Online three-dimensional measurement method for high-reflection material based on binocular laser

Abstract

The invention discloses an online high-reflective material three-dimensional measurement method based on binocular line laser. The method comprises the following steps: establishing a world coordinate system and a calibration system; shooting to obtain a left laser strip image and a right laser strip image; performing gamma enhancement, gamma weakening and convolution processing on the image; threshold segmentation: extracting a light stripe center point meeting a light stripe width threshold value by a gray gravity center; fusing the point cloud data of the light stripe centers of the eight images; counting and calculating the three-dimensional structure size of the material; according to the measurement method, a single-frame laser strip image is shot through a binocular line laser three-dimensional scanning system, high-brightness, low-brightness and line-enhanced pictures are obtained through image processing, more point cloud data of a high-reflection area and a low-reflection area can be obtained, and the measurement precision is higher; light stripe center extraction is carried out in combination with threshold segmentation and width threshold constraint, the center of a highly reflective area is not extracted, light stripe center data with higher accuracy can be obtained, point cloud data of eight light stripe centers are fused, and both extraction accuracy and point cloud data integrity are considered.

Description

Technical Field

[0001] The present invention relates to the field of camera detection technology, and in particular to an online three-dimensional measurement method for highly reflective materials based on binocular line lasers. Background Art

[0002] Metal bar processing is essential in the industrial production of cutting tools. Whether the length and diameter of the processed metal bar are controlled within the error range is an important part of industrial inspection. In the existing industrial production process, manual measurement is often used, which is time-consuming, labor-intensive and costly. Contact detection technology, such as three-dimensional coordinate measuring machines, is not only expensive, but also requires manual operation and has low detection efficiency. Non-contact measurement methods, such as sinusoidal structured light three-dimensional measurement technology and line laser measurement technology, have unsatisfactory measurement effects on reflective materials. Among them, the three-dimensional measurement system based on line structured light has the characteristics of simple structure, non-contact and high precision. It solves many problems such as insufficient field of view and point cloud missing caused by foreign objects. Therefore, it is widely used in many directions such as product inspection and reverse engineering. However, there are many problems in the three-dimensional reconstruction of highly reflective objects, such as the missing point cloud data in the overexposed area and the missing data caused by the weak reflection of the directional reflective workpiece at a specific angle. Among them, the line laser detection equipment often uses the method of reducing the exposure time for the measurement of highly reflective parts, but the method of reducing the exposure time cannot be applied to the measurement scenes with both high reflection and low reflection. In the measurement of directional reflective workpieces, binocular cameras are combined with line lasers to shoot from different angles, and then the point cloud fusion can eliminate the impact of reflections to a certain extent. For example, CN202210648000.7 A binocular 3D reconstruction method and system based on line laser galvanometer scanning proposes to extract the laser center line in the laser light strip image by projecting a single line laser at multiple angles and collecting image pairs with a binocular camera, and use the features between the polar line constraint of stereo vision and the laser center line to search for corresponding matching points in the laser light strip image pair; 3D reconstruction is achieved based on the corresponding matching points in the laser light strip image pair. This reconstruction method reduces the loss of measurement information during the measurement process to a certain extent, but the operation is cumbersome, the reconstruction efficiency is low, the fusion error is large, and the accuracy is insufficient.

[0003] Therefore, how to accurately and quickly measure the length and diameter of reflective metal bars is related to the production efficiency of automated production lines. It is of great significance to study the online high-reflective material height and diameter detection technology that can be applied to production lines. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects in the prior art and provide an online three-dimensional measurement method for highly reflective materials based on binocular line laser, so as to overcome one or more problems caused by the limitations and defects of the relevant technology to a certain extent.

