surface 7 of the roller press is located, the image collector 5 comprises a binocular camera 8 and a linear laser scanner 9, the image collector 5 is installed on the lead screw guide rail, the lead screw guide rail 6 is connected with the stepping motor 4, the main control device 1 is connected with the roll surface 7 of the roller press, a travel switch 2 is arranged on a line between the main control device 1 and the roll surface 7 of the roller press, and.
The binocular cameras 8 are respectively located on two sides of the linear laser scanner 9 and are arranged in parallel, and the three cameras are all over against the roller surface 7 of the roller press.
An online three-dimensional imaging method for a roll surface of a roll squeezer comprises the following steps:
s1: calibrating a system; the binocular vision system is calibrated through a specific calibration object, and the internal reference and the external reference of the binocular camera are solved.
Wherein, the internal reference matrix K of the binocular camera is only related to the internal structure of the camera parts and consists of the focal length f in the x and y directionsx，fyAnd camera optical center coordinates u0，v0Determining that the external parameters of the binocular camera are a world coordinate system to camera coordinate system down-conversion matrix M2It consists of a 3 x 3 rotation matrix R and a three-dimensional translation vector t, between a point P (Xw, Yw, Zw) in space and the coordinates (u, v) of the projected point in the imageThe transformation is shown as follows:
wherein s is a scale factor, M is a 3 x 4 projection matrix, when the binocular camera is calibrated, the optical center of one camera is usually used as the origin of a world coordinate system, and the rotation matrix and the translation vector from the other camera pose to the camera pose are external parameters of the binocular vision system.
S2: reconstructing local point cloud; and recovering the three-dimensional point cloud of the roller surface in the single line laser irradiation area through the roller surface pictures irradiated by the pair of line lasers.
S3: point cloud splicing; the binocular camera moves left and right on the lead screw guide rail at a specified speed, the roller surface images are shot at a certain frame rate and are opposite, three-dimensional coordinates of single line laser are recovered for each pair of images, a plurality of line point clouds are spliced into a surface, and then, when reconstruction algorithm is carried out, the roller surface rotates at a certain angular speed, and a plurality of circles of scanning data are spliced into complete roller surface data.
The measuring system only calibrates the camera once, the calibrated internal and external parameters are kept unchanged, and because the position relation between the camera and the world coordinate system is relatively fixed, the position of the world coordinate system is continuously changed, and each optical strip is obtained under different world coordinate systems, the three-dimensional information of the whole measured object needs to be reflected, and the data under the different coordinate systems need to be converted into the same world coordinate system. In the measuring process, the position of the marking point is kept unchanged all the time, so that the conversion relation between each world coordinate system and the world coordinate system at the scanning initial position can be calculated according to a series of three-dimensional coordinates of the marking point in different world coordinate systems.
In S2, the local point cloud reconstruction step further includes the following steps:
s21: correcting distortion; due to the influence of the shape of the lens of the camera and the assembly error inside the camera, the binocular camera can generate certain radial distortion and tangential distortion in the imaging process, so that the image is corrected by distortion parameters obtained by calibrating the camera, and the image completely conforms to the imaging geometric model of the camera.
Because the defect of camera lens in manufacturing process and reasons such as positioning error in the assembling process for linear camera model can not accurately describe the formation of image geometric relation, consequently, need carry out the distortion correction to it after image acquisition, the utility model discloses mainly correct to radial distortion, its correction formula can be expressed with following formula:
wherein
(Xd,Yd) Actual image plane image coordinates, k, shifted for lens distortion1,k2,k3The distortion coefficient of the lens can be obtained when the camera is calibrated.
S22: performing three-dimensional correction; the premise of recovering the three-dimensional point cloud of the roller surface according to the parallax is that the two imaging planes of the binocular camera are completely aligned in a line mode, and due to errors existing in the hardware installation process, the absolute line alignment of the two camera planes is required to be achieved through a stereo correction algorithm.
The utility model discloses a Bouguet method carries out polar line and corrects, and the correction process is shown in figure 4, according to antipodal geometrical relation, the space is a plane of double-phase machine light center constitution about with, is called extremely plane, and this plane is called polar line with the intersection line of image plane, and image plane in the actual conditions is like piR,πTAs shown, a certain included angle exists, after the stereo correction, the two image planes are completely parallel, and the corresponding polar lines are aligned.
S23: extracting a laser central line; the laser stripes have a certain width in the left and right images, and in order to improve the precision of the measurement system, the central line pixel coordinates (sub-pixel level) of the line laser stripes need to be accurately extracted.
