CN108225191A - Cross-braced device measures control method and device - Google Patents
Cross-braced device measures control method and device Download PDFInfo
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- CN108225191A CN108225191A CN201711475318.5A CN201711475318A CN108225191A CN 108225191 A CN108225191 A CN 108225191A CN 201711475318 A CN201711475318 A CN 201711475318A CN 108225191 A CN108225191 A CN 108225191A
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- measured
- braced device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention is suitable for railway component field of measuring technique, provides a kind of cross-braced device and measures control method and device.The method includes：Obtain the first image of the cross-braced device to be measured of the first camera acquisition, obtain the second image of the cross-braced device to be measured of second camera acquisition, and obtain the third image of the cross-braced device to be measured of third camera acquisition, the length of cross-braced device to be measured is determined according to the first image, whether the length for detecting cross-braced device to be measured is qualified；The flatness of cross-braced device to be measured is determined according to the second image, whether the flatness for detecting cross-braced device to be measured is qualified；The curvature of cross-braced device to be measured is determined according to third image, whether the curvature for detecting cross-braced device to be measured is qualified；If detecting, length, flatness and curvature are qualified, judge that cross-braced device to be measured is qualified.After using the above scheme, the labor intensity of staff is reduced, improves overhaul efficiency.
Description
Technical field
The invention belongs to railway component field of measuring technique more particularly to a kind of cross-braced device measure control method and
Device.
Background technology
Cross-braced device is to improve railway freight-car diamond resistant rigidity, ensures Speed Increase of Freight Cars, heavily loaded critical piece, is intersecting
The new of support device is made and overhaul, which is X-shaped rod piece, and size is big, ectosome size one kind is 2005X955, diagonally
Line length is 2200；Another kind is 1975X892, catercorner length 2184, weight about 50kg, and it is big to produce and repair occupied ground, each
Vehicle fixed quantity is 2 groups.
However, the cross-braced device that stock vehicle produces and repairs production scene at present is mainly manual measurement, dedicated inspection is used
It surveys utensil and carries out overall length detection, bending, deformation detection, the measurement of planeness at end center etc., detection labor intensity is big, accuracy
Difference frequently replaces detection inspection utensil, and cumbersome, overhaul efficiency is low.
Invention content
In view of this, an embodiment of the present invention provides a kind of cross-braced devices to measure control method and device, to solve
Detection labor intensity is big in the prior art, and accuracy is poor, frequently replaces detection inspection utensil, cumbersome, overhaul efficiency is low to ask
Topic.
The first aspect of the embodiment of the present invention provides a kind of cross-braced device and measures control method, including following step
Suddenly：
The first image of the cross-braced device to be measured of the first camera acquisition is obtained, obtains the institute of second camera acquisition
The second image of cross-braced device to be measured is stated, and obtains the third of the cross-braced device to be measured of third camera acquisition
Image, wherein, first camera is arranged on the support arm end of the cross-braced device to be measured, the second camera
The support arm side of the cross-braced device to be measured is arranged on, the third camera is arranged on the cross support dress to be measured
On the support arm put；
The length of the cross-braced device to be measured, the detection cross support dress to be measured are determined according to described first image
Whether the length put is qualified；
The flatness of the cross-braced device to be measured is determined according to second image, detects the cross support to be measured
Whether the flatness of device is qualified；
The curvature of the cross-braced device to be measured is determined according to the third image, detects the cross support to be measured
Whether the curvature of device is qualified；
If detecting, the length, the flatness and the curvature are qualified, judge the cross support to be measured
Device is qualified.
As further technical solution, the length that the cross-braced device to be measured is determined according to described first image
Degree, whether qualification includes the length of the detection cross-braced device to be measured：
Obtain the elements of a fix that described first image is shown；
According to the elements of a fix and the calibration information to prestore, the reality of the cross-braced device marginal point to be measured is determined
Coordinate；
According to the actual coordinate and the edge intensity contrast detected rule to prestore, the cross-braced device to be measured is determined
Length；
Whether the length of cross-braced device to be measured according to the length detection rule detection to prestore is qualified.
It is described that the flat of the cross-braced device to be measured is determined according to second image as further technical solution
Face degree, whether qualification includes the flatness of the detection cross-braced device to be measured：
Obtain the side image of the cross-braced device to be measured that second image is shown；
According to the side image, the calibration information to prestore and the coordinate transform to prestore rule, the side image is obtained
The vertical coordinate of upper edge in the vertical direction；
According to the vertical coordinate and the image to prestore segmentation and edge detection rule, the cross support dress to be measured is determined
Put the incision superius of end；
The flatness of the cross-braced device to be measured is determined according to the incision superius；
Whether the flatness that the cross-braced device to be measured is detected according to the flatness detected rule to prestore is qualified.
