Straightness detection method and system for long steel, computer equipment and storage medium

Abstract

The invention provides a straightness detection method and system for long steel, computer equipment and a storage medium, and the method comprises the steps: enabling a tangent plane to intersect with a first point cloud under a three-dimensional space coordinate system in the three-dimensional space coordinate system, and obtaining an upper group of point cloud line segments and a lower group of point cloud line segments where the tangent plane intersects with the first point cloud; projecting the two groups of point cloud line segments to a first plane; selecting a plurality of points at the two ends of the two groups of point cloud line segments to fit to obtain a target straight line; determining the distance between the target points on the two groups of point cloud line segments and the target straight line; with the X axis as the axis, the tangent plane is rotated once every 1 degree until the 360-degree straightness data is measured; wherein in the 360-degree straightness data, the maximum straightness value is the straightness of the long steel. According to the invention, based on the three-dimensional point cloud coordinates generated by the sensor, the interference of artificial measurement factors is reduced by calculating the maximum straightness of the outlier coordinate points and the fitting straight line.

Description

Technical Field

[0001] The present invention belongs to the technical field of steel quality detection, and in particular relates to a method, system, computer equipment and storage medium for detecting the straightness of long steel. Background Art

[0002] Long steel products such as steel pipes, round steel, and square steel are widely used in the manufacturing and construction industries. Their quality directly affects the stability and safety of engineering structures. Straightness is one of the important indicators for measuring the quality of long steel products. Unqualified straightness may cause problems during assembly and use, and even affect the quality of the overall project.

[0003] In the actual production process, the commonly used methods for measuring straightness are the ruler method and the wire drawing method. In the ruler method, first fit the standard ruler to the two ends of the steel to be measured, and then use the feeler gauge to measure the gap between the steel to be measured and the ruler. In the ruler method, the thickness of the feeler gauge needs to be adjusted repeatedly by hand, which is an extremely cumbersome and time-consuming process. In the wire drawing method, a thin wire is placed at the vertices of the two ends of the steel, and the straightness is measured by observing the distance from the wire to the steel. In the wire drawing method, the tester cannot guarantee its repeatability during the measurement process, which lacks objectivity and consistency. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a method, system, computer equipment and storage medium for detecting the straightness of a long steel product.

[0005] In a first aspect, the present invention provides a method for detecting the straightness of a long steel product, comprising:

[0006] S1, scanning the outer surface of the long steel material along a straight line direction to obtain multiple point clouds of the long steel material; wherein one point cloud is obtained by one sensor, and the multiple sensors are evenly distributed along the circumference of the long steel material;

[0007] S2, taking the coordinate system of the target point cloud as the reference coordinate system, converting the coordinate system of the remaining point clouds to the reference coordinate system, and obtaining the point cloud of the entire long steel in the reference coordinate system as the first point cloud;

[0008] S3, converting the reference coordinate system into a three-dimensional space coordinate system for measuring the straightness of the long steel; wherein the three-dimensional space coordinate system takes the straight line direction as the positive direction of the X-axis, the horizontal line perpendicular to the X-axis as the Y-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis;

[0009] S4, intersecting the tangent plane with the first point cloud in the three-dimensional space coordinate system in the three-dimensional space coordinate system to obtain two sets of point cloud line segments intersecting the tangent plane and the first point cloud, and compressing the coordinates in the Y-axis direction to project the two sets of point cloud line segments onto the first plane; wherein the X-axis is on the slicing plane, and the first plane is the plane where the X-axis and the Z-axis are located;

[0010] S5, selecting multiple points located at both ends of the two sets of point cloud line segments to fit and obtain a target straight line;

[0011] S6, determining the distance between the target point and the target straight line on the two groups of point cloud line segments; wherein the maximum distance value is the straightness of the long steel under the current cutting plane;

[0012] S7, with the X-axis as the axis, rotate the cutting plane once every 1 degree, and return to execute the operation of S4 until 360 degrees of straightness data are measured; among the 360 ​​degrees of straightness data, the maximum straightness value is the straightness of the long steel.

