CN101571379B - Method for measuring diameter and straightness accuracy parameters of seamless round steel pipe - Google Patents
Method for measuring diameter and straightness accuracy parameters of seamless round steel pipe Download PDFInfo
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Abstract
The invention relates to a method for measuring the diameter and the straightness accuracy parameters of a seamless round steel pipe. The method includes the steps as follows: accomplishing the calibration of parameters of a multi-linear structured light vision sensor formed by one video camera and multi-line laser projectors; distributing the multi-linear structured light vision sensors on the periphery of the seamless round steel pipe to be tested; respectively controlling the laser projectors to project structured light plane onto the measured section of the seamless round steel pipe by a computer, collecting the images of laser stripes on the surface of the seamless round steel pipe and processing the images of the laser strip by a video camera, and calculating the three-dimensional coordinates of different sections according to a measurement model; determining the elliptical center of each section of the space, realizing the measurement of the straightness accuracy of the seamlessround steel pipe and establishing the dynamic and virtual central axis of the seamless round steel pipe; establishing the reference plane of the dynamic and virtual projection of ellipse of the section of the space; and front projecting the ellipse of the section of the space onto the reference plane of the dynamic and virtual projection, and carrying out the operation of circle fitting on the reference plane, thereby obtaining the section circle of the steel pipe. The method can realize the on-line, real-time, automatic and noncontact measurement of the diameter and the straightness accuracyparameters of the seamless round steel pipe.
Description
Technical field
The present invention relates to the measuring method of a kind of seamless round steel pipe diameter and linearity parameter.Particularly relate to a kind of based on a kind of seamless round steel pipe diameter of multi-linear structured light vision sensors and the method for linearity parameter measurement.
Background technology
Seamless round steel pipe is a kind of steel of widespread use, as is used for the accurate inner casing, automotive axle housing tube etc. of structure, FLUID TRANSPORTATION, low mesohigh boiler, boats and ships, high pressure fertilizer equipment, cracking of oil, gas cylinder, hydraulic prop, diesel engine, hydraulic pressure and pneumatic tube.For different seamless round steel pipe product and application, different index parameter requirements is arranged.Wherein, the matching degree of machined parameters such as the diameter of seamless round steel pipe product, linearity and design objective then is the direct embodiment of its quality good or not.Therefore, the isoparametric measurement of the diameter of seamless round steel pipe and linearity just seems most important.
Traditional seamless round steel pipe geometric parameter measurement method carries out based on the mode of artificial, off-line, sampling observation mostly, labor strength is big, efficient is low, and real-time is poor, can not be in time, effectively production line is monitored and is adjusted, have a strong impact on the modernization that seamless round steel pipe is produced, limited the further lifting of product quality.
A kind of emerging measuring technique---vision measurement technology has appearred in the development along with technology such as optics, electronics, computing machine, Flame Image Process.Compare with conventional measurement techniques, the vision measurement technology have noncontact, can be online, fast, the precision of speed is than advantages such as height.Along with the further investigation of vision measurement technology, realize that based on the single line structured light vision sensor seamless round steel pipe geometric parameter measurement has begun to use trial.But in realizing that based on the single line structured light vision sensor seamless round steel pipe geometric parameter measurement is used, the structured light plane that must guarantee the laser instrument projection when realizing diameter measurement is vertical with the central axis of seamless round steel pipe, greatly increased the difficulty of system's installation, debugging.When realizing straight line degree measurement, need a plurality of single line structured light vision sensors, also need carry out the overall situation calibration of system, to realize the unification of each sensor measurement coordinate system by special instrument and equipment, increase the complexity and the application cost of system constructing greatly, reduced the practicality of system.
Summary of the invention
Technical matters to be solved by this invention is, provide a kind of easy for installation, adjust simple, have simultaneously that measuring speed is fast, noncontact, automatically, can be online, can in rugged environment, use, have higher characteristics such as measuring accuracy, can satisfy isoparametric online, real-time, automatic, a kind of seamless round steel pipe diameter of non-cpntact measurement demand of seamless round steel pipe diameter and linearity and the method for linearity parameter measurement.
