CN110617763A - Rotating structure optical type H-shaped steel size measurement method - Google Patents
Rotating structure optical type H-shaped steel size measurement method Download PDFInfo
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- CN110617763A CN110617763A CN201910597912.4A CN201910597912A CN110617763A CN 110617763 A CN110617763 A CN 110617763A CN 201910597912 A CN201910597912 A CN 201910597912A CN 110617763 A CN110617763 A CN 110617763A
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- shaped steel
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a rotary structure optical type H-shaped steel dimension measuring method, which comprises the following steps: building a measuring system; collecting linear light information; dynamic coordinate transformation analysis; and calculating the size of the H-shaped steel.
Description
Technical Field
The invention relates to the technical field of size measurement, in particular to a rotary structured optical H-shaped steel size measurement method.
Background
In recent years, as the number of high-rise buildings increases, the demand of building materials with high mechanical properties and strong stability in the building field is also increasing. In the continuous development of new building materials, H-section steel stands out in a steel structural frame model with its superior structural form, simple manufacturing process and good mechanical properties. During the production and processing of H-shaped steel, the dimension of the H-shaped steel needs to be measured to obtain good quality control. At present comparatively advanced shaped steel size measurement technique adopts line structure light method to establish the shaped steel profile mostly, and in this kind of structure light measurement system, structural light generator and camera are the fixed state, and the flexibility that leads to shooting system like this receives very big restriction, and when H shaped steel received the unable removal of environmental restriction, fixed structural light generator and camera will be unable to carry out complete measurement to H shaped steel size, and this brings very big puzzlement for the production and processing of H shaped steel. Therefore, a size measuring system for H-shaped steel with high flexibility is needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a rotary structure optical type H-shaped steel size measuring method, and the whole H-shaped steel size information can be more flexibly, conveniently and quickly obtained through a rotary structure light source.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a rotary structure optical type H-shaped steel dimension measuring method comprises the following steps:
first, a measurement system is set up
Fixing the relative positions of the H-shaped steel, the structural light generator and the camera: horizontally placing the H-shaped steel; the optical axis of the structured light is vertical to the web plate of the H-shaped steel, and the intersection point of the optical axis of the structured light and the upper surface of the web plate is set as O1Optical centers of video camera O and O1The pitch is set to a, OO1The included angle between the connecting line and the horizontal plane of the web is set to be theta, in the measuring system, the camera is fixed, and the structured light is in a two-dimensional rotation transformation state, namely the intersection point O of the optical axis of the structured light and the upper surface of the web1The position is always unchanged.
Second step, collecting linear light information
The structured light generator is composed of a point light source and a cylindrical lens, the cylindrical lens refracts and disperses light emitted by the point light source into linear light in a shape of a Chinese character 'yi', a visible linear marking can be generated on the surface of an object, the linear light is structured light, the structured light rotates anticlockwise around an optical axis of the structured light under the driving of a motor at an angular speed omega, and a camera collects linear light information projected on the surface of H-shaped steel by the structured light at a certain collection frequency v.
Thirdly, dynamic coordinate transformation analysis:
extracting structural parameters of a rotating structured light system, establishing a mapping relation between a static camera coordinate system and a dynamic rotating coordinate system, constructing a camera imaging geometric model, recording the time when linear light projected on the surface of an H-shaped steel web and the intersection line of the steel web and a flange are perpendicular to each other as 0 moment, and then setting the included angle between the projected light in an image collected by an nth frame of camera and an original position as
The upper surface of the web plate of the section steel is XwO1ZwSurface structure dynamic rotation coordinate system XwYwZwThe initial direction of linear projected light is the initial XwAxis of initial Z in the vertical directionwAxis, passing point O1And with XwO1ZwPerpendicular to the plane of YwAn axis, the coordinate system dynamically changing with the rotation of the structured light, the coordinate system in the image collected by the nth frame cameraAnd the initial coordinate systemThe relationship of (1) is:
constructing a static camera coordinate system X with the camera optical center O as the originCYCZCThe optical axis direction of the camera is set to ZCAxis parallel to XwThe axis intersecting at O point is set as XCAxis, through point O and with XCOZCThe vertical surface is YCAxis, dynamic rotating coordinate system XwYwZwAnd a stationary camera coordinate system XCYCZCThe relationship of (1) is:
fourthly, calculating the size of the H-shaped steel
And (3) solving the three-dimensional coordinates of the angular point positions of the H-shaped steel through the mapping relation between the static camera coordinate system and the dynamic rotating coordinate system, and solving the distance between two angular points, namely the size of the H-shaped steel by using a distance formula of any two points of the three-dimensional coordinates.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the method flexibly realizes the measurement of the size of the H-shaped steel by rotating the structured light, and the structured light generator has small volume and convenient carrying, can realize the rotation of the structured light at any angle by combining with a rotating device, can complete the integral scanning and measurement of the H-shaped steel in a static state in the rotating process, and makes up the defect that the H-shaped steel cannot freely move at a special position.