[0013] Optionally, the coordinate system where the target point cloud is located is used as the reference coordinate system, and the coordinate system where the remaining point clouds are located is converted to the reference coordinate system to obtain the point cloud of the entire long steel in the reference coordinate system as the first point cloud, including:

[0014] Construct the pose matrix expression of the i-th sensor:

[0015]

[0016] in, is the rotation coefficient matrix; i=2,3,4; is the translation coefficient vector; is the first scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the second scaling factor of the i-th sensor in the y-axis direction of the reference coordinate system; is the third scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the fourth scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the fifth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the sixth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the seventh scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the eighth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the ninth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the x-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the y-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the z-axis direction of the reference coordinate system;

[0017] Construct the coordinate expression of the remaining point cloud in the base coordinate system:

[0018]

[0019] Among them, E i ′ is the coordinate of the point cloud scanned by the i-th sensor in the reference coordinate system; The coordinate value of the point cloud scanned by the i-th sensor in the n-th direction.

[0020] Optionally, selecting a plurality of points located at both ends of two groups of point cloud line segments to fit a target straight line includes:

[0021] Construct the expression for the target line:

[0022] L(t)=P1+t(P2-P1);

[0023] Wherein, L(t) represents the ideal straight line for fitting the long steel; P1 is the position vector of the endpoints of the two sets of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two sets of point cloud segments far from the origin; t is the slope of the straight line for fitting the long steel.

[0024] Optionally, the step of determining the distance between the target point and the target straight line on the two groups of point cloud line segments, wherein the maximum distance value is the straightness of the long steel material under the current cutting plane, comprises:

[0025] The distance d between the target point and the target line on the two sets of point cloud segments is calculated according to the following formula:

[0026]

[0027] Among them, P1 is the position vector of the endpoints of the two groups of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two groups of point cloud segments far from the origin, P is the target point on the two groups of point cloud segments; ||·|| represents the Euclidean norm of the vector.

[0028] In a second aspect, the present invention provides a straightness detection system for long steel products, comprising:

[0029] A point cloud generation module is used to scan the outer surface of the long steel material along a straight line direction to obtain multiple point clouds of the long steel material; wherein one point cloud is obtained by one sensor, and multiple sensors are evenly distributed along the circumference of the long steel material;

[0030] A first coordinate system conversion module is used to convert the coordinate system of the remaining point clouds to the reference coordinate system using the coordinate system of the target point cloud as the reference coordinate system, so as to obtain the point cloud of the entire long steel material in the reference coordinate system as the first point cloud;

[0031] The second coordinate system conversion module is used to convert the reference coordinate system into a three-dimensional space coordinate system for measuring the straightness of long steel; wherein the three-dimensional space coordinate system takes the straight line direction as the positive direction of the X-axis, the horizontal line perpendicular to the X-axis as the Y-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis;

[0032] A point cloud line segment generation module is used to intersect the cutting plane with the first point cloud in the three-dimensional space coordinate system in the three-dimensional space coordinate system to obtain two groups of point cloud line segments at the intersection of the cutting plane and the first point cloud, and compress the coordinates in the Y-axis direction to project the two groups of point cloud line segments onto the first plane; wherein the X-axis is located on the slicing plane, and the first plane is the plane where the X-axis and the Z-axis are located;

[0033] A straight line fitting module is used to select multiple points located at both ends of two sets of point cloud segments to fit the target straight line;

[0034] The first straightness determination module is used to determine the distance between the target point and the target straight line on the two sets of point cloud segments; wherein the maximum distance value is the straightness of the long steel under the current cutting plane;

[0035] The second straightness determination module is used to rotate the cutting plane once every 1 degree with the X-axis as the axis, and return to execute the operation of the point cloud segment generation module until 360 degrees of straightness data are measured; among the 360 ​​degrees of straightness data, the maximum straightness value is the straightness of the long steel.