The technical solution adopted in the present invention is: the method for a kind of seamless round steel pipe diameter and linearity parameter measurement comprises the steps:
(1) forms multi-linear structured light vision sensors by 1 video camera and multi-thread laser projecting apparatus, and finish the calibration of video camera and multi-linear structured light vision sensors parameter;
(2), lay and fixing multi-linear structured light vision sensors in tested seamless round steel pipe appropriate positions near according to the multi-linear structured light vision sensors operating distance and measure the depth of field;
(3) computing machine by the multi-thread laser projecting apparatus projective structure optical plane in the multi-linear structured light vision sensors controller control multi-linear structured light vision sensors to the seamless round steel pipe measured section;
(4) computing machine is controlled the camera acquisition seamless round steel pipe surface optical strip image of the multi-linear structured light vision sensors of being laid by the multi-linear structured light vision sensors controller;
(5) computing machine carries out the optical strip image processing, and calculates the three-dimensional coordinate of different cross section according to the measurement model of multi-linear structured light vision sensors;
(6) cross section, the three-dimensional data match space ellipse of measuring by different cross section is determined cross section, space elliptical center, utilizes 3 or cross section, 3 above spaces elliptical center, in conjunction with the theoretical measurement that realizes the seamless round steel pipe linearity of minimum envelop linearity evaluation;
(7) utilize 3 or cross section, 3 above spaces elliptical center, make up the dynamic virtual central axis of seamless round steel pipe in conjunction with least square space line fitting algorithm;
(8) cross and to make the Virtual Space vertical plane more arbitrarily on the seamless round steel pipe virtual center axis, promptly make up cross section, space elliptical dynamic virtual projection reference field;
(9) with cross section, space ellipse to dynamic virtual projection reference surface forward projection, on reference field, justify match, obtain steel tube section circle, thereby realize the measurement of seamless round steel pipe diameter.
The ray that described multi-thread laser projecting apparatus throwed is more than 3 or 3.
Described multi-thread laser projecting apparatus is the laser projecting apparatus that a projector produces a plurality of incident lines, or the combination of a plurality of independence one word line laser projecting apparatus.
The calibration parameter of the described video camera of step (1) includes: effective focal length, image planes center, distortion factor and scale factor.
The calibration parameter of the described multi-linear structured light vision sensors of step (1) includes: the structured light plane equation.
The described multi-thread laser projecting apparatus projection of step (3) is to throw simultaneously or the order projection.
The method of a kind of seamless round steel pipe diameter of the present invention and linearity parameter measurement, can realize online, real-time, automatic, the non-cpntact measurement of seamless round steel pipe diameter and linearity parameter, help forming and produce, measure closed-loop control, improve production efficiency and product quality reduces labor strength effectively greatly.
The present invention is by adopting multi-linear structured light vision sensors, can realize the dynamic construction of seamless round steel pipe virtual center axis and virtual projection reference field, and then implementation structure light projection oval cross section is to the projection of dynamic benchmark face, accurately to be characterized the positive circular section of seamless round steel pipe, thereby when having avoided traditional employing single line structured light vision sensor to measure the seamless round steel pipe diameter, require the structured light plane and the strict vertical restriction of the central axis of seamless round steel pipe of laser instrument projection.In addition, multi-linear structured light vision sensors itself just is equivalent to the unified a plurality of single line structured light vision sensor system of coordinate system, thereby when having avoided traditional employing line structured light vision sensor to measure the seamless round steel pipe linearity, require to use specialized instrument and equipment to carry out the restriction of overall situation calibration.Therefore, the present invention is easy for installation, adjustment is simple, can apply in production reality.
Description of drawings
Fig. 1 is multi-linear structured light vision sensors (3 an incident line) structural representation;
Fig. 2 is a line structured light vision sensor measurement model synoptic diagram;
Fig. 3 is based on the seamless round steel pipe diameter and the linearity parameter measurement system schematic diagram of multi-linear structured light vision sensors.
Wherein:
1: multi-linear structured light vision sensors shell 2: video camera
3: 4: the first line-structured lights of laser projecting apparatus
6: the three wire configuration light of 5: the second line-structured lights
7: structured light plane 8: the plane of delineation
9: seamless round steel pipe 10: multi-linear structured light vision sensors
11: seamless round steel pipe virtual center axis 12: virtual projection reference field
Embodiment
Make a detailed description below in conjunction with the method for embodiment accompanying drawing a kind of seamless round steel pipe diameter of the present invention and linearity parameter measurement.
The method of a kind of seamless round steel pipe diameter of the present invention and linearity parameter measurement, be multi-linear structured light vision sensors to be installed at tested seamless round steel pipe correct position (reference sensor operating distance), the structured light plane of laser instrument projection does not require that with the central axis of seamless round steel pipe strictness is vertical in the sensor, and sensor is installed no strict pose requirement; The dynamic construction of the measurement of seamless round steel pipe linearity and virtual center axis: adopt multi-linear structured light vision sensors to realize the measurement of a plurality of different cross section three-dimensional datas of seamless round steel pipe simultaneously, cross section, three-dimensional data match space ellipse by the different cross section measurement, and cross section, definite space elliptical center, in conjunction with the theoretical measurement that realizes the seamless round steel pipe linearity of minimum envelop linearity evaluation, utilize the elliptical center match of cross section, space to make up the dynamic virtual central axis of seamless round steel pipe simultaneously; The dynamic construction of the oval virtual projection reference field in cross section, space: cross and make the Virtual Space vertical plane more arbitrarily on the seamless round steel pipe virtual center axis, this vertical plane is defined as cross section, space elliptical dynamic virtual projection reference field; The measurement of seamless round steel pipe diameter: cross section, space ellipse to dynamic virtual projection reference surface forward projection, is justified match on reference field, obtain the steel tube section circle, thereby realize the measurement of seamless round steel pipe diameter.Specifically comprise the steps:
(1) forms multi-linear structured light vision sensors by 1 video camera and multi-thread laser projecting apparatus, and finish the calibration of video camera and multi-linear structured light vision sensors parameter; The ray that described multi-thread laser projecting apparatus throwed is more than 3 or 3.