At first to the striation image go on to denoise the filtering, get rid of in the image isolated noise in target and the background can be fine again the detail information that keeps the laser stripe, the utility model discloses in adopt value filtering to come to handle laser stripe image, arrange the pixel in the neighborhood in an order according to the gray level, then select this group intermediate value as output pixel value, as follows:
g(m,n)＝MedianA{fA(m+k,n+l),(k,l)∈R} (3)
in the formula of MedianAThe algorithm is a middle value of the window A, can eliminate isolated noise points, reduces the influence of smoke dust in a working environment on an image, then performs self-adaptive threshold segmentation on the image, extracts the outline positions of laser stripes and mark points in the image, finally extracts the center coordinates of the mark points and refines the light stripes, removes edge pixel points of the outline with a certain width successively, and obtains a center skeleton of a single pixel of the light stripe (as shown in figure 6) under the condition of not influencing the connectivity of the light stripe.
S24: stereo matching; the line alignment of the left image and the right image can be realized according to the epipolar rectification, the line laser is vertical, and the matching of the corresponding positions of the two images can be realized by searching the position of the laser central line of the two images in each line.
Step S25: calculating three-dimensional coordinates; and after the stereo matching is finished, calculating the parallax corresponding to the laser centers of the two images, and then calculating the coordinates of the space points of the line laser irradiation area according to the triangulation principle.
The schematic diagram of binocular stereo vision is shown in fig. 7, and according to similarity of triangles, the coordinates of the obtained space points are as follows:
wherein B is a baseline distance, which is the distance between the optical centers of the two cameras, and D ═ xT-xRAnd is the disparity between the corresponding matched feature points.
In S3, the implementation of the point cloud splicing part needs to fix four landmark points in the view of the scene, each pair of images can calculate the spatial coordinates of the four landmark points, and the point cloud is converted into a uniform world coordinate system according to the four known spatial coordinates to implement the splicing of the line point cloud.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (2)
1. The online three-dimensional imaging device for the roll surface of the roller press comprises a main control device (1), the roll surface (7) of the roller press, a stepping motor (4), a lead screw guide rail (6) and an image collector (5), and is characterized in that the lead screw guide rail (6) is installed in the front of the roll surface (7) of the roller press and is parallel to the axis of a roller where the roll surface (7) is located, the image collector (5) consists of a binocular camera (8) and a linear laser scanner (9), the image collector (5) is installed on the lead screw guide rail, the lead screw guide rail (6) is connected with the stepping motor (4), the main control device (1) is connected with the roll surface (7) of the roller press, and a travel switch (2) is arranged on a line between the main control device (1) and the roll surface (7) of the roller press, the binocular camera (8) is connected with a computer (3).
2. The online three-dimensional imaging device for the roll surface of the roller press as claimed in claim 1, characterized in that the binocular cameras (8) are respectively located at two sides of the linear laser scanner (9) and are arranged in parallel with each other, and the three cameras are all opposite to the roll surface (7) of the roller press.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2019105690326 | 2019-06-27 | ||
| CN201910569032.6A CN110288545A (en) | 2019-06-27 | 2019-06-27 | A kind of online three-dimensional image forming apparatus of roll surface of roller press and method |
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| CN210573937U true CN210573937U (en) | 2020-05-19 |
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| CN201921918788.9U Active CN210573937U (en) | 2019-06-27 | 2019-11-07 | Online three-dimensional imaging device of roll surface of roll squeezer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111640148A (en) * | 2020-05-25 | 2020-09-08 | 深圳易朴科技有限公司 | Online three-dimensional imaging method for roll surface of roll squeezer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111408546B (en) * | 2020-03-11 | 2022-09-16 | 武汉工程大学 | Ore detection method and system based on laser scanning imaging |
| CN111239144A (en) * | 2020-03-20 | 2020-06-05 | 中建材（合肥）粉体科技装备有限公司 | Automatic detection device and detection method for roll surface of roll squeezer |
| CN111721767A (en) * | 2020-05-15 | 2020-09-29 | 洛阳矿山机械工程设计研究院有限责任公司 | Online detection method for roll surface abrasion of roll squeezer |
| CN111812671A (en) * | 2020-06-24 | 2020-10-23 | 北京佳力诚义科技有限公司 | Artificial intelligence ore recognition device and method based on laser imaging |
| CN113566733B (en) * | 2021-06-29 | 2023-11-14 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
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- 2019-06-27 CN CN201910569032.6A patent/CN110288545A/en active Pending
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| CN111640148A (en) * | 2020-05-25 | 2020-09-08 | 深圳易朴科技有限公司 | Online three-dimensional imaging method for roll surface of roll squeezer |
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