It is described that the curved of the cross-braced device to be measured is determined according to the third image as further technical solution
Curvature, whether qualification includes the curvature of the detection cross-braced device to be measured：
Image segmentation rule according to prestoring carries out image segmentation to the third image；
Obtain the elements of a fix that the third image after segmentation is shown；
According to the elements of a fix and the calibration information to prestore, the actual coordinate of the cross-braced device to be measured is determined；
According to the actual coordinate and the edge extracting to prestore rule, the maximum shape of the cross-braced device to be measured is determined
Variable；
Whether the curvature that the cross-braced device to be measured is detected according to the largest deformation amount is qualified.
As further technical solution, the method further includes：
Obtain the position of the position of first camera, the position of the second camera and third camera；
It is obtained according to position detection of the first camera to prestore in the cross-braced device support arm end to be measured
Whether the position of the first camera is qualified；
It is obtained according to position detection of the second camera to prestore in the cross-braced device support arm side to be measured
Whether the position of second camera is qualified；
The obtained according to position detection of the third camera to prestore on the cross-braced device support arm to be measured
Whether the position of three cameras is qualified；
If the position for detecting the first camera obtained is qualified, the position of the second camera of acquisition is qualified, and obtain
The position of third camera is qualified, performs the first image of the cross-braced device to be measured for obtaining the acquisition of the first camera,
The second image of the cross-braced device to be measured of second camera acquisition is obtained, and obtains the described of third camera acquisition
The step of third image of cross-braced device to be measured.
The second aspect of the embodiment of the present invention provides a kind of cross-braced device measuring and controlling, including：
Image collection module for obtaining the first image of the cross-braced device to be measured of the first camera acquisition, obtains
Second image of the cross-braced device to be measured of second camera acquisition, and obtain the described to be measured of third camera acquisition
The third image of cross-braced device, wherein, first camera is arranged on the support arm of the cross-braced device to be measured
End, the second camera are arranged on the support arm side of the cross-braced device to be measured, the third camera setting
On the support arm of the cross-braced device to be measured；
Length detection module, for determining the length of the cross-braced device to be measured according to described first image, detection
Whether the length of the cross-braced device to be measured is qualified；
Flatness detection module, for determining the flatness of the cross-braced device to be measured according to second image,
Whether the flatness for detecting the cross-braced device to be measured is qualified；
Curvature detection module, for determining the curvature of the cross-braced device to be measured according to the third image,
Whether the curvature for detecting the cross-braced device to be measured is qualified；
Cross-braced device determination module to be measured, if for detecting the length, the flatness and the curvature
It is qualified, then judge that the cross-braced device to be measured is qualified.
As further technical solution, the length detection module includes：
First framing coordinate obtaining module, for obtaining the elements of a fix that described first image is shown；
Marginal point actual coordinate determining module, for according to the elements of a fix and the calibration information to prestore, determining described
The actual coordinate of cross-braced device marginal point to be measured；
Length determination modul, for according to the actual coordinate and the edge intensity contrast detected rule to prestore, determining institute
State the length of cross-braced device to be measured；
Length detection submodule, for the length of the cross-braced device to be measured according to the length detection rule detection to prestore
Whether degree is qualified.
As further technical solution, the flatness detection module includes：
Side image acquisition module, for obtaining the side of the cross-braced device to be measured that second image is shown
Image；
Vertical coordinate obtaining module, for according to the side image, the calibration information to prestore and the coordinate transform to prestore
Rule obtains the vertical coordinate of the side image upper edge in the vertical direction；
Incision superius determining module, for regular according to the vertical coordinate and the image to prestore segmentation and edge detection, really
The incision superius of the fixed cross-braced device end to be measured；
Flatness determining module, for determining the flatness of the cross-braced device to be measured according to the incision superius；
Flatness detection sub-module, for detecting the cross-braced device to be measured according to the flatness detected rule to prestore
Flatness it is whether qualified.
