TWI251661B - Measuring system and methodology for profile of steel bloom - Google Patents

Abstract

The invention is a kind of measuring system and methodology for profile of steel bloom. The system includes a laser component, imaging-acquisition apparatus and computer. The imaging-acquisition apparatus consists of 2-dimensional CCD camera and imaging-acquisition card. The laser component and 2-dimensional CCD camera are setup around the moving route of steel mold. The laser projects the surface of the steel bloom and can be detected with 2-dimensional CCD camera for profile measuring of width, thickness, bulge and wedge of steel bloom. By measuring the moving steel bloom and calculating the profile data with the computer, the profile size of steel bloom can be obtained. Using measuring method, the tilting of the steel bloom during transporting can be detected, therefor improves the reliability of steel bloom measuring.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to a steel embryo shape measuring system and method, and more particularly to a single-section outside the width, thickness, bulge, etc. Open = 丄 丄 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续 连续. ^ [Prior Art] There are (4) 廄 because there is no steel blast width measuring equipment for a long time, so it is only dependent on the inspector to measure the width of the steel billet after cooling, and the time required to measure the full shape data is equivalent. i, therefore, the guards can only measure the position of the cold steel embryo; and see the use of optical methods to measure the workpiece with considerable thickness. At the same time, considerable measurement has been developed at home and abroad. The way, the towel, the principle of laser ranging is to use a single-point laser beam to perform the laser triangulation or the end of flight time, and the α α 7 乂 2 4 relative position is known as the range finder The width of the workpiece can be measured on both sides of the workpiece to be tested. At present, the Ministry of Steel: The steel embryo width measuring system is measured in this way, and the single-point measuring port is also suitable for application. 4 When Guangyou is erected in an array, the surface of the workpiece can still be obtained, that is, 'this single point measurement method is quite sufficient for general ranging: however, because the party is limited to the single point measurement limit, for measurement and diversity Different thickness workpieces, + The first shot of the field may not hit the surface of the workpiece, so that the measurement result cannot be obtained. 1251661, the surface contour measurement often needs to be set according to the required amount of the rangefinder, and it is said to be fine and fine. The number of frames is improved, and the continuous contour of the surface is not accurately understood, and the workpiece table a οσ is solved. In order to improve the shortcomings of this measurement method, you can also use a single point laser rangefinder. The advantage of using the instrument to measure the to-be-measured is that the single-point emperor A is a pass system, '., the field is generally strong enough and easy to maintain, and the _it method is simpler. The side of the '杈正方列相机, therefore, Dan, witness # ώ 诼 的 的 的 的 的 的 的 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此The information on the thickness of the profile „,, in addition, ',' ▼ 扦 扦 can get a complete steel embryo profile t θ must ensure that both sides of the shell. Where, the amount of enthalpy measurement. Laser synchronization 'otherwise measurement results on both sides It will be difficult to adjust the shape of the steel embryo with a - line camera. Into the right to play the right time to draw the mountain 4 ears ... Μ /, the principle 疋 in the measurement of the relationship by 4 ^ ,, and then by the camera imaging position and then back to the actual use of sensing crying rabbit ^ & , position, due to a measured value, if the guardian & mother can only get a single right, such as natural light as a way of light source, 1 surname plus light source of love, 7,", accounted for nothing. At room temperature, the % of the mouth is a cold embryo image. At present, there is already a position of the end point of t., _ 疋 疋 steel ;; in this way, the length of the steel blast is measured / (the patent A A %, the 糸 被 is developed Out of A caution 001 89877), the system of photography for the top of the wide, to # private photography ~ money is erected in the steel embryo 1 is more enough to measure the progress of the steel embryo, and because in different 鲕 Bx ", 冋 ~ The light and dark interface points must be: thickness compensation during the measurement; the length position 'so the above system uses other light sources to assist the calibration of the target, then 1251661 will help improve the image contrast between the target and the background, improve The availability of the system, taking a small billet as an example, if it is at its head Each side is equipped with a single-point laser light and line camera, which can be estimated by the imaging position of the head and tail segments (China Steel Technical Report, Ν〇·7, pp. 77-83). It is suitable for the measurement of hot and cold embryos. If the sub-pixel (sub-pi xe丨) analysis technique is used to find the position of the imaging point of the laser light, the measurement accuracy can be improved, and in order to obtain an accurate length value, The light must be pre-aligned. The limitation of this system is that the measurement data is not much, it is difficult to apply to the measurement of the complete shape, and it cannot compensate for the skew of the steel. SUMMARY OF THE INVENTION In view of the above problems, the inventor has invented and researched innovations, and invented a "steel embryo shape measuring system and method" that uses laser structured light and takes images in a two-dimensional array camera at a time. Obtaining all the measurement points on the section, and because the light source received at the time of image capture contains various frequencies, it is easy to cause the method to separate the object to be tested and the background 16', so the laser light is selected to have the advantages of:::乍 and high strength 'And add the appropriate 遽 mirror in front of the lens::: The image is difficult to separate, and because the line stripe laser light is due to the diffusion of the 2-column lens, the energy of a single point on the line light will be = and reduce 'no harm to the human body, and it has the advantages of: small, small and easy to maintain, in addition, the width of the laser light can be changed by changing the laser rim #十,函ha. (4) 'In order to improve the image capture accuracy', the monthly design