[0005] In order to achieve the above object, the technical solution of the present invention is as follows: A three-dimensional measurement method for online high-reflective materials based on binocular line laser, based on a measurement system with a binocular line laser three-dimensional scanning system, the three-dimensional measurement method includes the following steps: Step 1: When building a binocular line laser 3D scanning system on a measurement system for the first time, establish a world coordinate system and calibrate the binocular line laser 3D scanning system; Step 2: Position the binocular line laser 3D scanning system just above the material, and use the binocular cameras of the binocular line laser 3D scanning system to shoot simultaneously, obtaining a left laser bar image and a right laser bar image respectively; Step 3: gamma enhancement, gamma reduction and convolution processing are performed on the left laser bar image and the right laser bar image respectively to obtain three left transformed images and three right transformed images respectively; Step 4: Perform threshold segmentation on the left laser bar image, the left transformed image, the right transformed image and the right laser bar image respectively to obtain a threshold segmentation map, traverse the eight threshold segmentation maps, use the grayscale centroid method to extract the light bar center point that meets the light bar width threshold, and obtain the light bar center point data of the eight images; Step 5: Fuse the light bar center point data of the eight images and perform coordinate conversion to obtain single-frame three-dimensional data of the material in the world coordinate system; Step 6: Count and calculate the three-dimensional structural dimensions of the material.

[0006] Furthermore, the fusion in step five includes the following: binocular fusion: fusing the light strip center point data of the four left images, fusing the light strip center point data of the four right images, obtaining the left fusion point data and the right fusion point data, using the calibration data of the binocular line laser 3D scanning system combined with the epipolar constraint, matching the left fusion point data and the right fusion point data, and generating the point cloud data P1 in the world coordinates; Monocular fusion: Using the calibration data of the binocular line laser 3D scanning system, the left fusion point data is used to generate the left fusion point cloud data according to the laser triangulation method and the coordinates are converted to obtain the point cloud data P2 in the world coordinate system. Similarly, the right fusion point data is used to generate the right fusion point cloud data and the coordinates are converted to obtain the point cloud data P3 in the world coordinate system. Single-frame 3D data: obtained by directly fusing P1, P2, and P3.

[0007] Furthermore, the measuring system includes a motion device and a pallet, a plurality of material positioning holes are arranged on the pallet, a binocular line laser three-dimensional scanning system is arranged on the motion device, and the motion device drives the binocular line laser three-dimensional scanning system to translate relative to the pallet.

[0008] Furthermore, the calibration of the binocular line laser 3D scanning system includes camera calibration and light plane calibration; the calibration steps include: S1. Establish a world coordinate system. The laser light plane is perpendicular to the tray plane and parallel to the tray edge. The target is located on the tray plane. The world coordinate system is established based on the target position. The laser light plane is parallel to the x-direction of the target. S2, camera calibration, use Zhang Zhengyou calibration method to calibrate the binocular camera, determine the distortion parameters, intrinsic parameters and extrinsic parameters of the binocular camera, and correct the camera distortion; S3. Turn on the line laser of the binocular line laser 3D scanning system, use the binocular camera to shoot the target, use the world coordinate system of the target and the calibration result in step S2, combine the polar line constraint to generate the 3D data of the target, transform the target posture, obtain multiple sets of 3D data, and fit the plane equation through the multiple sets of 3D data, which is the light plane equation in the world coordinate system.

[0009] Furthermore, after the pallet is replaced, step one also includes pallet calibration, which establishes a conversion relationship between the three-dimensional information data of the light bar in the world coordinate system and the pallet coordinates.

[0010] Furthermore, γ1 in the gamma enhancement process is set to 0.7, and γ2 in the gamma reduction process is set to 1.53.

[0011] Furthermore, the measurement system also includes a barcode scanning camera, and a QR code is provided on the pallet for marking the information of each positioning hole on the pallet and the measurement system also includes a barcode scanning camera, and a QR code is provided on the pallet for marking the distribution information and material information of each material positioning hole on the pallet. Step six also includes converting the single-frame three-dimensional data into structural three-dimensional data in the pallet coordinate system, segmenting the structural three-dimensional data according to the distribution information of the material positioning holes, and counting and calculating the three-dimensional structural size of the material.

[0012] Furthermore, a verification step is included, which includes the following contents: judging whether the material placement sequence is correct based on the distribution information of the material positioning holes and the material information; judging whether the measurement results after material processing meet the structural size requirements based on the material information.