The third aspect of the embodiment of the present invention provides a kind of cross-braced device measuring device, including：
First camera is arranged on the support arm end of cross-braced device to be measured, for acquiring the intersection branch to be measured
First image of support arrangement；
Second camera is arranged on the support arm side of the cross-braced device to be measured, and described test cross is treated for acquiring
Pitch the second image of support device；
Third camera is arranged on the support arm of the cross-braced device to be measured, for acquiring the intersection to be measured
The third image of support device；
Processor is connect respectively with the first camera, second camera and third camera, for obtain the first image,
Second image and third image determine the length of the cross-braced device to be measured according to described first image, are treated described in detection
Whether the length for surveying cross-braced device is qualified；The plane of the cross-braced device to be measured is determined according to second image
Whether degree, the flatness for detecting the cross-braced device to be measured are qualified；The intersection to be measured is determined according to the third image
Whether the curvature of support device, the curvature for detecting the cross-braced device to be measured are qualified；If detect the length, institute
It states flatness and the curvature is qualified, then judge that the cross-braced device to be measured is qualified.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the side as described in above-mentioned first aspect is realized when the computer program is executed by processor
Method.
Existing advantageous effect is the embodiment of the present invention compared with prior art：It, can be automatically right after using the above scheme
Cross-braced device carries out overall length detection, bending, deformation detection, the measurement of planeness at end center etc., reduces staff
Labor intensity, and the accuracy measured is high, and automatization level is high, improves overhaul efficiency.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the step flow chart that the cross-braced device that the embodiment of the present invention one provides measures control method；
Fig. 2 is that the cross-braced device provided in the embodiment of the present invention measures the part steps flow chart of control method；
Fig. 3 is the structure diagram of cross-braced device measuring and controlling provided by Embodiment 2 of the present invention；
Fig. 4 is the topology example figure for the cross-braced device measuring device that the embodiment of the present invention three provides.
Specific embodiment
In being described below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specifically
The present invention can also be realized in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one
As shown in Figure 1, the step flow chart of control method is measured for cross-braced device provided in an embodiment of the present invention, packet
Include following steps：
Step S101 obtains the first image of the cross-braced device to be measured of the first camera acquisition, obtains the second camera shooting
Second image of the cross-braced device to be measured of head acquisition, and obtain the cross support to be measured of third camera acquisition
The third image of device, wherein, first camera is arranged on the support arm end of the cross-braced device to be measured, described
Second camera is arranged on the support arm side of the cross-braced device to be measured, and the third camera is arranged on described to be measured
On the support arm of cross-braced device.
Specifically, the first camera, second camera and third camera may be camera acquisition sensor, camera shooting
Head acquisition sensor can equally realize the acquisition of image.
Step S102, the length of the cross-braced device to be measured is determined according to described first image, and detection is described to be measured
Whether the length of cross-braced device is qualified.
Specifically, according to the first image of acquisition, the length of cross-braced device to be measured is determined, it is preferred that intersection to be measured
The overall length examination criteria of the length of support device is：2201 ± 1.5 (turning K2/K6), 2184 ± 2 (turning 8G/8B) turn 8G (8B) type
Diagonal difference is not more than 3mm；Accuracy of detection is ± 0.3mm, and repeatable accuracy is ± 0.5mm, judges intersection to be measured according to the standard
Whether the length of support device is qualified, which is national standard, and accuracy rating is the suitable essence obtained according to many experiments
Range is spent, certainly other length standards are also within the protection domain of this programme.
Step S103 determines the flatness of the cross-braced device to be measured according to second image, is treated described in detection
Whether the flatness for surveying cross-braced device is qualified.
Specifically, according to the second image of acquisition, the flatness of cross-braced device to be measured is determined, it is preferred that treat test cross
Fork support device flatness examination criteria be：Turn the measurement of planeness at 8G (8B) type bonding tip center：No more than 2mm, according to
The standard judges whether the flatness of cross-braced device to be measured is qualified, which is national standard, and accuracy rating is according to more
Secondary to test the suitable accuracy rating obtained, certainly other flatness standards are also within the protection domain of this programme.
Step S104 determines the curvature of the cross-braced device to be measured according to the third image, is treated described in detection
Whether the curvature for surveying cross-braced device is qualified.
Specifically, according to the third image of acquisition, the curvature of cross-braced device to be measured is determined, it is preferred that treat test cross
No more than 5mm when the bending of fork support device and deformation detection standard is new make；During maintenance (5`~10] mm when to repair journey one；(10`
~20] to repair journey two during mm；More than 20mm constantly to repair journey three；0~30mm of detection range, and in length range, full angle
It carries out, accuracy of detection is ± 1mm, and repeatable accuracy is ± 1.5mm, which is national standard, and accuracy rating is according to repeatedly real
The suitable accuracy rating obtained is tested, determines that precision meets practical service condition according to journey is repaiied so that the result of measurement is more pasted
It cuts, more accurately, certainly other curvature standards are also within the protection domain of this programme.
Step S105, if detecting, the length, the flatness and the curvature are qualified, judge described to be measured
Cross-braced device is qualified.