[0036] Optionally, the first coordinate system conversion module includes:

[0037] The first construction unit is used to construct the pose matrix expression of the i-th sensor:

[0038]

[0039] in, is the rotation coefficient matrix; i=2,3,4; is the translation coefficient vector; is the first scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the second scaling factor of the i-th sensor in the y-axis direction of the reference coordinate system; is the third scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the fourth scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the fifth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the sixth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the seventh scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the eighth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the ninth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the x-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the y-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the z-axis direction of the reference coordinate system;

[0040] The second construction unit is used to construct the coordinate expression of the remaining point cloud in the reference coordinate system:

[0041]

[0042] Among them, E i ′ is the coordinate of the point cloud scanned by the i-th sensor in the reference coordinate system; The coordinate value of the point cloud scanned by the i-th sensor in the n-th direction.

[0043] Optionally, the straight line fitting module includes:

[0044] The third building block is used to construct the expression of the target line:

[0045] L(t)=P1+t(P2-P1);

[0046] Wherein, L(t) represents the ideal straight line for fitting the long steel; P1 is the position vector of the endpoints of the two sets of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two sets of point cloud segments far from the origin; t is the slope of the straight line for fitting the long steel.

[0047] Optionally, the first straightness determination module includes:

[0048] The calculation unit is used to calculate the distance d between the target point and the target line on the two sets of point cloud line segments according to the following formula:

[0049]

[0050] Among them, P1 is the position vector of the endpoints of the two groups of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two groups of point cloud segments far from the origin, P is the target point on the two groups of point cloud segments; ||·|| represents the Euclidean norm of the vector.

[0051] In a third aspect, the present invention provides a computer device comprising a processor and a memory; wherein, when the processor executes a computer program stored in the memory, the steps of the method for detecting the straightness of long steel products described in the first aspect are implemented.

[0052] In a fourth aspect, the present invention provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, the steps of the method for detecting the straightness of long steel products described in the first aspect are implemented.

[0053] The present invention provides a method, system, computer equipment and storage medium for detecting the straightness of long steel products. In the method, accurate straightness data is provided by a sensor, and the method is suitable for measurement tasks requiring high precision. In the straightness detection process, the steel product does not need to be rotated, but the surface of the steel product is quickly scanned, thereby achieving real-time data acquisition and reducing measurement time. The present invention avoids errors and damages that may be caused by contact measurement, is suitable for steel products of various sizes and shapes, and can effectively measure even in irregular or hard-to-reach locations. Based on the three-dimensional point cloud coordinates generated by the sensor, the maximum straightness of outlier coordinate points and a fitted straight line is calculated, thereby reducing the interference of human measurement factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 A schematic flow chart of a method for detecting the straightness of a long steel product provided by an embodiment of the present invention;

[0056] Figure 2 A diagram showing an application scenario of the method for detecting the straightness of a long steel product provided by an embodiment of the present invention;

[0057] Figure 3 A position distribution diagram of four laser sensors provided in an embodiment of the present invention;

[0058] Figure 4 The present invention provides a structural intention of a straightness detection system for long steel products. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Example 1

[0061] like Figure 1As shown, this embodiment provides a method for detecting the straightness of a long steel product, comprising:

[0062] S1, scanning the outer surface of the long steel material along a straight line direction to obtain multiple point clouds of the long steel material; wherein one point cloud is obtained by one sensor, and multiple sensors are evenly distributed along the circumference of the long steel material.

[0063] like Figure 2 As shown, in this embodiment, four laser sensors 2 are evenly arranged on a C-frame 3 on a cross section of the long steel material 1 to be measured, and are combined into a laser sensor structure, including: four laser sensors 2 are placed on the C-frame 3 at intervals of 90 degrees around the long steel material 1 to be measured, and the C-frame 3 is connected to a shock-absorbing base 4 and driven by a high-speed silent drag chain.