has the advantages of fast measurement speed, better reliability, no damage to the 1251661 workpiece, easy adjustment of the measurement range, and measurement of inaccessible workpieces. Design purpose In order to achieve the structural features and technical contents of the above object, the present invention relates to a "steel embryo (four) measuring system", which comprises a laser structured light, an image manipulation device 2 measuring end computer device, wherein the image capturing device is Two-dimensional CCD camera and image capture card, laser structured light and two-dimensional (10) (four) frame are placed around the path of the steel embryo, the laser structure can project the laser light on the surface of the steel embryo, and the two-dimensional CCD camera from the steel Three-dimensional measurement is performed on both sides of the embryo to extract the single-section shape information such as the width, thickness, and bulge of the steel, 'measuring the steel H in the continuous measurement, and combining all the single-section shape measurement data. The measuring end of the computer equipment can be used to obtain the complete steel embryo size. In order to achieve the above object, the method for measuring the shape of a steel embryo is to project a laser light onto a surface of a steel embryo, and take a picture with a two-dimensional CCD camera, and after taking the image, enter the search. Bright object object step, and judge 3, no - there is a steel embryo image, which first screens all the bright area image objects for the image gray value ((4), that is, the bright area special threshold, analyzes all bright steel embryos and selects the real mine The laser light of the structure structure is projected into the image object of the Qiaodong area. If it can determine the image of the steel embryo, that is, the step 2, the coordinates of 2 coordinates are taken, converted into actual coordinates, and the shape data is calculated. Applng Wtl0n The projection surface is rotated to the space coordinates of the seat surface, and then the dimensions of the steel embryo width, thickness and convexity are calculated from the coordinates of the left and right sides of the steel factory f: 2:: the head end: After the data is initialized, the accumulated data is accumulated. If I, the accumulated data is returned to the original image discrimination, and the process proceeds to 1251661. Each process is continuously measured for the steel slab in the moving 隼~士沙动... After all measurement data Calculating the skew value and bending value of the steel embryo. In the present invention, the present invention is directed to the first figure and the first measurement system, and the present invention is "external steel opening," Set on the side of the conveyor steel (4 y 〇) package: 4 1) mobile platform (4 疋 position (1 〇), jinjinli child cylinder has - appropriate height; ... mobile platform (40) side and - Laser structured light (20), set in the positioning frame - image capturing device (3 〇), and "up" 1) and image capture card (: with -, quasi-CCD camera (3 placed in the positioning frame (... : (8), - dimension (10) camera (Chuan set a measuring terminal computer equipment set 1 in, and in the Dan, seven, image capture card (3 2) ', and Table I measuring terminal computer equipment (qq) Shizhuang and conversion The software of the coordinates.) The image of the middle garment is 2 0=2 (4 1 ). The measurement of the outer dimensions is based on the laser structure light (=r:::nm to match the 2nd camera (1)). The unilateral quantity (four) system is to set a laser structure light (two-dimensional CCD camera Μ), π person ▲ to nine C 2 0 ) and ^ 1) on the mobile platform (4 1 ) side, with 5 see the second figure As shown, it is double The side sniffer system is set on the sides of the steel embryo (41) in the 斤 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 构 3 3 3 由于) Before adding the filter of lOnui band pass (bandDA9Q, eve, and yue 66 pass), it can filter out the large embryo (41) infrared π, {knife hot steel...), 'outside work Firstly, the cold steel embryo can also be used to increase the service life of the laser source. The switch is for the embryo (4 1 ) controlled by Su private 丄 ^ / 糸 system, when the steel embryo ...) by the mobile platform (40) Drive into the amount of day, steel tl: hardware signal tells the measurement system to the laser structure: 'And complete the shape measurement U system is to close the laser structure range of the source. υ) The thunder system, the first Anxie first with the vertical line to assist the laser structure light verticality for 5 weeks, and then fine-tuned to make the left and right laser structure% of the field of light to coincide, that is, the laser on both sides The plane of the structured light (2 〇) and the ΧΖ axis of the Ζ axis, and the projection direction is perpendicular to the direction in which the 胚 胚 (4 1 ) moves; straight to the laser structure to f Q ^, ( 2 〇) Μ light source and 2D CCD photography; ^ (3n connection and steel embryo (41) (four) direction roughly: the distance can be measured according to the two denier Degree adjustment, at this distance u) is about 25 meters; the lens of the CCD camera (31) of the dead and the middle is required to be directed toward the surface of the steel embryo (4 1 ) toward the laser beam of the laser structure, and the steering is reversed. The angle must be adjusted according to the required coverage range; ', in addition, the laser structure light (20) and the two-dimensional CCD camera (3丄) in the ship's vertical direction must be compared to the steel embryo ( 4丄) transporting the mobile station (40) VIP, ° Renqi is lower than the top of the steel embryo (4 1), the position set in this 1251661 system is in The height of the moving platform) plus the steel embryo (41) and the height of the acne (the laser structure of the imaging system (2 〇) and the _ & H+h/2 height; human-dimensional CCD camera (the invention for steel embryo 1) (four)" See the third figure, mainly in the laser structure ' can be matched with the surface of the reference (4 1), and with -dimensional CCD 〇) Projected in the steel embryo 乂 one-dimensional CCD camera (3 Ί, after taking the image, enter the search for Yi Feng) to take the image, and in the technical steps, and determine the 4 1) image, which first on the image grayscale $ has a steel embryo (a specific interval value screens out all the bright area image objects, analyzes all: ") after the shape and position, selects the real #射外于 indium main 苒9 (20) laser light projection embryo bright area image object If it can be determined that there is a Μ, 计 Γ Γ 即 即 进入 进入 进入 进入 进入 进入 进入 进入 进入 进入 进入 影像 影像 影像 影像 影像 影像 影像 影像 进入 进入 进入 进入 进入 进入 进入 进入 进入 进入 进入 进入