If specifically, detecting that length, flatness and curvature are qualified, judge that cross-braced device to be measured is qualified,
If detecting, one of which is unqualified, judges that cross-braced device to be measured is unqualified.
After using the above scheme, can overall length detection, bending, deformation detection, end be carried out to cross-braced device automatically
The measurement of planeness at center etc. reduces the labor intensity of staff, and the accuracy measured is high, and automatization level is high, carries
High overhaul efficiency.
In addition, in a specific example, as shown in Fig. 2, described determine the intersection to be measured according to described first image
The length of support device, whether qualification includes the length of the detection cross-braced device to be measured：
Step S201 obtains the elements of a fix that described first image is shown.
Step S202 according to the elements of a fix and the calibration information to prestore, determines the cross-braced device side to be measured
The actual coordinate of edge point.
Step S203 according to the actual coordinate and the edge intensity contrast detected rule that prestores, determines described to treat test cross
Pitch the length of support device.
Whether step S204, the length of cross-braced device to be measured according to the length detection rule detection to prestore close
Lattice.
Specifically, the quantity of the first camera can be according to actual conditions sets itself, it is preferred that can be by be measured
Four the first cameras are placed in four ends of cross-braced device, and the coordinate of four points is obtained with coordinate transform by demarcating,
Then the detection of overall length is carried out, scaling board has physical length, inside the same image on the outside of actual pixels, so, pass through correlation
Coordinate transform and analogy, it can be deduced that the actual coordinate of cross-braced device marginal point is detected by edge intensity contrast, is used
Distance calculation formula calculates the length of cross-braced device to be measured, is filled further according to length detection rule detection cross support to be measured
Whether the length put is qualified, it is preferred that verification rule is that overall length examination criteria is：2201 ± 1.5 (turning K2/K6), 2184 ± 2
(turning 8G/8B) turns 8G (8B) type diagonal difference no more than 3mm；Accuracy of detection is ± 0.3mm, and repeatable accuracy is ± 0.5mm.
In addition, in a specific example, it is described that the cross-braced device to be measured is determined according to second image
Flatness, whether qualification includes the flatness of the detection cross-braced device to be measured：
Obtain the side image of the cross-braced device to be measured that second image is shown.
According to the side image, the calibration information to prestore and the coordinate transform to prestore rule, the side image is obtained
The vertical coordinate of upper edge in the vertical direction.
According to the vertical coordinate and the image to prestore segmentation and edge detection rule, the cross support dress to be measured is determined
Put the incision superius of end.
The flatness of the cross-braced device to be measured is determined according to the incision superius.
Whether the flatness that the cross-braced device to be measured is detected according to the flatness detected rule to prestore is qualified.
Specifically, the quantity of second camera can be according to actual conditions sets itself, it is preferred that flatness detection arrangement
4 second cameras determine that whether in the same plane termination points, take pictures using from side, pass through calibration and coordinate transform
The coordinate of upper edge in a z-direction is obtained, by image segmentation and edge detection, the incision superius of each end is obtained and is handed over to solve
Pitch the flatness of support device, further according to the flatness detected rule that prestores detect cross-braced device to be measured flatness whether
It is qualified, it is preferred that the flatness examination criteria of cross-braced device to be measured is：The flatness for turning 8G (8B) type bonding tip center is surveyed
Amount：No more than 2mm.
In addition, in a specific example, it is described that the cross-braced device to be measured is determined according to the third image
Curvature, whether qualification includes the curvature of the detection cross-braced device to be measured：
Image segmentation rule according to prestoring carries out image segmentation to the third image.
Obtain the elements of a fix that the third image after segmentation is shown.
According to the elements of a fix and the calibration information to prestore, the actual coordinate of the cross-braced device to be measured is determined.
According to the actual coordinate and the edge extracting to prestore rule, the maximum shape of the cross-braced device to be measured is determined
Variable.
Whether the curvature that the cross-braced device to be measured is detected according to the largest deformation amount is qualified.
Specifically, the quantity of third camera can be according to actual conditions sets itself, it is preferred that the measurement cloth of curvature
4 third cameras are put, maximum distortion can be found out by scanning, are filled according to the largest deformation amount detection cross support to be measured
Whether the curvature put is qualified, it is preferred that and it is preferred, when cross-braced device bending to be measured and deformation detection standard is new make not
More than 5mm；During maintenance (5`~10] mm when to repair journey one；(10`~20] mm when to repair journey two；More than 20mm constantly to repair journey
Three；0~30mm of detection range, and in length range, full angle carry out, and accuracy of detection is ± 1mm, repeatable accuracy for ±
1.5mm.Key technology solves calibration and divides with coordinate transform, edge extracting and image, selected camera model technology ginseng
It counts as MV-3000UC, resolution ratio：2048*1536；Pixel Dimensions：3.2um*3.2um；Data bits：RGB each 10 selects 8；Data
Output format：Bayer is colored；Exposure mode：Row exposure；Time for exposure：151us~1000ms (oneself is set as 1ms)；It is synchronous
Mode：External trigger or continuous acquisition；The way of output：USB2.0.