Described multi-thread laser projecting apparatus can be the laser projecting apparatus that a projector produces a plurality of incident lines, can also be the combination of a plurality of independence one word line laser projecting apparatuss.
(2), lay and fixing multi-linear structured light vision sensors in tested seamless round steel pipe appropriate positions near, and carry out on-the-spot thermal protection and handle according to the multi-linear structured light vision sensors operating distance and measure the depth of field;
(3) computing machine by the multi-thread laser projecting apparatus projective structure optical plane in the multi-linear structured light vision sensors controller control multi-linear structured light vision sensors to seamless round steel pipe measured section (can throw simultaneously, also can throw in proper order);
(4) computing machine is controlled the camera acquisition seamless round steel pipe surface optical strip image (the camera review collection should match with laser projections) of the multi-linear structured light vision sensors of being laid by the multi-linear structured light vision sensors controller;
(5) computing machine carries out the optical strip image processing, and calculates the three-dimensional coordinate of different cross section according to the measurement model of multi-linear structured light vision sensors;
(6) cross section, the three-dimensional data match space ellipse of measuring by different cross section is determined cross section, space elliptical center, utilizes 3 or cross section, 3 above spaces elliptical center, in conjunction with the theoretical measurement that realizes the seamless round steel pipe linearity of minimum envelop linearity evaluation;
(7) utilize 3 or cross section, 3 above spaces elliptical center, make up the dynamic virtual central axis of seamless round steel pipe in conjunction with least square space line fitting algorithm;
(8) cross and to make the Virtual Space vertical plane more arbitrarily on the seamless round steel pipe virtual center axis, promptly make up cross section, space elliptical dynamic virtual projection reference field;
(9) with cross section, space ellipse to dynamic virtual projection reference surface forward projection, on reference field, justify match, obtain steel tube section circle, thereby realize the measurement of seamless round steel pipe diameter.
Be specifically described below in conjunction with accompanying drawing:
As shown in Figure 1, form multi-linear structured light vision sensors 10 by 1 video camera and 1 the 3 line laser projector.Before measure using, need finish the isoparametric calibration of structured light plane equation in parameter such as video camera effective focal length, image planes center, distortion factor, scale factor and the multi-linear structured light vision sensors at multi-linear structured light vision sensors 10.
The mathematical model of line structured light vision sensor as shown in Figure 2 supposes that the three-dimensional world coordinate is o
wx
wy
wz
w, camera coordinates is o
cx
cy
cz
c, plane of delineation π
nCoordinate is o
nX
nY
nAs the sensor measurement coordinate system, then the mathematical model of line structured light vision sensor can be with structured light plane π under the camera coordinate system with camera coordinate system
sEquation represent.Be located at coordinate system o
cx
cy
cz
cDown, the equation coefficient of optical plane π s is V=[a b c d], the coordinate of any 1 P is P on the optical plane
c=[x
cy
cz
c]
T, corresponding homogeneous coordinates are
Then optic plane equations can be expressed as:
If the preferred view normalized image homogeneous coordinates that known P is ordered
The straight-line equation of then crossing video camera photocentre and this picture point can be expressed as:
Then the simultaneous of (1), (2) formula is the mathematical model of line structured light vision sensor.
At first, according to the operating distance of multi-linear structured light vision sensors 10 and measure the depth of field, lay and fixing multi-linear structured light vision sensors 10, make up measuring system at tested seamless round steel pipe correct position.Be illustrated in figure 3 as seamless round steel pipe diameter and linearity parameter measurement system schematic diagram based on multi-linear structured light vision sensors.