JiK: t10n) coordinate transformation of the projection point, and transfer the image coordinates to the space coordinates: then calculate the outline dimensions, thickness and convexity of the steel embryo (4 1 ) surface contour coordinates on the left and right sides. At the head end of the steel embryo (4 work), the data can be accumulated after the data is initialized. If the steel is not the head of the steel (4 1 ), it is returned to the original image by accumulating the data, and the cycle is performed. The moving steel embryo (4 1 ) is continuously measured, and the skew value and bending value of the steel embryo (4丄) can be calculated after collecting all the measured data; the above threshold or π threshold value n (threshold) is Here is used to binarize the image (binarizati〇n) to separate the background object and to be 10 1251661: object 'in the present invention' because the laser light projects the steel embryo _L, and then images the gray value in photography 4 (or twist) will be higher than the background gray value, so if it is passed, when the threshold value is adjusted and the image area whose gray value is lower than the threshold value is discarded, the position of the true laser light on the surface of the steel embryo can be reached. Therefore, the threshold value is used to binarize the image to distinguish the background image from the projected image of the true laser light on the steel embryo. Moreover, the object of the image analysis of the present invention* is analyzed from the entire image. ^The laser light emitted by the laser structured light (2 ◦) is projected on the surface of the steel blank 4 1 ), and the preliminary image is completed. After the image analysis, the image coordinates of the laser projection can be calculated by finding the center of the luminance distribution of the laser projection line. This method is called sub-pixel and its function is to improve the image capturing accuracy. After the second (four) machine (3 1 ) projection center of all image objects, the next work: convert the image coordinates of the two-dimensional CCD camera (3 work) to the actual = standard, the method adopted is through the application of the corresponding function. The formula is as follows: 丄"="w,v) = Σ ° · i= 0 y=〇γ = [Vdt (1 Ί