[0064] Adjust the position of the laser sensor so that the laser line emitted by each laser is projected onto the surface of the long steel material, forming a laser line perpendicular to the axis of the long steel material, such as Figure 3 As shown, the laser lines emitted by the four lasers completely surround the long steel, thereby fully covering the entire outer surface of the steel, ensuring accurate detection and evaluation of its straightness.

[0065] S2, taking the coordinate system where the target point cloud is located as the reference coordinate system, converting the coordinate system where the remaining point clouds are located to the reference coordinate system, and obtaining the point cloud of the entire long steel in the reference coordinate system as the first point cloud.

[0066] In this embodiment, the four laser sensors first scan the calibration block, and use one of the laser sensors as the reference coordinate system to calculate the pose matrix of the other three laser sensors, that is, the four laser sensors simultaneously scan the pre-set calibration block, and obtain the reference information of the reference coordinate system by recording the intersection data of the laser line and the surface of the calibration block; select the reference sensor: select one laser sensor from the four laser sensors as the reference coordinate system, and set the pose of the reference sensor to the origin (0,0,0); calculate the pose matrix: use the coordinate information of the reference sensor to calculate the pose matrix of the other three laser sensors relative to the reference coordinate system. This matrix contains translation and rotation information to describe the position and direction of each sensor in three-dimensional space.

[0067] Exemplarily, the pose matrix expression of the i-th sensor is constructed:

[0068]

[0069] in, is the rotation coefficient matrix; i=2,3,4; is the translation coefficient vector; is the first scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the second scaling factor of the i-th sensor in the y-axis direction of the reference coordinate system; is the third scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the fourth scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the fifth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the sixth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the seventh scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the eighth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the ninth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the x-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the y-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the z-axis direction of the reference coordinate system.

[0070] Construct the coordinate expression of the remaining point cloud in the base coordinate system:

[0071]

[0072] Among them, E i ′ is the coordinate of the point cloud scanned by the i-th sensor in the reference coordinate system; The coordinate value of the point cloud scanned by the i-th sensor in the n-th direction.

[0073] S3, converting the reference coordinate system into a three-dimensional space coordinate system for measuring the straightness of long steel; wherein the three-dimensional space coordinate system takes the straight line direction as the positive direction of the X-axis, the horizontal line perpendicular to the X-axis as the Y-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis.

[0074] The four sets of point cloud data of the steel to be tested are processed in real time, and a three-dimensional model of the steel surface is generated through a specific algorithm, including: Point cloud preprocessing: In addition to the steel features, the three-dimensional point cloud scanned by the sensor also contains the steel support frame and some noise points. Therefore, the point cloud area screening is first used to remove the support frame part. Secondly, low-pass filtering is performed based on the outer surface features of the steel, such as length, width and height, to filter out the edge information of the point cloud, and only retain the point cloud image of the steel itself to ensure the integrity and consistency of the data. By way of example, according to the geometric characteristics of the bracket, that is, the actual volume and shape of the bracket, appropriate volume and density thresholds are set for the scanned point cloud. In this example, the volume threshold of the point cloud is set to 840mm 3, the density threshold is set to 1000-50000, that is, only the point cloud volume larger than 840mm is retained 3 , point cloud clusters with point cloud numbers between 1000 and 50000 are selected to identify and remove the point cloud of the bracket part, and only the steel point cloud data in the target area is retained.

[0075] Point cloud registration: register the point cloud data from different laser sensors. Align the other three sets of point cloud data to the same reference coordinate system through the three calibrated pose matrices. 3D model generation: connect the point cloud coordinates into non-overlapping triangular areas through the greedy projection algorithm to reconstruct the 3D model of the steel. Model correction: in order to accurately measure the position of the maximum straightness, the 3D model is tilted. According to the normal plane of the support frame, rotate the X axis to the same angle as the Z axis and the support frame.

[0076] S4, intersecting the cutting plane with the first point cloud in the three-dimensional space coordinate system in the three-dimensional space coordinate system to obtain the upper and lower groups of point cloud line segments where the cutting plane intersects the first point cloud, compressing the coordinates in the Y-axis direction to project the two groups of point cloud line segments onto the first plane; wherein the X-axis is on the slice plane, and the first plane is the plane where the X-axis and the Z-axis are located.

