CN114322837A - Device and method for measuring shape of cross section of object on line by double-splayed three-dimensional vision - Google Patents
Device and method for measuring shape of cross section of object on line by double-splayed three-dimensional vision Download PDFInfo
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Abstract
The invention relates to the technical field of laser measurement, in particular to a device and a method for measuring the shape of a section of an object on line by double splayed three-dimensional vision. The first fusion module and the second fusion module are combined for use to irradiate the shape of an object, the shape of the section of the object in any direction can be measured through the arrangement, the motor can not be adopted to rotate to adapt to curves of different complex high-low objects, the object shape can be accurately measured, a high-speed motor does not move, the rotation of 90 degrees of machinery is reduced, the detection speed and the system reliability are improved, and the device is suitable for the on-line detection of the non-transparent object in a long-time complex environment.
Description
Technical Field
The invention relates to the technical field of laser measurement, in particular to a device and a method for measuring the shape of a cross section of an object on line by double-splayed three-dimensional vision.
Background
The three-dimensional vision online measurement refers to the related application of adding a height component on the basis of the two-dimensional length and width of an object. As the requirements for the shape of the cross section of an object, such as height, area, capacity, etc., become more stringent, three-dimensional related applications have become an unobstructed trend.
In some applications, the object motion path is a complex figure composed of polygons, and the figure is not in a height plane, has upper and lower height changes, and needs to be detected by adopting three-dimensional vision. In order to improve the production efficiency, the working process and the measurement are required to be carried out simultaneously, namely, the measurement is carried out while working, and the feedback is carried out when the problem is found.
In the prior art, a splayed combination of two laser lines is adopted to measure the shape of the section of an object by one laser line, each laser line obliquely irradiates each side of the object, then the data obliquely measured by two sensors are integrated into the data of one line through calibration and fusion, the height and the width of the shape and the dimension of the object are accurately measured, in order to ensure that the laser line is required to be perpendicular to the motion direction of the object in each measurement, the direction of the laser line needs to be adjusted in time, a high-speed motor needs to be arranged to adjust the corresponding motion direction to realize the conversion of the measurement direction of the object, although the shape of the section of the object can be accurately measured, the high-speed motor needs to be arranged, a complex algorithm is needed, the cost is increased, the motor is a moving part, and is easy to wear and increase the maintenance cost after long-time use.
In another prior art, four high-speed laser projectors are arranged at the center of an object such as around a colloid nozzle to complete measurement and detection of each direction in a gluing process, the four projectors are perpendicular to each other and surround the glue dispensing center of the object to ensure that the glue can be measured in any direction, meanwhile, the production line speed is met by means of the high-speed three-dimensional data acquisition speed, output signals of the four high-speed laser projectors are transmitted to an FPGA acquisition module in real time to be processed by three-dimensional signals, and are uploaded to a computer system to be subjected to path planning and output signals to control a robot glue dispensing system and perform measurement. The mode has no rotating motor and can quickly respond to the change of the dispensing path, and is a high-end product in the industry, but the laser irradiates vertically relative to the detection plane, so that the width of an object cannot be accurately detected and the area of the object can be calculated through the accurate shape for the object with steep two sides particularly due to the triangular relation between the laser line and the CMOS camera.
Disclosure of Invention
The invention aims to provide a device and a method for measuring the shape of the cross section of an object on line by double-splayed three-dimensional vision, which aim to solve the defects that the prior art proposed in the background art needs to be provided with a high-speed motor, needs a complex algorithm and increases the cost, and the motor is a moving part, is easy to wear after being used for a long time and increases the maintenance cost. And another prior art is that since the laser is irradiated perpendicularly with respect to the detection plane, it is impossible to accurately detect the width of the object and calculate the area of the object by the accurate shape for the object cross-sectional shape, particularly, having a steep two-sided shape, due to the triangular relationship between the laser line and the CMOS camera.