/ Ν m m - ΐ 丄 J Z ”(W,V) = Σ Σ α〆〆. ι = 〇 7=0

The X axis is the horizontal direction perpendicular to the steel embryo (41). The axis is in the wrong direction 'Y axis is the direction of the steel embryo (4丄), to 'Z,' is the correction parameter, (w, v) respectively represents the two-dimensional CCD camera (3 ', ,, 4 degrees: vertical direction Coordinate point, m is the screen, can be measured according to the required measurement = water level adjustment 'higher # m value in the image coordinates and the actual space coordinates: the better the effect, but the calculation required for a single value The larger the amount will be, the closer will be 1251661. Bodhisattva will get the steel shovel (4 (x, 3;, z) values after the two sides /r7|> information can be transmitted by Wei _ _^, the following describes the various dimensions of the steel embryo求^ΖΙ353αΖΞΖΙ] Since the two-dimensional CCD camera (3 1 ) on the left and right sides of the steel embryo v 4 1 ) has its own seat and preparation, ^ ^ ^ standard system, the two camera coordinates must be integrated when measuring the nose width Then the whole eight is based on the left two-dimensional CCD camera (31) coordinates, 1) the second method is to the right two-dimensional (10) camera (3 two ί:: left two-dimensional (10) camera...) coordinates, two sides smashed Direction, due to the difference in height between the placed steel embryos (41), the L/position difference Δζ' and the opposite in the x-axis direction and the - fixed: When the camera is adjusted, the γ舳蚪·^ η 丨-dimensional CCD camera of the (3 1 ) is aligned, so the 'Y-axis effect is negligible; the starting point value of the steel embryo (4丄) profile shown in the fourth figure , (χ丨,, A铗/, 中(X,·,2,) is the original (V,) is the new coordinate value after the conversion. Do not mean that the right camera shop is taken in steel & The value of the endpoint of the left and right sides of the steel embryo can be calculated as ^^: , then 觅, thickness w = wide g

τ 2 't-xb)2+{zt^zbf ^zt Its " is the width, T is the thickness, false ^ the thickness of the right side, is the difference in thickness between the two sides of the steel, when the knife is not the left of the steel is judged In order to have a wedge shape defect. 々 to a certain extent, in order to make the convex belly calculation not affected by the inclination of the steel embryo (41) 仃, convex 12 1251661