[0077] S5, selecting multiple points located at both ends of the two sets of point cloud line segments to fit and obtain the target straight line.

[0078] For example, the expression for constructing the target line is:

[0079] L(t)=P1+t(P2-P1).

[0080] Wherein, L(t) represents the ideal straight line for fitting the long steel; P1 is the position vector of the endpoints of the two sets of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two sets of point cloud segments far from the origin; t is the slope of the straight line for fitting the long steel.

[0081] S6, determining the distance between the target point and the target straight line on the two sets of point cloud line segments; wherein the maximum distance value is the straightness of the long steel under the current cutting plane.

[0082] Exemplarily, the distance d between the target point and the target line on the two sets of point cloud line segments is calculated according to the following formula:

[0083]

[0084] Among them, P1 is the position vector of the endpoints of the two groups of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two groups of point cloud segments far from the origin, P is the target point on the two groups of point cloud segments; ||·|| represents the Euclidean norm of the vector.

[0085] S7, with the X-axis as the axis, rotate the cutting plane once every 1 degree, and return to execute the operation of S4 until 360 degrees of straightness data are measured; among the 360 ​​degrees of straightness data, the maximum straightness value is the straightness of the long steel.

[0086] This embodiment also includes: calculating the straightness of the steel within 1.5 meters of both ends of the steel projection requires measuring at the maximum angle of the steel bending. The calculation method is as follows: take a point 2 meters away from the beginning and end of the steel projection, and take another maximum inflection point within the 2-meter range, and also fit a straight line. The maximum distance from the two ends of the steel projection to the fitting straight line calculated using the distance formula is the straightness of the steel.

[0087] The straightness detection method for long steel provided in this embodiment can also be used to detect concave and convex areas on the surface of long steel, that is, to calculate the maximum value of the outliers in each area on the surface of the long steel. When the maximum value is less than the standard value of the detection, it is considered that there are concave and convex areas on the surface of the long steel.

[0088] In summary, the straightness detection method for long steel products provided in this embodiment provides accurate straightness data through sensors and is suitable for measurement tasks with high precision requirements. During the straightness detection process, there is no need to rotate the steel product, but instead the surface of the steel product is quickly scanned, thereby achieving real-time data acquisition and reducing measurement time. The present invention avoids the errors and damage that may be caused by contact measurement, is suitable for steel products of various sizes and shapes, and can effectively measure even in irregular or hard-to-reach locations. Based on the three-dimensional point cloud coordinates generated by the sensor, the maximum straightness of the outlier coordinate points and the fitted straight line is calculated, thereby reducing the interference of human measurement factors.

[0089] Example 2

[0090] Based on the same inventive concept as Example 1, this embodiment provides a straightness detection system for long steel products. Since the principle of solving the problem by this system is similar to the aforementioned straightness detection method for long steel products, the implementation of this system can refer to the implementation of the straightness detection method for long steel products.

[0091] like Figure 4 As shown, the straightness detection system for long steel products includes:

[0092] The point cloud generation module 10 is used to scan the outer surface of the long steel along a straight line direction to obtain multiple point clouds of the long steel; wherein one point cloud is obtained by one sensor, and multiple sensors are evenly distributed along the circumference of the long steel.

[0093] The first coordinate system conversion module 20 is used to use the coordinate system of the target point cloud as the reference coordinate system, convert the coordinate system of the remaining point clouds to the reference coordinate system, and obtain the point cloud of the entire long steel in the reference coordinate system as the first point cloud.

[0094] The second coordinate system conversion module 30 is used to convert the reference coordinate system into a three-dimensional space coordinate system for measuring the straightness of long steel products; wherein the three-dimensional space coordinate system takes the straight line direction as the positive direction of the X-axis, the horizontal line perpendicular to the X-axis as the Y-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis.