In order to achieve the above object, the present invention provides a device for measuring the shape of the cross section of an object on line by double splayed three-dimensional vision, which comprises a first fusion module and a second fusion module, wherein the first fusion module comprises a first three-dimensional component and a second three-dimensional component, and the second fusion module comprises a third three-dimensional component and a fourth three-dimensional component;
the first three-dimensional assembly comprises a first lens, a first laser and a first CMOS device; the first lens is correspondingly arranged at the bottom end of the first laser, the first laser is correspondingly arranged at the top end of the first lens, and the first CMOS device is arranged at the rear end of the first lens;
the second three-dimensional assembly comprises a second lens, a second laser and a second CMOS device; the second lens is correspondingly arranged at the bottom end of a second laser, the second laser is correspondingly arranged at the top end of the second lens, and the second CMOS device is arranged at the rear end of the second lens;
the third three-dimensional assembly comprises a third lens, a third laser and a third CMOS device; the third lens is correspondingly arranged at the bottom end of a third laser, the third laser is correspondingly arranged at the top end of the third lens, and the third CMOS device is arranged at the rear end of the third lens;
the fourth three-dimensional component comprises a fourth lens, a fourth laser and a fourth CMOS device; the fourth lens is correspondingly arranged at the bottom end of the fourth laser, the fourth laser is correspondingly arranged at the top end of the fourth lens, and the fourth CMOS device is arranged at the rear end of the fourth lens.
Furthermore, a first laser device included in the first three-dimensional assembly emits laser to irradiate on the shape of the object to form a first laser line, a second laser device included in the second three-dimensional assembly emits laser to irradiate on the shape of the object to form a second laser line, and the first laser line and the second laser line are obliquely crossed to form a splayed laser line.
Furthermore, a third laser device included in the third three-dimensional assembly emits laser to irradiate on the shape of the object to form a third laser line, a fourth laser device included in the fourth three-dimensional assembly emits laser to irradiate on the shape of the object to form a fourth laser line, and the third laser line and the fourth laser line are obliquely crossed to form a splayed laser line.
Further, the first fusion module is used in combination with the second fusion module to illuminate the object shape.
Furthermore, the first lens collects data measured by a first laser line formed on the object shape by the first laser, the second lens collects data measured by a second laser line formed on the object shape by the second laser, the third lens collects data measured by a third laser line formed on the object shape by the third laser, and the fourth lens collects data measured by a fourth laser line formed on the object shape by the fourth laser.
In order to achieve the above object, the present invention provides the following technical solution, a method for measuring the shape of the cross section of an object on line by double-splayed three-dimensional vision, comprising the following steps:
the first three-dimensional assembly and the second three-dimensional assembly are used for obliquely crossing a first laser line and a second laser line which are formed by respectively emitting laser on the shape of an object to form a splayed laser line, the splayed laser line is used for irradiating and measuring the shape of the object in an all-around manner, the section size of the object is output, the shape of a steep object is detected, and the first three-dimensional assembly and the second three-dimensional assembly are mutually matched to form a first fusion module;
the third three-dimensional assembly and the fourth three-dimensional assembly obliquely cross a third laser line and a fourth laser line which are formed by respectively emitting laser on the shape of the object to form a splayed laser line, the splayed laser line irradiates and measures the shape of the object in an all-around manner, the section size of the object is output, the shape of a steep object is detected, and the third three-dimensional assembly and the fourth three-dimensional assembly are matched with each other to form a second fusion module;
the splayed laser line formed by the first fusion module and the splayed laser line formed by the second fusion module are combined to form a double splayed laser line, the splayed laser line formed by the first fusion module and the splayed laser line formed by the second fusion module are perpendicular to each other, and the cross section shape of an object in any direction can be measured.
Further, the first three-dimensional assembly and the second three-dimensional assembly are installed in an inclined mode; the third three-dimensional assembly and the fourth three-dimensional assembly are installed in an inclined mode.
Compared with the prior art, the invention has the beneficial effects that:
in the invention, the first fusion module is formed by obliquely and crosswise fusing a first laser line formed by emitting laser to the object shape by the first three-dimensional component and a second laser line formed by emitting laser to the object shape by the second three-dimensional component into a splayed laser line. The second fusion module is formed by obliquely and crossly fusing a third laser line formed by emitting laser to the object shape by the third three-dimensional component and a fourth laser line formed by emitting laser to the object shape by the fourth three-dimensional component into a splayed laser line. The splayed laser line fused by the first fusion module and the splayed laser line fused by the second fusion module are combined into a double splayed laser line. And the splayed laser lines fused by the first fusion module and the splayed laser lines fused by the second fusion module are mutually vertical, the two splayed laser lines after being vertical are mutually 90 degrees, each laser line measures different object section sizes, and then the object section shapes are measured by algorithm fusion. Therefore, the object section shape in any direction can be measured, the motor rotation is not adopted to adapt to complex high-low different path curves, the object shape can be accurately measured, a high-speed motor does not move, the rotation of 90 degrees of machinery is reduced, the detection speed and the system reliability are improved, and the device is suitable for the on-line detection of non-transparent objects in long-time and complex environments.