The method of calculating the coordinates of the belly point A is the farthest point of the steel embryo (4 η (41) on the side profile relative to the distance between the upper edge of the (4) upper edge and the most rim line. The distance of the farm is the same as ^ /, The value of the convex belly is as shown in the fifth figure of the younger brother. It is assumed that the convex seat pole point H/ your convex belly is not known. ··έ d is 匕~), and the uppermost edge and the lowermost edge of the steel embryo are connected ab The square 寇 ★ or - formula: The formula is Z = mx + C, then the convex value (B) can be as follows

Calculation ~ Assume that the steel embryo (4 1 ) travels its side...- 〃 丁 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The measuring line, when the measuring line and the most concave part of the center = exceed the value of m, the steel embryo is said to have a curved shape defect, the dotted line knife '·', '·the embryo's tail tail coordinate line, seven, heart, a is the side of the steel blank at the center of the thickness =: the ticket value (here, the X-axis direction) 'The curve represents the method of calculating the curvature point of the f from the seat: the side of the embryo constructed by the point is to find the steel side wheel # relative The farthest point at the head end and the end of the steel embryo is the farthest point, U 'this-dotted line distance is defined as the bending value 'assuming the slope of the line', and the intercept is:,: there is a recessed part on both sides of the steel embryo And - the protruding part, take

The concave man is the bending value of the steel embryo, and the single side bending calculation formula is as follows: -m^yc - b 4] The purpose of the $ calibration is to find the image coordinates and the actual space coordinates by taking the image of the standard mechanism known to the coordinates. The relationship between the values of ~ and ~ in the formula [1] 13 1251661, with reference to the seventh figure, if a square hole (5 2 ) is placed at a different position on a correction frame (Y 0 ) (5, the calibration coordinate with the cover measurement range can be obtained. At the same time, the system also drives the two-dimensional CCD camera (3丄) to take the image, and the image correction point coordinates corresponding to each real-correction coordinate are obtained. Finally, the = coordinate array is used to find out the corresponding relationship. In the case that the two camera coordinates can be corrected at the same time, the length of the calibration frame (5 〇) needs to be at least = steel embryo (4... The left and right sides of the steel embryo (41) on both sides of the system will have a _ B direction due to the thickness of the calibration ruler (51): Fruit correction frame (5 ()) @ length (9) Cover image with one side: In the case of two calibrations, the calibration frame (5 〇) (4) will produce a shift in the X = ? direction. When the corresponding functions on the left and right sides of the steel embryo (41) are known...to be integrated by compensating for the offset of the two coordinate systems, see the correction ruler (to each one as shown in Figures 7, 8, and 9). After the different X positions are completed, ^ after the image is taken, the software calculates the center of gravity coordinates of each projection line segment by the sub-pixel technique for each projection line segment at the mother-V axis position (,::') and I The number of sub-pixel imaging centers that are not obtained by the different measurement lines of the Z clothes, (1) are the centroids of the different projection line segments. H: All the ^ in the watch list can be obtained by using the least square difference method: The most = take the image of the conjugation curve, the curve I number 0, &, the calculation method of the heart - after obtaining the conjugation curve of the single-sub-image, the per-projection line segment