[0095] The point cloud line segment generation module 40 is used to intersect the cutting plane with the first point cloud in the three-dimensional space coordinate system in the three-dimensional space coordinate system to obtain the upper and lower groups of point cloud line segments where the cutting plane intersects the first point cloud, and compress the coordinates in the Y-axis direction to project the two groups of point cloud line segments onto the first plane; wherein the X-axis is located on the slice plane, and the first plane is the plane where the X-axis and the Z-axis are located.

[0096] The straight line fitting module 50 is used to select a plurality of points located at both ends of the two groups of point cloud segments to fit a target straight line.

[0097] The first straightness determination module 60 is used to determine the distance between the target point and the target straight line on the two groups of point cloud segments; wherein the maximum distance value is the straightness of the long steel material under the current cutting plane.

[0098] The second straightness determination module 70 is used to rotate the cutting plane once every 1 degree with the X-axis as the axis, and return to execute the operation of the point cloud segment generation module until 360 degrees of straightness data are measured; among the 360 ​​degrees of straightness data, the maximum straightness value is the straightness of the long steel.

[0099] Exemplarily, the first coordinate system conversion module includes:

[0100] The first construction unit is used to construct the pose matrix expression of the i-th sensor:

[0101]

[0102] in, is the rotation coefficient matrix; i=2,3,4; is the translation coefficient vector; is the first scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the second scaling factor of the i-th sensor in the y-axis direction of the reference coordinate system; is the third scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the fourth scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the fifth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the sixth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the seventh scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the eighth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the ninth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the x-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the y-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the z-axis direction of the reference coordinate system.

[0103] The second construction unit is used to construct the coordinate expression of the remaining point cloud in the reference coordinate system:

[0104]

[0105] Among them, E i ′ is the coordinate of the point cloud scanned by the i-th sensor in the reference coordinate system; The coordinate value of the point cloud scanned by the i-th sensor in the n-th direction.

[0106] Exemplarily, the straight line fitting module includes:

[0107] The third building block is used to construct the expression of the target line:

[0108] L(t)=P1+t(P2-P1).

[0109] Wherein, L(t) represents the ideal straight line for fitting the long steel; P1 is the position vector of the endpoints of the two sets of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two sets of point cloud segments far from the origin; t is the slope of the straight line for fitting the long steel.

[0110] Exemplarily, the first straightness determination module includes:

[0111] The calculation unit is used to calculate the distance d between the target point and the target line on the two sets of point cloud line segments according to the following formula:

[0112]

[0113] Among them, P1 is the position vector of the endpoints of the two groups of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two groups of point cloud segments far from the origin, P is the target point on the two groups of point cloud segments; ||·|| represents the Euclidean norm of the vector.

[0114] For more specific working processes of the above modules, please refer to the corresponding contents disclosed in Example 1, which will not be repeated here.

[0115] Example 3

[0116] This embodiment provides a computer device, including a processor and a memory; wherein, when the processor executes the computer program stored in the memory, the steps of the method for detecting the straightness of the long steel product described in Example 1 are implemented.

[0117] For more specific details of the above method, please refer to the corresponding contents disclosed in Example 1, which will not be repeated here.

[0118] Example 4

[0119] This embodiment provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, the steps of the method for detecting the straightness of long steel products described in Example 1 are implemented.

[0120] For more specific details of the above method, please refer to the corresponding contents disclosed in Example 1, which will not be repeated here.

[0121] Example 5

[0122] This embodiment provides a computer program product, including computer executable instructions or a computer program. When the computer executable instructions or the computer program are executed by a processor, the steps of the method for detecting the straightness of long steel products described in Example 1 are implemented.

[0123] For more specific details of the above method, please refer to the corresponding contents disclosed in Example 1, which will not be repeated here.

[0124] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the systems, devices, storage media, and computer program products disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0125] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention or some parts of the embodiments.

[0126] In some embodiments, computer executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0127] As an example, computer-executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0128] As an example, computer executable instructions may be deployed to be executed on one electronic device, or on multiple electronic devices located at one site, or on multiple electronic devices distributed at multiple sites and interconnected by a communication network.