In addition, in a specific example, the method further includes：
Obtain the position of the position of first camera, the position of the second camera and third camera；
It is obtained according to position detection of the first camera to prestore in the cross-braced device support arm end to be measured
Whether the position of the first camera is qualified.
It is obtained according to position detection of the second camera to prestore in the cross-braced device support arm side to be measured
Whether the position of second camera is qualified.
The obtained according to position detection of the third camera to prestore on the cross-braced device support arm to be measured
Whether the position of three cameras is qualified.
If the position for detecting the first camera obtained is qualified, the position of the second camera of acquisition is qualified, and obtain
The position of third camera is qualified, performs the first image of the cross-braced device to be measured for obtaining the acquisition of the first camera,
The second image of the cross-braced device to be measured of second camera acquisition is obtained, and obtains the described of third camera acquisition
The step of third image of cross-braced device to be measured.
Preferably, in a specific example, a 3D coordinate can be established, the coordinate system based on x-y plane, that is,
The coordinate system of crossbar plane, the first camera is in x-y plane, z coordinate 250mm, the branch with cross-braced device to be measured
Four end coordinates of brace are consistent, i.e., in the surface of four ends of cross-braced device to be measured.Second camera is in x-y
In plane, each end distance of support arm with cross-braced device to be measured is 250mm.Third camera is in x-y plane, z
Coordinate is 500mm, each support arm apart from cross-braced device to be measured per midpoint distance for 400mm, which can be with
It is suitably adjusted according to actual conditions, to guarantee clearly to identify image.
Embodiment two
As shown in figure 3, the structure diagram for cross-braced device measuring and controlling provided in an embodiment of the present invention, packet
It includes：
Image collection module 301 for obtaining the first image of the cross-braced device to be measured of the first camera acquisition, obtains
The second image of the cross-braced device to be measured that second camera acquires is taken, and obtains the described of third camera acquisition and treats
The third image of cross-braced device is surveyed, wherein, first camera is arranged on the support of the cross-braced device to be measured
Arm end, the second camera are arranged on the support arm side of the cross-braced device to be measured, and the third camera is set
It puts on the support arm of the cross-braced device to be measured.
Length detection module 302, for determining the length of the cross-braced device to be measured according to described first image, inspection
Whether the length for surveying the cross-braced device to be measured is qualified.
Flatness detection module 303, for determining the plane of the cross-braced device to be measured according to second image
Whether degree, the flatness for detecting the cross-braced device to be measured are qualified.
Curvature detection module 304, for determining the bending of the cross-braced device to be measured according to the third image
Whether degree, the curvature for detecting the cross-braced device to be measured are qualified.
Cross-braced device determination module 305 to be measured, if for detecting the length, the flatness and the bending
Degree is qualified, then judges that the cross-braced device to be measured is qualified.
In addition, in a specific example, the length detection module 302 includes：
First framing coordinate obtaining module, for obtaining the elements of a fix that described first image is shown.
Marginal point actual coordinate determining module, for according to the elements of a fix and the calibration information to prestore, determining described
The actual coordinate of cross-braced device marginal point to be measured.
Length determination modul, for according to the actual coordinate and the edge intensity contrast detected rule to prestore, determining institute
State the length of cross-braced device to be measured.
Length detection submodule, for the length of the cross-braced device to be measured according to the length detection rule detection to prestore
Whether degree is qualified.
In addition, in a specific example, the flatness detection module 303 includes：
Side image acquisition module, for obtaining the side of the cross-braced device to be measured that second image is shown
Image.
Vertical coordinate obtaining module, for according to the side image, the calibration information to prestore and the coordinate transform to prestore
Rule obtains the vertical coordinate of the side image upper edge in the vertical direction.
Incision superius determining module, for regular according to the vertical coordinate and the image to prestore segmentation and edge detection, really
The incision superius of the fixed cross-braced device end to be measured.
Flatness determining module, for determining the flatness of the cross-braced device to be measured according to the incision superius.
Flatness detection sub-module, for detecting the cross-braced device to be measured according to the flatness detected rule to prestore
Flatness it is whether qualified.