V 14 1251661 Axis center of gravity coordinate v generation • Receiving – Find the correction point in the u-axis direction of the seatpost & ^ 将 n n n~’ and the coordinates of each projection line segment. A center of mind is a school-point in the direction of the V-axis - when moving the calibration ruler f ς , 5 1 ) to the measurement range to find all the corresponding corrections (\, &) and ancient books t 4 Μ ., ', seat After 輮(~,~), the least squares method is used to calculate the % and ~ in the wood type (1) of the gongs and the force difference, and the formula is as follows: Ε (π nk=nm mi “One for ,...~) = Σ(ΣΣ; 々=]/=0/=0 kk people k) • From. One by one,...~Bu f (Looking for [6] ^ = 1 /=0 J~0 kk Zk ) The above-mentioned calibration process for the measurement of the steel embryo, the shape of the steel embryos of the Zhejiang and Zhejiang music music nine maps: In:::::: Figure 'weaving operation, the second song ^ ^ standard to take the 'bright (area) If the sub-pixel coordinates have been used, the calibration ruler (5 steps after the step of the punctuality coordinate is judged to be 5 1) is moved over all the measurement ranges and the correction parameters are stored. 廿+ ΝRight 疋 is far from the calculation step; Right or return to the initial step. Before the above system is measured, there will be an integrated signal to the measurement 牟# ^. Near the hard point of the production equipment, the car is right, the order is placed, at this time, First, it will also accept from the process electro-embryo ( 4 1) 沬曰n 欠 勺 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , And send the amount of counter-thousands of each household computer, and draw the 昼 堉Μ I σ two client computer on the surface of the 昼 、 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , ,彡Μ ^ \ , 4 1 ) completely leave the measurement system, the system will analyze the overall shape S Xun' and then transfer the result to 15 1251661, seven clients and program-controlled thunder thieves. The measurement results are stored to facilitate subsequent data. Therefore, the system of the present invention can save the manpower of the steel embryo (4 1) in size and double the cost, and enables the downstream production line to immediately assume the appearance of the steel embryo (41). 'Solution-------~______ The length of the embryo is j. The right is to measure the length of the steel embryo (41). It can be erected as before the path of the steel embryo (4 1 ) in the eighth and tenth drawings.

Machine...) and laser structured light (20) each set, such as the X-axis is in the steel embryo (the horizontal direction of the Sichuan travel direction, : steel embryo (4 1) travel direction, laser structure% (2 〇) The plane created by the projection is parallel to the pupil plane and at the same axis position. The axis position is lower than the moving platform plus the thickness of the steel. Two two-dimensional (10) cameras 3 1 ) are placed in the laser structure light ( 2 0) above or below the light source, set the position to not see the turning line projected by the laser on the steel embryo (4 1 ): the second principle is 'When the steel shovel (after the Sichuan enters the measurement range, the camera then takes the same Stupid, wonderful, gentleman Ganzi ^ Only take the image and then use the acquired image to analyze the embryo ^ ^ ' of the coordinates of the sub-pixel technology 'the two coordinates of the corresponding function real space coordinates and (cut, where subscript hA t is divided into ^ segment and tail segment. The length of the shell and the steel embryo (4 1 ) is calculated from the square root of the head and tail coordinates. 'The characteristic of this method is that the length calculation is not affected by the traveling skew. The formula is as follows : ^ θ /, "(n) [?] mouth, through the above structural features and various dimensions to find the brightness of the 1 6 1251661 'The invention adopts the structure of laser structured light, which is a two-dimensional array, and the camera takes one image at a time to obtain all the measurement points on the section. The field-structured aperture can be used because of its narrow frequency band and high intensity. Advantages 'Two appropriate (four) mirrors can solve the problem that the image is difficult to separate, and, therefore, the line is first diffused by the first-pass-type cylindrical lens, and the energy of the single point on the light will not be injured by the diffuser. Breguet... and reduce 'so for people

And other advantages, as well as the laser ^ ~ early volume is small and dimension 4 is convenient to change by the laser light output focal length (4) ' ^ improve the image accuracy 'to make the steel embryo size measurement more 'only $, the obtained The value is more reliable. [Simple description of the drawing] First figure: Schematic diagram of the image taking mechanism of the present invention. f Figure 2: Schematic diagram of the system architecture of the present invention. 々弟二图: This is a flow chart of the method for measuring the shape of steel blanks. The fourth picture: the profile of the steel embryo.