Drawings
FIG. 1 is a schematic structural diagram of a first fusion module according to the present invention;
FIG. 2 is a schematic structural diagram of a second fusion module according to the present invention;
FIG. 3 is a schematic diagram of the internal structure of a first three-dimensional assembly according to the present invention;
FIG. 4 is a schematic diagram of the internal structure of a second three-dimensional component according to the present invention;
FIG. 5 is a schematic view of the internal structure of a third three-dimensional element according to the present invention;
FIG. 6 is a schematic diagram of the internal structure of a fourth three-dimensional module according to the present invention;
FIG. 7 is a schematic diagram of a planar coordinate system for calibrating a three-dimensional device according to the present invention;
FIG. 8 is a schematic diagram of a planar coordinate system for calibrating a three-dimensional device according to the present invention;
FIG. 9 is a schematic view of the three-dimensional assembly fusion of the present invention;
FIG. 10 is a schematic view of the present invention showing the double splayed laser lines perpendicular to each other;
FIG. 11 is a flow chart of a measurement method according to the present invention.
The labels in the figure are: 1. a first fusion module; 10. a first three-dimensional component; 110. a first lens; 120. a first laser; 130. a first CMOS device; 100. a first laser line; 20. a second three-dimensional component; 210. a second lens; 220. a second laser; 230. a second CMOS device; 200. a second laser line; 2. a second fusion module; 30. a third three-dimensional component; 310. a third lens; 320. a third laser; 330. a third CMOS device; 300. a third laser line; 40. a fourth three-dimensional component; 410. a fourth lens; 420. a fourth laser; 430. a fourth CMOS device; 400. a fourth laser line.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
In addition, the descriptions related to "first", "second", etc. in the present invention are only used for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
The invention provides the following technical scheme, in particular to a device and a method for measuring the shape of a cross section of an object on line by double-splayed three-dimensional vision.
Referring to fig. 1 and 2, an apparatus for measuring a cross-sectional shape of an object on line by double-splayed three-dimensional vision includes a first fusion module 1 and a second fusion module 2, the first fusion module 1 includes a first three-dimensional component 10 and a second three-dimensional component 20, and the second fusion module 2 includes a third three-dimensional component 30 and a fourth three-dimensional component 40.
Referring to fig. 1 and 3, as an embodiment, the first three-dimensional assembly 10 includes a first lens 110, a first laser 120, and a first CMOS device 130; the first lens 110 is correspondingly disposed at the bottom end of the first laser 120, the first laser 120 is correspondingly disposed at the top end of the first lens 110, and the first CMOS device 130 is disposed at the rear end of the first lens 110. During the measurement operation, the first laser 120 emits laser to the object shape, and the first CMOS device 130 receives the laser, and the first lens 110 of the first CMOS device 130 collects the measurement data of the received laser during the laser receiving process. The arrangement makes the measurement data accurate and the data acquisition fast.
Referring to fig. 1 and 4, as an embodiment, the second three-dimensional device 20 includes a second lens 210, a second laser 220, and a second CMOS device 230; the second lens 210 is correspondingly disposed at the bottom end of the second laser 220, the second laser 220 is correspondingly disposed at the top end of the second lens 210, and the second CMOS device 230 is disposed at the rear end of the second lens 210. During the measurement operation, the second laser 220 emits laser to the object shape, and the second CMOS device 230 receives the laser, and the second lens 210 collects measurement data of the received laser during the laser receiving process of the second CMOS device 230. The arrangement makes the measurement data accurate and the data acquisition fast.
Referring to fig. 2 and 5, as an embodiment, the third three-dimensional assembly 30 includes a third lens 310, a third laser 320 and a third CMOS device 330; the third lens 310 is correspondingly disposed at the bottom end of the third laser 320, the third laser 320 is correspondingly disposed at the top end of the third lens 310, and the third CMOS device 330 is disposed at the rear end of the third lens 310. During the measurement operation, the third laser 320 emits laser to the object shape, and the third CMOS device 330 receives the laser, and the third lens 310 collects measurement data of the received laser in the laser receiving process of the third CMOS device 330. The arrangement makes the measurement data accurate and the data acquisition fast.