During measurement, laser projecting apparatus 3 projections first line-structured light 4 of multi-linear structured light vision sensors 10, second line-structured light 5, three wire configuration light 6 arrive the surface of seamless round steel pipe 9, form 3 bright fringess.Computing machine is gathered the bright fringes image by video camera 2, and carries out optical strip image and handle, and obtains the center image coordinate of 3 bright fringess.On the basis of the center image coordinate of 3 bright fringess,, calculate the central space coordinate of 3 bright fringess in conjunction with the mathematical model of video camera 2, multi-linear structured light vision sensors 10 calibration parameters and line structured light vision sensor 10.By cross section, the central space coordinate fitting space ellipse of 3 bright fringess, and try to achieve cross section, space elliptical center.According to minimum envelop line linearity evaluation principle, carry out the evaluation of seamless round steel pipe 9 linearity parameters based on cross section, 3 spaces elliptical center of being tried to achieve, make up seamless round steel pipe virtual center axis 11 simultaneously.Cross on the seamless round steel pipe virtual center axis 11 more arbitrarily, the vertical plane of making the virtual center axis is to make up virtual projection reference field 12.The oval data in cross section, seamless round steel pipe 9 space to virtual projection reference field 12 forward projections, are obtained the positive circular section of seamless round steel pipe 9,, realize the measurement of seamless round steel pipe diameter parameters by the flat circle match.
Seamless round steel pipe diameter and linearity measurement method of parameters based on multi-linear structured light vision sensors of the present invention, be a kind of brand-new based on multi-linear structured light vision sensors realize seamless round steel pipe diameter and linearity parameter in real time, On-line Measuring Method and device, its unique distinction is: based on multi-linear structured light vision sensors dynamic construction seamless round steel pipe virtual center axis and virtual projection reference field, structured light projection oval cross section obtains accurately to characterize the positive circular section of seamless round steel pipe by the projection of dynamic benchmark face, thereby when having avoided traditional employing line structured light vision sensor to measure the seamless round steel pipe diameter, require the structured light plane and the strict vertical restriction of the central axis of seamless round steel pipe of laser instrument projection.Simultaneously, multi-linear structured light vision sensors itself just is equivalent to the unified a plurality of single line structured light vision sensor system of coordinate system, thereby when having avoided traditional employing line structured light vision sensor to measure the seamless round steel pipe linearity, require specialized instrument and equipment to carry out the restriction of overall situation calibration.
Claims (6)
1. the method for seamless round steel pipe diameter and linearity parameter measurement is characterized in that, comprises the steps:
(1) forms multi-linear structured light vision sensors by 1 video camera and multi-thread laser projecting apparatus, and finish the calibration of video camera and multi-linear structured light vision sensors parameter;
(2), lay and fixing multi-linear structured light vision sensors in tested seamless round steel pipe appropriate positions near according to the multi-linear structured light vision sensors operating distance and measure the depth of field;
(3) computing machine by the multi-thread laser projecting apparatus projective structure optical plane in the multi-linear structured light vision sensors controller control multi-linear structured light vision sensors to the seamless round steel pipe measured section;
(4) computing machine is controlled the camera acquisition seamless round steel pipe surface optical strip image of the multi-linear structured light vision sensors of being laid by the multi-linear structured light vision sensors controller;
(5) computing machine carries out the optical strip image processing, and calculates the three-dimensional coordinate of different cross section according to the measurement model of multi-linear structured light vision sensors;
(6) cross section, the three-dimensional data match space ellipse of measuring by different cross section is determined cross section, space elliptical center, utilizes 3 or cross section, 3 above spaces elliptical center, in conjunction with the theoretical measurement that realizes the seamless round steel pipe linearity of minimum envelop linearity evaluation;
(7) utilize 3 or cross section, 3 above spaces elliptical center, make up the dynamic virtual central axis of seamless round steel pipe in conjunction with least square space line fitting algorithm;
(8) cross and to make the Virtual Space vertical plane more arbitrarily on the seamless round steel pipe virtual center axis, promptly make up cross section, space elliptical dynamic virtual projection reference field;
(9) with cross section, space ellipse to dynamic virtual projection reference surface forward projection, on reference field, justify match, obtain steel tube section circle, thereby realize the measurement of seamless round steel pipe diameter.
2. the method for a kind of seamless round steel pipe diameter according to claim 1 and linearity parameter measurement is characterized in that the ray that described multi-thread laser projecting apparatus throwed is more than 3 or 3.
3. the method for a kind of seamless round steel pipe diameter according to claim 1 and linearity parameter measurement, it is characterized in that, described multi-thread laser projecting apparatus is the laser projecting apparatus that a projector produces a plurality of incident lines, or the combination of a plurality of independence one word line laser projecting apparatus.
4. the method for a kind of seamless round steel pipe diameter according to claim 1 and linearity parameter measurement is characterized in that, the calibration parameter of the described video camera of step (1) includes: effective focal length, image planes center, distortion factor and scale factor.
5. the method for a kind of seamless round steel pipe diameter according to claim 1 and linearity parameter measurement is characterized in that, the calibration parameter of the described multi-linear structured light vision sensors of step (1) includes: the structured light plane equation.
6. the method for a kind of seamless round steel pipe diameter according to claim 1 and linearity parameter measurement is characterized in that, the described multi-thread laser projecting apparatus projection of step (3) is to throw simultaneously or the order projection.
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