[0013] Compared with the prior art, the online three-dimensional measurement method of highly reflective materials based on binocular line laser of the present invention has the following beneficial effects: 1. Use a binocular line laser 3D scanning system to shoot a single-frame laser bar image, perform gamma enhancement, gamma attenuation and convolution image enhancement transformation to obtain high-brightness, low-brightness and line-enhanced images, which helps to obtain more point cloud data in high-reflection areas and low-reflection areas. The reconstruction effect of the three-dimensional structure of the material in high-reflection and low-reflection scenes is better, the point cloud data in the high-reflection area is less missing, and the measurement accuracy is higher. Compared with the three-coordinate measurement method, the measurement accuracy of this measurement method meets the requirements of dimensional measurement accuracy; 2. The center extraction algorithm combines threshold segmentation and width threshold constraint. It does not perform center extraction on highly reflective areas, which is conducive to obtaining more accurate light strip center data. It integrates the point cloud data of the light strip center of 8 images, taking into account both extraction accuracy and point cloud data integrity. 3. Use the light plane and the left and right cameras to form two monocular line laser systems to generate two monocular point cloud data, and the left and right cameras to form a binocular line laser system to generate a binocular point cloud data. After the point cloud is fused, the single-frame high-dynamic three-dimensional data of the material is obtained, which improves the data fusion accuracy and is conducive to statistical calculation to obtain high-precision dimensional data. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a measurement flow chart of the online three-dimensional measurement method of high-reflective materials disclosed in the present invention; Figure 2 It is a structural schematic diagram of the measurement system disclosed in the present invention; Figure 3 Calibrate the diagram for the pallet; Figure 4 is the laser light plane calibration map; Figure 5 are the left and right laser bar images; Figure 6 This is the gamma enhancement effect diagram of the left and right laser bar images; Figure 7 This is the gamma attenuation effect diagram of the left and right laser bar images; Figure 8 This is the effect diagram of the convolution transformation of the left and right laser strip images; Fig. 9 This is the distribution map of point cloud data extracted from the center of the right image under the traditional algorithm; Fig.10 It is a fusion distribution diagram of the central extracted point cloud data of the right image under the image processing and extraction algorithm disclosed in the present invention; Fig.11 Generate process diagrams for point cloud data; Fig.12 A physical diagram of a measurement performed using the measurement system of the present invention; Fig.13 The figure is a comparison chart of the measurement results of the measurement method of the present invention and the three-coordinate measurement method.

[0015] In the figure: 1. Frame; 2. Binocular line laser 3D scanning system; 3. Motion device; 4. Pallet; 5. Barcode scanning camera; 6. Material. DETAILED DESCRIPTION

[0016] 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 the best embodiments of the present invention, not all 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.

