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Steel coil identifying and positioning method based on laser technology

A technology of identification and positioning, laser technology, applied in the field of image processing, to achieve the effect of convenient remote monitoring, reliable and stable work, and reduced steel coil loading and unloading and transportation costs

Inactive Publication Date: 2020-04-17
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of how to quickly identify and locate steel coils in the finished product warehouse, reduce the laser scanning cycle, and improve logistics efficiency, and provide a steel coil identification and positioning system based on laser technology and its method

Method used

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  • Steel coil identifying and positioning method based on laser technology
  • Steel coil identifying and positioning method based on laser technology
  • Steel coil identifying and positioning method based on laser technology

Examples

Experimental program
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Effect test

Embodiment 1

[0021] Embodiment one: see Figure 1 ~ Figure 2 , the steel coil identification and positioning method based on laser technology, the identification and positioning equipment used includes a laser scanner, a laser traction trolley, a calibration device and a computer, and the specific operation steps are as follows:

[0022] (1) Use a linear laser scanner to cooperate with the traction trolley to obtain the laser data for steel coil identification and the position value of the trolley;

[0023] (2) Synchronize the laser data and position value, and calculate the three-dimensional space coordinates of the measurement point;

[0024] (3) After using regular grid DEM to process 3D discrete data, use Direct3D to obtain the 3D visualization model of steel coil;

[0025] (4) Obtain the world coordinates of the steel coil on the X-axis and Y-axis by using the contour tracking algorithm and the minimum circumscribed rectangle algorithm;

[0026] (5) Use the projected image to fuse a...

Embodiment 2

[0027] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows: In the step (1), the linear laser scanner performs regular rotational motion under the traction of the forward motion of the trolley, thereby realizing the scanning of the steel For the complete measurement of the roll surface, the trolley is installed on the I-shaped track of the vehicle, and the laser scanner is installed on the lower end surface of the trolley, where a world coordinate system with the center of the laser scanning surface as the origin is established {O 1}. In described step (2), utilize multi-thread technology to carry out the synchronous analysis and storage of laser scanner and laser dolly position, any point data of laser measurement can use polar coordinates (S i , θ i ) to represent; in {O 1} The vector of any measurement point in the coordinate system can be expressed as:

[0028]

[0029] S in the above formula i is the distance...

Embodiment 3

[0030] Embodiment three: as figure 1 As shown, the steel coil identification and positioning method based on laser technology adopts equipment including laser scanner, laser traction trolley, calibration device and computer;

[0031] The present invention collects the three-dimensional space coordinates of the measuring point through the synchronous movement of the laser scanner and the traction trolley, uses the regular grid DEM to process the three-dimensional discrete data, uses Direct3D to draw and render the three-dimensional model, and further uses the image processing technology to obtain the outer surface of the steel coil. Contour, and then calculate the X, Y axis coordinates of the steel coil, and use the projected image to fuse and superimpose the image to perform circle feature fitting, so as to obtain the coordinates of the steel coil on the Z axis, so as to realize the intelligent identification and positioning of the steel coil , including the following steps: ...

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Abstract

The invention discloses a steel coil identifying and positioning method based on a laser technology. The method comprises the steps of (1) matching a linear laser scanner with a traction trolley to obtain laser data and a trolley position value; (2) synchronizing the laser data and the position value, and calculating three-dimensional space coordinates of a measurement point; (3) processing the three-dimensional discrete data by adopting a regular grid DEM, and then obtaining a steel coil three-dimensional visualization model by using Direct3D; (4) acquiring world coordinates of a steel coil in the X axis and the Y axis by using a contour tracking algorithm and a minimum bounding rectangle algorithm; and (5) carrying out circle feature fitting by using an image obtained after fusion and superposition of projection images so as to obtain a world coordinate of the steel coil on the Z axis. According to the method, the position of the steel coil can be accurately identified and positioned, the laser scanning period is shortened, and the logistics efficiency of a finished product warehouse is improved.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a method for identifying and locating steel coils based on laser technology. [0002] technical background [0003] The finished product warehouse is an important logistics storage department of the steel company. The loading and unloading operation of steel coils is a prominent link that affects logistics efficiency and safety. The current transportation method is still manual operation and monitoring. In this way of working, on the one hand, there are potential safety hazards. On the other hand, manual operation mainly relies on the driver's naked eye observation, which has a certain degree of randomness, resulting in unnecessary start and stop of driving, low efficiency, and more seriously, accidents between the spreader and the steel coil may be caused by the wrong judgment of the operator. damage to the equipment due to collision. Automatic identification and positioning tec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 陈金波李政泽
Owner SHANGHAI UNIV
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