[0129] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

Claims

1. A method for detecting the straightness of a long steel product, characterized in that: include: S1, scanning the outer surface of the long steel material along a straight line direction to obtain multiple point clouds of the long steel material; wherein one point cloud is obtained by one sensor, and the multiple sensors are evenly distributed along the circumference of the long steel material; S2, taking the coordinate system of the target point cloud as the reference coordinate system, converting the coordinate system of the remaining point clouds to the reference coordinate system, and obtaining the point cloud of the entire long steel in the reference coordinate system as the first point cloud; S3, converting the reference coordinate system into a three-dimensional space coordinate system for measuring the straightness of the long steel; wherein the three-dimensional space coordinate system takes the straight line direction as the positive direction of the X-axis, the horizontal line perpendicular to the X-axis as the Y-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis; S4, intersecting the tangent plane with the first point cloud in the three-dimensional space coordinate system in the three-dimensional space coordinate system to obtain two sets of point cloud line segments intersecting the tangent plane and the first point cloud, and compressing the coordinates in the Y-axis direction to project the two sets of point cloud line segments onto the first plane; wherein the X-axis is on the slicing plane, and the first plane is the plane where the X-axis and the Z-axis are located; S5, selecting multiple points located at both ends of the two sets of point cloud line segments to fit and obtain a target straight line; S6, determining the distance between the target point and the target straight line on the two groups of point cloud line segments; wherein the maximum distance value is the straightness of the long steel under the current cutting plane; S7, with the X-axis as the axis, rotate the cutting plane once every 1 degree, and return to execute the operation of S4 until 360 degrees of straightness data are measured; among the 360 ​​degrees of straightness data, the maximum straightness value is the straightness of the long steel.

2. The method for detecting the straightness of a long steel product according to claim 1, characterized in that: The method uses the coordinate system where the target point cloud is located as the reference coordinate system, transforms the coordinate system where the remaining point clouds are located to the reference coordinate system, and obtains the point cloud of the entire long steel material in the reference coordinate system as the first point cloud, including: Construct the pose matrix expression of the i-th sensor: in, is the rotation coefficient matrix; i=2,3,4; is the translation coefficient vector; is the first scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the second scaling factor of the i-th sensor in the y-axis direction of the reference coordinate system; is the third scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the fourth scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the fifth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the sixth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the seventh scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the eighth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the ninth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the x-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the y-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the z-axis direction of the reference coordinate system; Construct the coordinate expression of the remaining point cloud in the base coordinate system: Among them, E i ′ is the coordinate of the point cloud scanned by the i-th sensor in the reference coordinate system; The coordinate value of the point cloud scanned by the i-th sensor in the n-th direction.

3. The method for detecting the straightness of a long steel product according to claim 1, characterized in that: The selecting of multiple points located at both ends of the two sets of point cloud line segments to fit the target straight line includes: Construct the expression for the target line: L(t)=P1+t(P2-P1); Wherein, L(t) represents the ideal straight line for fitting the long steel; P1 is the position vector of the endpoints of the two sets of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two sets of point cloud segments far from the origin; t is the slope of the straight line for fitting the long steel.

4. The method for detecting the straightness of a long steel product according to claim 1, characterized in that: The method of determining the distance between the target point and the target straight line on the two sets of point cloud line segments, wherein the maximum distance value is the straightness of the long steel material under the current cutting plane, includes: The distance d between the target point and the target line on the two sets of point cloud segments is calculated according to the following formula: Among them, P1 is the position vector of the endpoints of the two groups of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two groups of point cloud segments far from the origin, P is the target point on the two groups of point cloud segments; ||·|| represents the Euclidean norm of the vector.