[0017] like Figure 1-Figure 9 As shown, this embodiment provides an online high-reflective material three-dimensional measurement method based on binocular line laser, which is based on a measurement system with a binocular line laser three-dimensional scanning system 2, the binocular line laser three-dimensional scanning system 2 includes a binocular camera and a line laser located in the middle of the binocular camera, and the binocular camera is equipped with a narrow-band filter adapted to the line laser light wave; Figure 2 As shown, in order to facilitate the online detection of multiple materials 6 at a time, the measurement system is also configured with a tray 4 and a motion device 3. The binocular line laser three-dimensional scanning system 2 is arranged on the motion device 3, which can be linearly translated relative to the tray 4 at the bottom. According to the outer diameter of the metal bar material, the tray 4 is provided with a plurality of material positioning holes adapted to the outer diameter of the metal bar, and one material positioning hole matches a specification of metal bar material 6. A two-dimensional code is provided on the tray 4, and a scanning camera 5 is fixedly provided at a position corresponding to the two-dimensional code of the tray on the rack 1. The distribution information of the material positioning holes on the tray 4 and the corresponding material information in the material positioning holes are entered into the two-dimensional code. The measurement system scans the two-dimensional code through the scanning camera 5 to identify the tray 4 and the metal bar material 6 in each material positioning hole on the tray 4, so as to quickly perform point cloud data segmentation processing, automatic material data matching and measurement result verification; This embodiment is the best embodiment for simultaneously and efficiently measuring multiple metal rod materials 6 online. Based on the above hardware settings, its measurement method includes the following steps: Figure 1 As shown: Step 1: When setting up the measurement system for the first time, perform camera calibration and laser plane calibration on the binocular line laser 3D scanning system 2. The calibration steps are as follows: S1. Establish a world coordinate system; fix and install the tray 4, and place a target on the tray 4. The binocular line laser 3D scanning system 2 is located directly above the tray 4. Turn on the line laser, calibrate the verticality between the laser light plane and the plane of the tray 4 and the parallelism between the laser light plane and the edge of the tray 4. After completing the laser light plane calibration, adjust the target so that the laser light plane is parallel to the x-direction of the target. Establish a world coordinate system with the target position. The laser light strip is parallel to the x-direction of the world coordinate system. The translation direction of the motion device 3 is along the y-direction, and the height direction is the z-direction. S2, camera calibration: Based on the world coordinate system, the camera is calibrated using the Zhang Zhengyou calibration method to determine the distortion parameters, intrinsic parameters and extrinsic parameters of the binocular cameras (i.e., the left camera and the right camera), and the camera distortion of the binocular cameras is corrected respectively. The camera calibration results are reprojected, and the error is less than 0.02 pixels. The three-dimensional calculation error of the target center point is generated using binocular matching. The average error is less than 0.03mm, and the distortion correction is completed; S3, laser light plane calibration; Figure 4 As shown, turn on the line laser, shoot the target with the binocular camera, use the target's world coordinate system and the camera calibration result in step S2, combine the epipolar constraint to generate the target's three-dimensional data, transform the target's posture, and obtain multiple sets of three-dimensional data. Since these three-dimensional data are all on the laser light plane, the light plane equation is fitted using the SVD least squares plane of all three-dimensional data to obtain the light plane equation in the world coordinate system, as shown in equations (1) and (2): Ax+By+Cz+D=0 (1) A 2 +B 2 +C 2 =1 (2) Among them, A, B, C, and D are the plane parameters of the circular structured light, [A, B, C] T is the one-way vector of the light plane normal; In addition, when the pallet 4 is first built or replaced, the pallet 4 needs to be calibrated, such as Figure 3 As shown, the binocular camera captures the laser bar image on the tray 4, obtains the 3D data information of the laser bar image, measures the distance from the laser bar to the edge of the tray 4 and the 3D data information of the edge of the tray 4 in the world coordinate system, converts the laser bar image to the tray 4 coordinate system, and obtains the translation amount of the laser light bar in the x direction , the translation in the height direction , when the motion device 3 is in the initial position, the translation amount of the laser light bar relative to the origin of the pallet coordinate system is , complete the calibration between the pallet coordinate system and the light strip plane; Step 2: image capture by binocular camera; the driving distance of the motion device 3 is determined according to the distribution information of the material positioning holes on the pallet 4. Based on the calibration relationship between the laser light bar and the pallet coordinate system, the binocular line laser 3D scanning system 2 is positioned just above the center of the material positioning hole, and the line laser is triggered to scan and capture the scene, and the left laser bar image and the right laser bar image are obtained respectively, as shown in FIG. Figure 5 As shown; Step 3: Image change processing: The relationship between the gamma-corrected input image and the output image is shown