The sixth figure The seventh picture The eighth picture The ninth picture The tenth picture The diagram of the calculation of the solid and the embryo's convex belly The main component symbol description Schematic diagram of the bending calculation of the steel embryo. A schematic diagram of the calibration mechanism of the present invention. The single image correction of the present invention is not intended to correct the flow chart of the steel material shape measurement system. Schematic diagram of the steel embryo length measurement of the present invention. Laser structured light 2D CCD camera (10) Positioning frame ( (3 0 ) Image capturing device ( 17 1251661

(3 2 ) Image capture card (3 3 ) Measuring terminal computer equipment (40) Mobile platform (41) Steel blank (50) Correction frame (51) Correction ruler (5 2 ) Square hole (6〇) Turning line 18

Claims (1)

1251661 X. Patent application scope: & 1 ·--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Set as the camera and & like the capture card, the laser structure light and the second shadow frame are set on the road of the steel embryo. = on the surface of the steel embryo, the second... the camera is measured by the continuous measurement. In the steel embryo, and the combination: Bu = measured data through the measurement end of the computer equipment conversion, can be obtained complete J, = ·: Shen Yanli range of the third item of the steel embryo shape measurement system rabbit Ming can be The early side measurement system is to arrange a laser structure light and a two-dimensional CCD camera on the steel embryo side of the mobile platform. 3 The steel embryo shape measuring system described in the application of the patent scope, wherein the invention can be a bilateral measuring system, wherein a laser structure light and a two-dimensional are respectively disposed on both sides of the steel embryo of the mobile platform. CCD camera. 4. The steel embryo shape measuring system according to claim 3, wherein the laser structures on both sides are located on a common plane formed by the x-axis and the z-axis, and the projection direction is perpendicular to the steel. The direction in which the embryo moves. 5. If the towel is in the scope of the patent, No. 2, 3 or 4, the steel embryo is measured in the celestial system. Among them, the laser structure and the two-dimensional (10) camera are in the vertical direction = the position of the erection than the steel embryo. The transporting platform is high, and the position below the top of the steel 'in the system' is at the height of the moving platform (Η) plus the half thickness (h) of the steel, ie the laser structured light The height of the one-dimensional CCD camera is erected at the height of H+h/2. 19 1251661 . 6 · The steel material described in item 5 of the patent application - dimension (10) camera has been added - before. (10) Bandpass Pass) filter. ▼通 (band:, 2:2, the steel embryo shape measurement system described in item 6 of the scope M s . . ^ Tian Yu Youyuan's use of the life, its opening of the Japanese 疋 ' ' #钢胚 by mobile The platform driver enters the measurement range of the second! The dynamic platform output hardware signal tells the measurement system to leave the Lei coffee/field steel embryo out of the 1 measurement range, and completes the shape measurement system. The laser light source of the laser structure light is turned off. , 8 . - A method for measuring the shape of steel, the fine laser is shot on the surface of the steel embryo and taken by a two-dimensional CCD camera; ~ After taking the image, enter the step of searching for the bright object and determine whether there is a steel image 'Firstly, all the bright-area image objects are filtered out by the _specific threshold for the gray scale value of the image'. After analyzing the shape and position of all the bright areas, the laser light of the true laser structure is selected and projected onto the steel embryo. Brightness of the surface • Area image object; If it can be determined that there is a steel image, the following steps are entered in sequence; image coordinate extraction is performed; the captured image coordinates are converted into actual coordinates, and the corresponding function Uappmg function is used to project Point to seat Converting, and transferring the image coordinates to the space coordinates; then calculating the shape data, calculating the outer dimensions of the steel embryo by the contour coordinates of the left and right sides of the steel, such as the width of the steel embryo, the thickness and the convexity, etc. After the data is initialized, the accumulated data is obtained. If the non-steel head end, that is, 20 1251661, the data is returned to the original image by accumulating the data, and the fourth (4) is used to measure the skew value of the steel embryo. And the bending value. All the measurement categories are collected: · As described in item 8 of the patent application scope, the main purpose of the image analysis is the