Secondly, the measuring method provided by the invention can be combined with other measuring systems to research the size and contour information of the measured object under the rotating state of the camera or the measured object. The invention provides an algorithm related to dynamic coordinate transformation, which can be applied to the dynamic transformation of a measured object.
Drawings
FIG. 1 is a schematic diagram of an optical measurement system with a rotary structure according to the present invention;
FIG. 2 is a schematic diagram of a dynamic rotating coordinate system and a static camera coordinate system according to the present invention;
FIG. 3 is a schematic view of linear light angle points collected by the camera of the present invention;
in the figure:
1-a structured light generator; 2-a camera; 3-H section steel; 4-an upper computer.
Detailed Description
The technical solutions of the present invention will be clearly and completely described and illustrated below with reference to the embodiments and the accompanying drawings, but the present invention is not limited thereto.
A rotary structured light type H-shaped steel dimension measuring method comprises the following steps (as shown in figure 1):
1) constructing a measuring system: fixing the position of the H-shaped steel 3, setting the relative position of the optical axis of the camera and the horizontal plane of the H-shaped steel, and setting the relative position of the structured light generator 1 and the horizontal plane of the H-shaped steel;
2) collecting linear light information: the structured light rotates anticlockwise around an optical axis of the structured light under the driving of a motor, and the camera 2 collects linear light information of the structured light projected on the surface of the section steel at a certain frequency;
3) dynamic coordinate transformation analysis: the upper computer 4 extracts the structural parameters of the rotating structure light system, establishes a mapping relation between a static camera coordinate system and a dynamic rotating coordinate system, and constructs a camera imaging geometric model.
4) Calculating the size of the H-shaped steel: and (3) solving the three-dimensional coordinates of the angular point positions of the H-shaped steel through the mapping relation between the static camera coordinate system and the dynamic rotating coordinate system, and solving the distance between two angular points, namely the size of the H-shaped steel by using a distance formula of any two points of the three-dimensional coordinates.
In the first step of this embodiment, the positions of the H-beam, the structural light source, and the camera are fixed. Horizontally placing the H-shaped steel; the structural light generator is vertically arranged above the web plate of the H-shaped steel, so that the H-shaped steel is ensured to be within the projection range of the structural light; the camera is fixed in position, its optical centers O and O1The distance is set to be 30cm, the optical axis and the upper surface of the web of the section steel form an included angle theta of 60 degrees, and the structured light is in a two-dimensional rotation conversion state, namely the intersection point O of the optical axis of the structured light and the upper surface of the web1The position is always unchanged.
In the second step of this embodiment, the structured light generator is composed of a point light source and a cylindrical lens, the point light source uses 650nm red light, and the cylindrical lens refracts and disperses the light emitted by the point light source into a linear light, which can be projected on the surface of an object to form a visible red linear reticle. The structured light rotates around the optical axis of the structured light by 1 degree/s anticlockwise under the driving of the motor,in the figure, a dotted line is a line of intersection of the structured light and the surface of the H-shaped steel after the structured light generator rotates by an alpha angle and a beta angle, the acquisition frequency of the camera is 1HZ, one piece of projection light information is acquired every second in the state, and the position of a dynamic coordinate system in each acquired image is anticlockwise wound around Y in comparison with the position of the dynamic coordinate system in the last acquired imagewThe axis is rotated by 1 °, and α ═ n is known in the image captured by the nth frame camera.
In step three of this embodiment, a dynamic rotation coordinate system X is constructed as shown in FIG. 2wYwZwAnd a stationary camera coordinate system XCYCZC. As can be seen from equation (3), the coordinate system X is dynamically rotated in the image captured by the nth camerawYwZwAnd a stationary camera coordinate system XCYCZCThe relationship of (1) is:
the method is a dynamic rotating coordinate system model construction method, and in specific section steel measurement, a traditional camera model is combined to finally realize the mapping of a two-dimensional image and a dynamic three-dimensional coordinate. In the traditional mathematical model of camera, there are
Wherein (u, v) represents the coordinates of the image coordinate system in units of pixels, and (u)x,vy) Representing the offset of the coordinate origin at the central position of the image coordinate system; f represents the camera focal length; dx and dy denote the physical size of each pixel in the orthogonal direction along the image coordinate system. The formula is combined with the mapping relation between the rotating coordinate system and the static coordinate system obtained above, and finally the mapping relation between the two-dimensional image coordinate and the dynamic rotating three-dimensional coordinate in the image collected by the nth frame camera is obtained as follows:
as shown in FIG. 3, by this mappingThe ray relation can result in a corner point (u) in the linear light0,v0)，(u1,v1)，(u2,v2)，(u3,v3)，(u4,v4)，(u5,v5) The corresponding H-shaped steel three-dimensional coordinates are respectively (X)0,Y0,Z0)，(X1,Y1,Z1)，(X2,Y2,Z2)，(X3,Y3,Z3)，(X4,Y4,Z4)(X5,Y5,Z5). The size of the H-shaped steel is obtained according to a three-dimensional coordinate two-point distance formula:
wherein, a1Is the width of the H-shaped steel; a is2The height of the H-shaped steel; a is3The width of the flange of the H-shaped steel; a is4Is the width of the web of the H-shaped steel.