In addition, in a specific example, the curvature detection module 304 includes：
Image segmentation module, for carrying out image segmentation to the third image according to the image segmentation rule to prestore.
Third framing coordinate obtaining module, for obtaining the elements of a fix that the third image after dividing is shown.
Third image actual coordinate determining module, for according to the elements of a fix and the calibration information to prestore, determining institute
State the actual coordinate of cross-braced device to be measured.
Largest deformation amount determining module, for according to the actual coordinate and the edge extracting to prestore rule, determining described
The largest deformation amount of cross-braced device to be measured.
Curvature detection sub-module, for detecting the bending of the cross-braced device to be measured according to the largest deformation amount
Whether degree is qualified.
In addition, in a specific example, described device further includes：
Position acquisition module, for obtaining the position of the position of first camera, the second camera and third
The position of camera；
First camera position detection module, for according to the first camera for prestoring in the cross-braced device to be measured
Whether the position for the first camera that the position detection of support arm end obtains is qualified；
Second camera position detecting module, for according to the second camera that prestores in the cross-braced device to be measured
Whether the position for the second camera that the position detection of support arm side obtains is qualified；
Third camera position detection module, for according to the third camera that prestores in the cross-braced device to be measured
Whether the position of third camera that the position detection on support arm obtains is qualified；
Position qualification determination module, if for detecting the position of the first camera obtained qualification, the second camera shooting of acquisition
The position of head is qualified, and the position of the third camera obtained is qualified, perform it is described obtain the acquisition of the first camera treats test cross
The first image of support device is pitched, obtains the second image of the cross-braced device to be measured of second camera acquisition, and is obtained
The step of third image of the cross-braced device to be measured that third camera is taken to acquire.
Cross-braced device measuring and controlling can be standalone or online, be practised according to the work of staff
Used and job site is rationally selected, and can facilitate the work of staff.
After using the above scheme, can overall length detection, bending, deformation detection, end be carried out to cross-braced device automatically
The measurement of planeness at center etc. reduces the labor intensity of staff, and the accuracy measured is high, and automatization level is high, carries
High overhaul efficiency.
Embodiment three
As shown in figure 4, the structure diagram for cross-braced device measuring device provided in an embodiment of the present invention, including：
First camera 401 is arranged on the support arm end of cross-braced device to be measured, for acquiring the intersection to be measured
First image of support device.
Second camera 402 is arranged on the support arm side of the cross-braced device to be measured, described to be measured for acquiring
Second image of cross-braced device.
Third camera 403 is arranged on the support arm of the cross-braced device to be measured, and described test cross is treated for acquiring
Pitch the third image of support device
Processor 404 is connect respectively with the first camera, second camera and third camera, for obtaining the first figure
As, the second image and third image, the length of the cross-braced device to be measured is determined according to described first image, described in detection
Whether the length of cross-braced device to be measured is qualified；The plane of the cross-braced device to be measured is determined according to second image
Whether degree, the flatness for detecting the cross-braced device to be measured are qualified；The intersection to be measured is determined according to the third image
Whether the curvature of support device, the curvature for detecting the cross-braced device to be measured are qualified；If detect the length, institute
It states flatness and the curvature is qualified, then judge that the cross-braced device to be measured is qualified.
It is by cross support jacking apparatus, signal acquiring processing system, system calibration system, report output and storage mainly
The part such as system, rack composition, electric-control system forms.
Industrial personal computer is further included in processor 404, industrial personal computer is for handling original image, resolution ratio：2048*1536,
From 0 to 15 grade, the corresponding number of pixels of each gray level and probability are counted grey level, make histogram equalization to image,
Result is analyzed, image procossing is realized, and be filtered using average filter and shown with image with language, provides program
Code.For the analysis of measurement result, PLC technology picture size, brightness, gain, frame per second and time for exposure improve device
Flexibility and adaptability.
System calibration system is further included in processor 404, has designed and produced calibration exemplar and scaling board, to calibration exemplar into
Row metering after confirming qualification, carries out sample support device before going into operation daily and calibration procedure is calibrated, it is ensured that calibration and coordinate become
The accuracy changed.
Cross-braced device measuring device further includes rack, provides various part：The installation of camera, light source, appliance cord
Pedestal；The steel construction piece being welded using Q235-B shape steel plates, shaped steel so that the apparatus structure more securely, reliably, increases
The practicability of the device.
Cross-braced device measuring device further includes cross-braced device fixture, and (online use, standalone are not required to) is real
Existing cross-braced device stands up, keeps flat；Cross support, which is repaiied, send equipment to drive 360 ° of rotations of cross-braced device in the horizontal plane,
± 90 ° of rotations vertically；It realizes station job content, self-locking is realized in corresponding rotation position, with cross-braced device pipeline reality
Existing matched well.