Referring to fig. 2 and 6, as an embodiment, the fourth three-dimensional assembly 40 includes a fourth lens 410, a fourth laser 420 and a fourth CMOS device 430; the fourth lens 410 is correspondingly disposed at the bottom end of the fourth laser 420, the fourth laser 420 is correspondingly disposed at the top end of the fourth lens 410, and the fourth CMOS device 430 is disposed at the rear end of the fourth lens 410. During the measurement operation, the fourth laser 420 emits laser to the object shape, and the fourth CMOS device 430 receives the laser, and the fourth CMOS device 430 collects the measurement data of the received laser by the fourth lens 410 during the laser receiving process. The arrangement makes the measurement data accurate and the data acquisition fast.
Referring to fig. 1, 7, 8 and 9, as an embodiment, the first three-dimensional assembly 10 includes a first laser 120 emitting laser light to irradiate on the object shape to form a first laser line 100, the second three-dimensional assembly 20 includes a second laser 220 emitting laser light to irradiate on the object shape to form a second laser line 200, and the first laser line 100 and the second laser line 200 are obliquely crossed to form a splayed laser line. The first three-dimensional assembly 10 and the second three-dimensional assembly 20 are mounted in an inclined manner relative to each other, and need to be calibrated to a plane coordinate system, a square gauge block can be placed on the plane x-axis, and the first three-dimensional assembly 10 and the second three-dimensional assembly 20 output a side of the first laser line 100 and the second laser line 200 which are both irradiated on the gauge block, so that a corner of the inclined square gauge block is seen on the first three-dimensional assembly 10 and the second three-dimensional assembly 20, respectively. Since the same gauge blocks are referenced to the x-axis, the angle α to the x-axis is calculated and rotated to the plane x. After the first laser line 100 and the second laser line 200 are rotated, data overlapping is generated on the upper surface of the gauge block, the overlapped data is removed, data re-distribution is carried out, and the first three-dimensional assembly 10 and the second three-dimensional assembly 20 are combined into the first fusion module 1. After the installation and calibration are completed, when in use, the first laser 120 emits laser to irradiate on the shape of an object to form a first laser line 100, the second laser 220 emits laser to irradiate on the shape of the object to form a second laser line 200, and the first laser line 100 and the second laser line 200 are obliquely crossed to form a splayed laser line. By arranging the first three-dimensional assembly 10 and the second three-dimensional assembly 20 to be fused and used to form the splayed laser line, the shape of a steep object can be accurately measured, and the data reliability and the acquisition speed are ensured.
Referring to fig. 2, 7, 8 and 9, as an embodiment, the third three-dimensional assembly 30 includes a third laser 320 emitting laser light to irradiate on the object shape to form a third laser line 300, the fourth three-dimensional assembly 40 includes a fourth laser 420 emitting laser light to irradiate on the object shape to form a fourth laser line 400, and the third laser line 300 and the fourth laser line 400 are obliquely crossed to form a splayed laser line. The third three-dimensional assembly 30 and the fourth three-dimensional assembly 40 are mounted in an inclined manner relative to each other, and need to be calibrated to a plane coordinate system, a square gauge block is placed on the plane x-axis, and the third three-dimensional assembly 30 and the fourth three-dimensional assembly 40 output a third laser line 300 and a fourth laser line 400 both irradiating on one side of the gauge block, so that one corner of the inclined square gauge block is seen on the third three-dimensional assembly 30 and the fourth three-dimensional assembly 40, respectively. Since the same gauge blocks are referenced to the x-axis, the angle α to the x-axis is calculated and rotated to the plane x. After the third laser line 300 and the fourth laser line 400 rotate, data overlapping is generated on the upper surface of the gauge block, the overlapped data is removed, data re-distribution is performed, and the third three-dimensional component 30 and the fourth three-dimensional component 40 form the second fusion module 2. After the installation and calibration are completed, the third laser 320 emits laser to irradiate on the object shape to form a third laser line 300, the fourth laser 420 emits laser to irradiate on the object shape to form a fourth laser line 400, and the third laser line 300 and the fourth laser line 400 are obliquely crossed to form a splayed laser line. By the arrangement, the third three-dimensional assembly 30 and the fourth three-dimensional assembly 40 are fused to form a splayed laser line, so that the shape of a steep object can be accurately measured, and the data reliability and the acquisition speed are ensured.