In summary, the present embodiment is an optical method for measuring dimensions of H-section steel with a rotary structure. The invention provides a novel H-shaped steel size measuring method based on dynamic coordinate transformation, which has strong portability: the processing method of dynamic coordinate transformation can be combined with other classical algorithms for use to research the mapping problem of dynamic rotation coordinates; the related algorithm of the dynamic coordinate transformation can be combined with other measuring systems to research the size and contour information of the measured object when the measured object and the camera are in a rotating state, so that the application range and the flexibility of the measuring system are improved.
Claims (1)
1. A rotary structure optical type H-shaped steel dimension measuring method comprises the following steps:
first, a measurement system is set up
Fixing the relative positions of the H-shaped steel, the structural light generator and the camera: horizontally placing the H-shaped steel; the optical axis of the structured light is vertical to the web plate of the H-shaped steel, and the intersection point of the optical axis of the structured light and the upper surface of the web plate is set as O1Optical centers of video camera O and O1The pitch is set to a, OO1The included angle between the connecting line and the horizontal plane of the web is set to be theta, in the measuring system, the camera is fixed, and the structured light is in a two-dimensional rotation transformation state, namely the intersection point O of the optical axis of the structured light and the upper surface of the web1The position is always unchanged.
Second step, collecting linear light information
The structured light generator consists of a point light source and a cylindrical lens, the cylindrical lens refracts and disperses light emitted by the point light source into linear light in a shape of a Chinese character 'yi', a visible linear marking can be generated on the surface of an object, the linear light is structured light, the structured light rotates anticlockwise around an optical axis of the structured light under the drive of a motor at an angular speed omega, and a camera collects linear light information projected on the surface of H-shaped steel by the structured light at a certain collection frequency v;
thirdly, dynamic coordinate transformation analysis:
extracting structural parameters of a rotating structured light system, establishing a mapping relation between a static camera coordinate system and a dynamic rotating coordinate system, constructing a camera imaging geometric model, recording the time when linear light projected on the surface of an H-shaped steel web and the intersection line of the steel web and a flange are perpendicular to each other as 0 moment, and then setting the included angle between the projected light in an image collected by an nth frame of camera and an original position as
1) The upper surface of the web plate of the section steel is XwO1ZwSurface structure dynamic rotation coordinate system XwYwZwThe initial direction of linear projected light is the initial XwAxis of initial Z in the vertical directionwThe shaft is provided with a plurality of axial holes,passing point O1And with XwO1ZwPerpendicular to the plane of YwAn axis, the coordinate system dynamically changing with the rotation of the structured light, the coordinate system in the image collected by the nth frame cameraAnd the initial coordinate systemThe relationship of (1) is:
2) constructing a static camera coordinate system X with the camera optical center O as the originCYCZCThe optical axis direction of the camera is set to ZCAxis parallel to XwThe axis intersecting at O point is set as XCAxis, through point O and with XCOZCThe vertical surface is YCAxis, dynamic rotating coordinate system XwYwZwAnd a stationary camera coordinate system XCYCZCThe relationship of (1) is:
fourthly, calculating the size of the H-shaped steel
And (3) solving the three-dimensional coordinates of the angular point positions of the H-shaped steel through the mapping relation between the static camera coordinate system and the dynamic rotating coordinate system, and solving the distance between two angular points, namely the size of the H-shaped steel by using a distance formula of any two points of the three-dimensional coordinates.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113703250A (en) * | 2020-12-31 | 2021-11-26 | 苏州立创致恒电子科技有限公司 | Imaging system and imaging method based on scanning galvanometer |
| CN113834445A (en) * | 2021-10-04 | 2021-12-24 | 东北大学 | Method for detecting sizes of slag and burr in casting blank flame cutting |
| CN115574725A (en) * | 2022-12-08 | 2023-01-06 | 江苏金恒信息科技股份有限公司 | Steel plate size measuring method and system based on line structured light |
| CN116105607A (en) * | 2023-02-03 | 2023-05-12 | 太原理工大学 | Full-size measuring device and method for non-contact cold-hot H-shaped steel |
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| CN113703250A (en) * | 2020-12-31 | 2021-11-26 | 苏州立创致恒电子科技有限公司 | Imaging system and imaging method based on scanning galvanometer |
| CN113834445A (en) * | 2021-10-04 | 2021-12-24 | 东北大学 | Method for detecting sizes of slag and burr in casting blank flame cutting |
| CN115574725A (en) * | 2022-12-08 | 2023-01-06 | 江苏金恒信息科技股份有限公司 | Steel plate size measuring method and system based on line structured light |
| CN116105607A (en) * | 2023-02-03 | 2023-05-12 | 太原理工大学 | Full-size measuring device and method for non-contact cold-hot H-shaped steel |
| CN116105607B (en) * | 2023-02-03 | 2023-08-01 | 太原理工大学 | Full-size measuring device and method for non-contact cold-hot H-shaped steel |
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Application publication date: 20191227 |