5. A straightness detection system for long steel products, characterized in that: include: A point cloud generation module is used to scan the outer surface of the long steel material along a straight line direction to obtain multiple point clouds of the long steel material; wherein one point cloud is obtained by one sensor, and multiple sensors are evenly distributed along the circumference of the long steel material; A first coordinate system conversion module is used to convert the coordinate system of the remaining point clouds to the reference coordinate system using the coordinate system of the target point cloud as the reference coordinate system, so as to obtain the point cloud of the entire long steel material in the reference coordinate system as the first point cloud; The second coordinate system conversion module is used to convert the reference coordinate system into a three-dimensional space coordinate system for measuring the straightness of long steel; wherein the three-dimensional space coordinate system takes the straight line direction as the positive direction of the X-axis, the horizontal line perpendicular to the X-axis as the Y-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis; A point cloud line segment generation module is used to intersect the cutting plane with the first point cloud in the three-dimensional space coordinate system in the three-dimensional space coordinate system to obtain two groups of point cloud line segments at the intersection of the cutting plane and the first point cloud, and compress the coordinates in the Y-axis direction to project the two groups of point cloud line segments onto the first plane; wherein the X-axis is located on the slicing plane, and the first plane is the plane where the X-axis and the Z-axis are located; A straight line fitting module is used to select multiple points located at both ends of two sets of point cloud segments to fit the target straight line; The first straightness determination module is used to determine the distance between the target point and the target straight line on the two sets of point cloud segments; wherein the maximum distance value is the straightness of the long steel under the current cutting plane; The second straightness determination module is used to rotate the cutting plane once every 1 degree with the X-axis as the axis, and return to execute the operation of the point cloud segment generation module until 360 degrees of straightness data are measured; among the 360 ​​degrees of straightness data, the maximum straightness value is the straightness of the long steel.

6. The straightness detection system for long steel products according to claim 5, characterized in that: The first coordinate system conversion module comprises: The first construction unit is used to construct the pose matrix expression of the i-th sensor: in, is the rotation coefficient matrix; i=2,3,4; is the translation coefficient vector; is the first scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the second scaling factor of the i-th sensor in the y-axis direction of the reference coordinate system; is the third scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the fourth scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the fifth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the sixth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the seventh scaling factor of the ith sensor in the x-axis direction of the reference coordinate system; is the eighth scaling factor of the ith sensor in the y-axis direction of the reference coordinate system; is the ninth scaling factor of the ith sensor in the z-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the x-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the y-axis direction of the reference coordinate system; is the translation distance of the ith sensor in the z-axis direction of the reference coordinate system; The second construction unit is used to construct the coordinate expression of the remaining point cloud in the reference coordinate system: Among them, E i ′ is the coordinate of the point cloud scanned by the i-th sensor in the reference coordinate system; The coordinate value of the point cloud scanned by the i-th sensor in the n-th direction.

7. The straightness detection system for long steel products according to claim 5, characterized in that: The straight line fitting module comprises: The third building block is used to construct the expression of the target line: L(t)=P1+t(P2-P1); Wherein, L(t) represents the ideal straight line for fitting the long steel; P1 is the position vector of the endpoints of the two sets of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two sets of point cloud segments far from the origin; t is the slope of the straight line for fitting the long steel.

8. The straightness detection system for long steel products according to claim 5, characterized in that: The first straightness determination module comprises: The calculation unit is used to calculate the distance d between the target point and the target line on the two sets of point cloud line segments according to the following formula: Among them, P1 is the position vector of the endpoints of the two groups of point cloud segments close to the origin; P2 is the position vector of the endpoints of the two groups of point cloud segments far from the origin, P is the target point on the two groups of point cloud segments; ||·|| represents the Euclidean norm of the vector.

9. A computer device, characterized in that: It comprises a processor and a memory; wherein, when the processor executes the computer program stored in the memory, the steps of the method for detecting the straightness of the long steel material according to any one of claims 1 to 4 are implemented.

10. A computer-readable storage medium, characterized in that: Used to store computer programs; when the computer programs are executed by the processor, the steps of the method for detecting the straightness of long steel products as described in any one of claims 1 to 4 are implemented.

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