It should be understood that the size of the serial number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without coping with the embodiment of the present invention forms any limit with its function and internal logic
It is fixed.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that each unit is individually physically present, can also two or more units integrate in a unit, it is above-mentioned integrated
The form that hardware had both may be used in unit is realized, can also be realized in the form of SFU software functional unit.In addition, each function list
Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Above system
The specific work process of middle unit, module can refer to the corresponding process in preceding method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that each exemplary lists described with reference to the embodiments described herein
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of division of logic function can have other dividing mode in actual implementation, such as
Multiple units or component may be combined or can be integrated into another system or some features can be ignored or does not perform.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be by some interfaces, device
Or the INDIRECT COUPLING of unit or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That each unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated module/unit realized in the form of SFU software functional unit and be independent product sale or
In use, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-mentioned implementation
All or part of flow in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It can include：Any entity of the computer program code or device, recording medium, USB flash disk, mobile hard disk, magnetic can be carried
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It is it should be noted that described
The content that computer-readable medium includes can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to aforementioned reality
Example is applied the present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each
Technical solution recorded in embodiment modifies or carries out equivalent replacement to which part technical characteristic；And these are changed
Or replace, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of cross-braced device measures control method, which is characterized in that includes the following steps：
The first image of the cross-braced device to be measured of the first camera acquisition is obtained, the described of second camera acquisition is obtained and treats
The second image of cross-braced device is surveyed, and obtains the third figure of the cross-braced device to be measured of third camera acquisition
Picture, wherein, first camera is arranged on the support arm end of the cross-braced device to be measured, and the second camera is set
It puts in the support arm side of the cross-braced device to be measured, the third camera is arranged on the cross-braced device to be measured
Support arm on；
The length of the cross-braced device to be measured is determined according to described first image, detects the cross-braced device to be measured
Whether length is qualified；
The flatness of the cross-braced device to be measured is determined according to second image, detects the cross-braced device to be measured
Flatness it is whether qualified；
The curvature of the cross-braced device to be measured is determined according to the third image, detects the cross-braced device to be measured
Curvature it is whether qualified；
If detecting, the length, the flatness and the curvature are qualified, judge the cross-braced device to be measured
It is qualified.
2. cross-braced device as described in claim 1 measures control method, which is characterized in that described according to first figure
Length as determining the cross-braced device to be measured, whether qualification includes the length of the detection cross-braced device to be measured：
Obtain the elements of a fix that described first image is shown；
According to the elements of a fix and the calibration information to prestore, the practical seat of the cross-braced device marginal point to be measured is determined
Mark；
According to the actual coordinate and the edge intensity contrast detected rule to prestore, the length of the cross-braced device to be measured is determined
Degree；
Whether the length of cross-braced device to be measured according to the length detection rule detection to prestore is qualified.
3. cross-braced device as described in claim 1 measures control method, which is characterized in that described according to second figure
Flatness as determining the cross-braced device to be measured detects the whether qualified packet of flatness of the cross-braced device to be measured
It includes：
Obtain the side image of the cross-braced device to be measured that second image is shown；
According to the side image, the calibration information to prestore and the coordinate transform to prestore rule, obtain and cut on the side image
The vertical coordinate of face in the vertical direction；
According to the vertical coordinate and the image to prestore segmentation and edge detection rule, the cross-braced device end to be measured is determined
The incision superius of head；
The flatness of the cross-braced device to be measured is determined according to the incision superius；
Whether the flatness that the cross-braced device to be measured is detected according to the flatness detected rule to prestore is qualified.
4. cross-braced device as described in claim 1 measures control method, which is characterized in that described according to the third figure
Curvature as determining the cross-braced device to be measured detects the whether qualified packet of curvature of the cross-braced device to be measured
It includes：
Image segmentation rule according to prestoring carries out image segmentation to the third image；
Obtain the elements of a fix that the third image after segmentation is shown；
According to the elements of a fix and the calibration information to prestore, the actual coordinate of the cross-braced device to be measured is determined；
According to the actual coordinate and the edge extracting to prestore rule, the largest deformation of the cross-braced device to be measured is determined
Amount；
Whether the curvature that the cross-braced device to be measured is detected according to the largest deformation amount is qualified.