laser emitted by the laser beam from the whole laser beam. The knife extracts the image coordinates of the actual shadow, and the method is to start calculating the laser light projection... This method is called sub-pixel analysis. The function is to improve the fabric and to complete the image of all the image objects of the two-dimensional (10) camera. Then two: (10) the image coordinates of the camera are converted to the actual space: the standard "method, its _ medium-month patent track circumference, the steel embryo shape measurement side, the use of - GGD camera image coordinates converted to the actual air The method used by the partition is to use the corresponding function rr ^ m ~ i 八 A, # · - / (,, ν) = Σ Σ α y J Vdt = W, v) = Σ Σ , . =0 7-0 J '^ The X axis is perpendicular to the horizontal direction of the steel shovel # 办 办 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The direction of the embryo lamp is 'V is the speed, 'for the correction table number, (4) the knife indicates the horizontal and vertical coordinate power of the two-dimensional CCD camera, and the required measurement accuracy can be performed, "for each sail + 仃Integrity, the more m value will have better effect on the approach of the space coordinates of the image holder U'p. 11 For the steel embryo shape measurement described in Item 10 of the patent application, the calculation of the width and thickness of the steel blank can be calculated by the following formula: 21 1251661 w 2) 2 T = ^b) 2 ^ Tz ^T^y Three W is the width, T is the thickness, where (wJ is the original coordinate value, (... is the new coordinate value after conversion, and 俨 and rt and rb respectively indicate the right camera coordinates taken at the thickness of the steel. The top and bottom coordinate points of the direction. 1 = · The steel embryo shape measurement described in item 1 of the patent scope, in order to make the convex belly calculation not tilted when the steel embryo travels, convex : Point coordinates: The calculation method is to find the steel rim on the side rim relative to the steel: side: belly: and take the farthest point of the line connecting the line, and the distance is such as the convex point d ( ^), and the uppermost edge and the lowermost side of the steel embryo side, and the side of the ab 线 line ab to the heart is column type z=mx + c, then the convex value (B) formula calculates: ...T is as follows B: Method: In the steel embryo shape measurement described in item 1 of the patent scope, the calculation of the bending of the steel is calculated, and the bending method is calculated to find the end of the coordinate of the opening point of the fine Line distance? The slope of the surface rim is opposite to the end of the steel and the end of the steel. The slope of the line is defined as the bending value. The false part and the convex ', ', m, the intercept is b. If there is a concave curved portion on both sides of the steel embryo, the concave value is taken as the bending value of the steel embryo, and the single-side A is as follows. The 〇 method, the second one is as described in the first application of the patent scope. Measuring the length of the steel embryo calculation 'the front end of the steel embryo path 22 1251661 set the horizontal direction of the two-dimensional CCD photography Lin Jin + singular and the laser structure of the laser structure," if the X axis is perpendicular to the direction, The laser structure 2 is the oblique direction of the light projection 'Y axis is the steel embryo travel __ The plane caused by the shot and the same Ζ axis position, + face parallel and in thickness, two two-dimensional CCJ The axis position must be lower than the mobile platform plus the steel embryo camera is placed in the laser junction Light # π μ or below, the erection position is especially above the principle of the source above, when the steel embryo enters the measurement laser (four) on the steel embryo on the turning line, and then the image obtained by = 纟 'and then the two sides of the camera simultaneously take image ^ ^ One-person pixel technique analyzes the 浐& 两端 at both ends of the steel embryo, and substitutes the two coordinates into the corresponding function, so that the length of the steel slab is represented by (4) (4) and the tail segment, and the length calculation is not subject to the march 2#§ The tenth method is characterized by the influence of 法, and its formula is as follows: “Method”: “The method for measuring the shape of the steel embryo described in item 8 of the patent scope, in which the shape of the steel embryo can be _ / After the calibration ruler is placed and positioned, it is taken 1 positive', then the pixel coordinates are first captured, and the quadratic curve is concatenated; and == mark is taken, bright: owed: determine whether the calibration ruler has been moved all the way: cofferdam and The health correction parameter 'completes and enters the leaf step again. 彳Order right or return to the initial step XI, pattern: 23