Referring to fig. 1, 2 and 10, as an embodiment, a first fusion module 1 and a second fusion module 2 are used in combination to irradiate an object shape. The first fusion module 1 is formed by obliquely and crosswise fusing a first laser line 100 formed by emitting laser to an object shape by the first three-dimensional component 10 and a second laser line 200 formed by emitting laser to the object shape by the second three-dimensional component 20 into a splayed laser line. The second fusion module 2 is formed by obliquely and crosswise fusing a third laser line 300 formed by emitting laser to the object shape by the third three-dimensional component 30 and a fourth laser line 400 formed by emitting laser to the object shape by the fourth three-dimensional component 40 into a splayed laser line. The splayed laser line fused by the first fusion module 1 and the splayed laser line fused by the second fusion module 2 are combined into a double splayed laser line. And the splayed laser lines fused by the first fusion module 1 and the splayed laser lines fused by the second fusion module 2 are mutually vertical, the two splayed laser lines after being vertical are mutually 90 degrees, each laser line measures different object section sizes, and then the object section shapes are measured by algorithm fusion. The device can measure the shape of the section of an object in any direction, can adapt to curves of different paths with complex height without adopting the rotation of a motor, not only can accurately measure the shape of the object, but also can reduce the rotation of a machine by 90 degrees without adopting a high-speed motor for movement, improve the detection speed and the system reliability, and is suitable for the online detection of non-transparent objects in long-time and complex environments.
Referring to fig. 11, a method for measuring the shape of the cross section of an object on line by double-splayed three-dimensional vision includes the following steps:
s510, a first three-dimensional assembly 10 and a second three-dimensional assembly 20 obliquely cross a first laser line 100 and a second laser line 200 which are formed on the shape of an object by emitting laser respectively to form a splayed laser line, the splayed laser line irradiates and measures the shape of the object in an all-around manner, the section size of the object is output, the shape of a steep object is detected, and the first three-dimensional assembly 10 and the second three-dimensional assembly 20 are matched with each other to form a first fusion module 1;
s520, the third three-dimensional assembly 30 and the fourth three-dimensional assembly 40 obliquely intersect a third laser line 300 and a fourth laser line 400 which are formed on the object shape by emitting laser light respectively to form a splayed laser line, the splayed laser line irradiates and measures the object shape in all directions, the size of the section of the object is output, the shape of a steep object is detected, and the third three-dimensional assembly 30 and the fourth three-dimensional assembly 40 are matched with each other to form a second fusion module 2;
s530, combining the splayed laser line formed by the first fusion module 1 and the splayed laser line formed by the second fusion module 2 to form a double-splayed laser line, wherein the splayed laser line formed by the first fusion module 1 and the splayed laser line formed by the second fusion module 2 are vertical to each other, and the section shape of an object in any direction can be measured.
Referring to fig. 11, as an embodiment, the first three-dimensional element 10 and the second three-dimensional element 20 are installed in an inclined manner; the third three-dimensional assembly 30 is mounted in oblique opposition to the fourth three-dimensional assembly 40.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The device for measuring the cross-sectional shape of an object on line by double splayed three-dimensional vision is characterized by comprising a first fusion module (1) and a second fusion module (2), wherein the first fusion module (1) comprises a first three-dimensional component (10) and a second three-dimensional component (20), and the second fusion module (2) comprises a third three-dimensional component (30) and a fourth three-dimensional component (40);
the first three-dimensional assembly (10) comprises a first lens (110), a first laser (120) and a first CMOS device (130); the first lens (110) is correspondingly arranged at the bottom end of the first laser (120), the first laser (120) is correspondingly arranged at the top end of the first lens (110), and the first CMOS device (130) is arranged at the rear end of the first lens (110);
the second three-dimensional assembly (20) comprises a second lens (210), a second laser (220) and a second CMOS device (230); the second lens (210) is correspondingly arranged at the bottom end of the second laser (220), the second laser (220) is correspondingly arranged at the top end of the second lens (210), and the second CMOS device (230) is arranged at the rear end of the second lens (210);
the third three-dimensional assembly (30) comprises a third lens (310), a third laser (320) and a third CMOS device (330); the third lens (310) is correspondingly arranged at the bottom end of the third laser (320), the third laser (320) is correspondingly arranged at the top end of the third lens (310), and the third CMOS device (330) is arranged at the rear end of the third lens (310);
the fourth three-dimensional assembly (40) comprises a fourth lens (410), a fourth laser (420) and a fourth CMOS device (430); the fourth lens (410) is correspondingly arranged at the bottom end of the fourth laser (420), the fourth laser (420) is correspondingly arranged at the top end of the fourth lens (410), and the fourth CMOS device (430) is arranged at the rear end of the fourth lens (410).