5. cross-braced device as described in claim 1 measures control method, which is characterized in that further includes：
Obtain the position of the position of first camera, the position of the second camera and third camera；
First obtained according to position detection of the first camera to prestore in the cross-braced device support arm end to be measured
Whether the position of camera is qualified；
Second obtained according to position detection of the second camera to prestore in the cross-braced device support arm side to be measured
Whether the position of camera is qualified；
It is taken the photograph according to the third that position detection of the third camera to prestore on the cross-braced device support arm to be measured obtains
As whether the position of head is qualified；
If the position for detecting the first camera obtained is qualified, the position third that is qualified, and obtaining of the second camera of acquisition
The position of camera is qualified, performs the first image of the cross-braced device to be measured for obtaining the acquisition of the first camera, obtains
Second image of the cross-braced device to be measured of second camera acquisition, and obtain the described to be measured of third camera acquisition
The step of third image of cross-braced device.
6. a kind of cross-braced device measuring and controlling, which is characterized in that including：
Image collection module for obtaining the first image of the cross-braced device to be measured of the first camera acquisition, obtains second
Second image of the cross-braced device to be measured of camera acquisition, and obtain the intersection to be measured of third camera acquisition
The third image of support device, wherein, first camera is arranged on the support arm end of the cross-braced device to be measured,
The second camera is arranged on the support arm side of the cross-braced device to be measured, and the third camera is arranged on described
On the support arm of cross-braced device to be measured；
Length detection module, for determining the length of the cross-braced device to be measured according to described first image, described in detection
Whether the length of cross-braced device to be measured is qualified；
Flatness detection module, for determining the flatness of the cross-braced device to be measured according to second image, detection
Whether the flatness of the cross-braced device to be measured is qualified；
Curvature detection module, for determining the curvature of the cross-braced device to be measured according to the third image, detection
Whether the curvature of the cross-braced device to be measured is qualified；
Cross-braced device determination module to be measured, if for detecting that the length, the flatness and the curvature are closed
Lattice then judge that the cross-braced device to be measured is qualified.
7. cross-braced device measuring and controlling as claimed in claim 6, which is characterized in that the length detection module packet
It includes：
First framing coordinate obtaining module, for obtaining the elements of a fix that described first image is shown；
Marginal point actual coordinate determining module, for according to the elements of a fix and the calibration information to prestore, determining described to be measured
The actual coordinate of cross-braced device marginal point；
Length determination modul, for according to the actual coordinate and the edge intensity contrast detected rule to prestore, determining described treat
Survey the length of cross-braced device；
Length detection submodule, the length for the cross-braced device to be measured according to the length detection rule detection to prestore are
No qualification.
8. cross-braced device measuring and controlling as claimed in claim 6, which is characterized in that the flatness detection module
Including：
Side image acquisition module, for obtaining the side view of the cross-braced device to be measured that second image is shown
Picture；
Vertical coordinate obtaining module, for regular according to the side image, the calibration information to prestore and the coordinate transform to prestore,
Obtain the vertical coordinate of the side image upper edge in the vertical direction；
Incision superius determining module, for according to the vertical coordinate and the image to prestore segmentation and edge detection rule, determining institute
State the incision superius of cross-braced device end to be measured；
Flatness determining module, for determining the flatness of the cross-braced device to be measured according to the incision superius；
Flatness detection sub-module, for detecting the flat of the cross-braced device to be measured according to the flatness detected rule to prestore
Whether face degree is qualified.
9. a kind of cross-braced device measuring device, which is characterized in that including：
First camera is arranged on the support arm end of cross-braced device to be measured, for acquiring the cross support dress to be measured
The first image put；
Second camera is arranged on the support arm side of the cross-braced device to be measured, for acquiring the intersection branch to be measured
Second image of support arrangement；
Third camera is arranged on the support arm of the cross-braced device to be measured, for acquiring the cross support to be measured
The third image of device；
Processor is connect respectively with the first camera, second camera and third camera, for obtaining the first image, second
Image and third image determine the length of the cross-braced device to be measured according to described first image, test cross are treated described in detection
Whether the length for pitching support device is qualified；The flatness of the cross-braced device to be measured is determined according to second image, is examined
Whether the flatness for surveying the cross-braced device to be measured is qualified；The cross support dress to be measured is determined according to the third image
Whether the curvature put, the curvature for detecting the cross-braced device to be measured are qualified；If detect the length, the plane
Degree and the curvature are qualified, then judge that the cross-braced device to be measured is qualified.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of realization such as any one of claim 1 to 5 the method.
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| CN201711475318.5A CN108225191A (en) | 2017-12-29 | 2017-12-29 | Cross-braced device measures control method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711475318.5A CN108225191A (en) | 2017-12-29 | 2017-12-29 | Cross-braced device measures control method and device |
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Application publication date: 20180629 |