in formula (3): V out =(V in ) γ (3) Among them, V out is the output brightness value, V in is the input brightness value, γ is the gamma value, which is used to control the brightness of nonlinear changes; The left laser bar image and the right laser bar image in step 2 are respectively subjected to gamma transformation with γ < 1 and γ > 1 using equation (3). Preferably, the gamma enhancement process 1 to 0.7, gamma reduction processing 2 minus 1.53, obtained after gamma processing Figure 6 and Figure 7 Output image shown; The convolution image enhancement transformation makes the center of the light stripe more prominent. The left laser stripe image and the right laser stripe image in step 2 are convolved using equation (4), where n is an integer greater than 3. After the convolution transformation, Figure 8 Output image shown; (4) The six transformed images obtained in step 3 are combined with the left laser bar image and the right laser bar image in step 2, a total of 8 images, set as ; Step 4: performing threshold segmentation on the left laser bar image, three left transformed images, three right transformed images and the right laser bar image respectively obtained in step 2 and step 3 to obtain 8 threshold segmentation images; Traverse the pixels of the 8 threshold segmentation images, let T be the pixel segmentation threshold, if <T, then let , delete the pixel in the grayscale image. If ≥T, then keep The value of remains unchanged, and the threshold segmentation is completed; Extract the center of the light stripe; according to the radiation parameters of the line laser, set the width threshold G of the laser light stripe on the image, count the distribution range of the pixels that are not 0 on it, and set the maximum light stripe edge coordinates of each row to , the minimum light strip edge coordinate is , if | - |>G, it is judged as a high-reflective area, the center point extraction is inaccurate, and the center point of the light strip is not extracted in this row. All threshold segmentation maps are traversed, and for the light strip rows that meet the light strip width threshold, the grayscale centroid is used to extract the center point of this row. Thus, the point cloud data of the light strip center of 8 images are obtained; like Fig. 9 and Fig.10As shown, by comparing the center point data extracted by the traditional direct grayscale centroid method with the center point data extracted by the image change processing in step three and the extraction algorithm in step four, it can be seen that the present embodiment can obtain more center point data; Step 5: Image fusion, fusing the light strip center point data of the eight images obtained in step 4 to obtain a single frame of three-dimensional data of the material 6 in the world coordinate system; In order to improve the fusion accuracy, the fusion implementation method of this embodiment is to use a monocular system fusion and a binocular system fusion, and then directly fuse them, such as Fig.11 As shown; Binocular system fusion: directly fuse the light strip center point data of the four left light strip images, and directly fuse the light strip center point data of the four right light strip images to obtain the left fusion point data and the right fusion point data. Then, according to the intrinsic and extrinsic calibration results of the binocular camera combined with the epipolar constraints, match the left fusion data and the right fusion data to generate the point cloud data P1 in the three-dimensional world coordinates. Monocular system fusion: directly fuse the light strip center point data of the four left light strip images, and directly fuse the light strip center point data of the four right light strip images to obtain left fusion point data and right fusion point data. Use the laser light plane equation and laser triangulation to generate three-dimensional left fusion point cloud data from the left fusion point data, and perform coordinate transformation on the left fusion point cloud data to generate point cloud data P2 in the world coordinate system. Similarly, use the laser light plane equation and laser triangulation to generate right fusion point cloud data from the right fusion point data, and transform it into point cloud data P3 in the world coordinate system. Since the three point cloud data are all in the same world coordinate system, P1, P2 and P3 can be directly fused to obtain a single frame of three-dimensional data of the highly reflective material 6; Step 6: Count and calculate the three-dimensional structural dimensions of the material 6; use the identification information of the pallet 4 to process the single-frame three-dimensional data. First, according to the constructed pallet coordinate system conversion relationship, the single-frame three-dimensional data is converted into structural three-dimensional data under the pallet coordinate system. The aperture center and the interval between the holes of the material positioning holes on the pallet 4 are used to segment the data, and the light strip center point cloud data of the metal rod material 6 in different material positioning holes are obtained. The length of the point cloud data on the surface of the material 6 is counted, that is, the diameter of the metal rod. The average interval between the point cloud data on the surface of the material 6 and the point cloud data on the surface of the pallet 4 is counted, and the average height of the material 6 is obtained after conversion. Step 7: Data verification; Based on the QR code scanning, identify the placement order, height, diameter and other information of the material 6 on the tray 4, verify online whether the placement order of the material 6 is correct, and judge online whether the measurement data of the processed material 6 meets the structural size requirements, generate a report, and upload it to the system. At this point, the automatic online measurement of the height and diameter of the highly reflective material 6 is completed.