2. The device for on-line measurement of the cross-sectional shape of an object through double splayed three-dimensional vision according to claim 1, characterized in that the first three-dimensional assembly (10) comprises a first laser (120) emitting laser light to irradiate on the shape of the object to form a first laser line (100), the second three-dimensional assembly (20) comprises a second laser (220) emitting laser light to irradiate on the shape of the object to form a second laser line (200), and the first laser line (100) and the second laser line (200) are obliquely crossed to form a splayed laser line.
3. The device for on-line measurement of the cross-sectional shape of an object through double splayed three-dimensional vision according to claim 1, characterized in that the third three-dimensional assembly (30) comprises a third laser (320) emitting laser light to irradiate on the shape of the object to form a third laser line (300), the fourth three-dimensional assembly (40) comprises a fourth laser (420) emitting laser light to irradiate on the shape of the object to form a fourth laser line (400), and the third laser line (300) and the fourth laser line (400) are obliquely crossed to form a splayed laser line.
4. The device for on-line measurement of the cross-sectional shape of an object by double-splayed three-dimensional vision according to claim 1, characterized in that the first fusion module (1) and the second fusion module (2) are used in combination to irradiate the shape of the object.
5. The device for on-line measurement of the cross-sectional shape of an object through double-splayed three-dimensional vision according to claim 1, wherein the first lens (110) collects the data measured by the first laser line (100) formed on the shape of the object through the laser emitted by the first laser (120), the second lens (210) collects the data measured by the second laser line (200) formed on the shape of the object through the laser emitted by the second laser (220), the third lens (310) collects the data measured by the third laser line (300) formed on the shape of the object through the laser emitted by the third laser (320), and the fourth lens (410) collects the data measured by the fourth laser line (400) formed on the shape of the object through the laser emitted by the fourth laser (420).
6. A method for measuring the shape of the cross section of an object on line by double-splayed three-dimensional vision is characterized by comprising the following steps:
s510, a first three-dimensional assembly (10) and a second three-dimensional assembly (20) obliquely intersect a first laser line (100) and a second laser line (200) which are formed on the shape of an object by emitting laser respectively to form a splayed laser line, the splayed laser line irradiates and measures the shape of the object in all directions, the sectional size of the object is output, the shape of a steep object is detected, and the first three-dimensional assembly (10) and the second three-dimensional assembly (20) are matched with each other to form a first fusion module (1);
s520, a third three-dimensional assembly (30) and a fourth three-dimensional assembly (40) obliquely cross a third laser line (300) and a fourth laser line (400) which are formed on the shape of an object by emitting laser respectively to form a splayed laser line, the splayed laser line irradiates and measures the shape of the object in all directions, the sectional size of the object is output, the shape of a steep object is detected, and the third three-dimensional assembly (30) and the fourth three-dimensional assembly (40) are matched with each other to form a second fusion module (2);
s530, combining the splayed laser line formed by the first fusion module (1) and the splayed laser line formed by the second fusion module (2) to form a double-splayed laser line, wherein the splayed laser line formed by the first fusion module (1) and the splayed laser line formed by the second fusion module (2) are perpendicular to each other, and the section shape of an object in any direction can be measured.
7. The method for on-line measurement of the cross-sectional shape of an object by double splayed three-dimensional vision according to claim 6, characterized in that the first three-dimensional assembly (10) and the second three-dimensional assembly (20) are installed in an inclined opposite manner; the third three-dimensional assembly (30) and the fourth three-dimensional assembly (40) are installed in an inclined opposite mode.
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