[0018] The binocular line laser three-dimensional scanning system 2 is driven by the motion device 3 to scan the high-reflective surface material 6, as shown in the actual picture. Fig.12 As shown, the upper end surface of the material 6 is a highly reflective metal surface, and the reflection intensity is different at different angles. The measured scene contains a low-reflection area in the high-reflection area, such as Fig.12 The red and blue framed parts in the figure; the highly reflective surface material 6 is measured by the measuring method of the present invention, and the measurement result data is compared with the measurement results of the three coordinates, and the comparison results are as follows Fig.13 As shown, the result data deviation of the two measurement methods is about ±0.05mm, and the length requirement of material 6 is 105mm±0.5mm, so the measurement accuracy of this measurement method meets the requirements, and it can realize the measurement and three-dimensional scanning of highly reflective materials.

[0019] The directional words such as "upper", "lower", "side", and "end" mentioned in this article are based on Figure 2 The orientation or position relationship shown in . These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation; In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the terms "on" and "inside" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0020] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An online three-dimensional measurement method for highly reflective materials based on binocular line laser, characterized in that: Based on a measurement system with a binocular line laser 3D scanning system, the 3D measurement method comprises the following steps: Step 1: When the binocular line laser 3D scanning system is built on the measurement system for the first time, a world coordinate system is established to calibrate the binocular line laser 3D scanning system; Step 2: Position the binocular line laser 3D scanning system just above the material, and use binocular cameras of the binocular line laser 3D scanning system to shoot simultaneously to obtain a left laser bar image and a right laser bar image; Step 3: gamma enhancement, gamma reduction and convolution processing are performed on the left laser bar image and the right laser bar image respectively to obtain three left transformed images and three right transformed images respectively; Step 4: Perform threshold segmentation on the left laser bar image, the left transformed image, the right transformed image and the right laser bar image respectively to obtain a threshold segmentation map, traverse the eight threshold segmentation maps, use the grayscale centroid method to extract the light bar center point that meets the light bar width threshold, and obtain the light bar center point data of the eight images; Step 5: Fuse the light strip center point data of the eight images to obtain a single frame of three-dimensional data of the material in the world coordinate system; Step 6: Count and calculate the three-dimensional structural dimensions of the material.

2. The method for online three-dimensional measurement of highly reflective materials based on binocular line laser according to claim 1 is characterized in that: The integration in step 5 includes the following: Binocular fusion: fuse the light strip center point data of the four left images, fuse the light strip center point data of the four right images, obtain the left fusion point data and the right fusion point data, use the calibration data of the binocular line laser 3D scanning system combined with the epipolar constraint, match the left fusion point data and the right fusion point data, and generate the point cloud data P1 in the world coordinate; Monocular fusion: using the calibration data of the binocular line laser 3D scanning system, using the left fusion point data to generate left fusion point cloud data according to the laser triangulation method and performing coordinate transformation to obtain point cloud data P2 in the world coordinate system; similarly, using the right fusion point data to generate right fusion point cloud data and performing coordinate transformation to obtain point cloud data P3 in the world coordinate system; Single-frame 3D data: obtained by directly fusing P1, P2, and P3.

3. The method for online three-dimensional measurement of highly reflective materials based on binocular line laser according to claim 2 is characterized in that: The measuring system includes a motion device and a tray, the tray is provided with a plurality of material positioning holes, the binocular line laser three-dimensional scanning system is arranged on the motion device, and the motion device drives the binocular line laser three-dimensional scanning system to translate relative to the tray.

4. The method for online three-dimensional measurement of highly reflective materials based on binocular line laser according to claim 3 is characterized in that: The calibration of the binocular line laser 3D scanning system includes camera calibration and laser light plane calibration; the calibration steps include: S1. Establishing a world coordinate system, the laser light plane is perpendicular to the tray plane and parallel to the tray edge, the target is located on the tray plane, and the world coordinate system is established with the target position, and the laser light plane is parallel to the x direction of the target; S2, camera calibration, calibrating the binocular camera using Zhang Zhengyou calibration method, determining distortion parameters, intrinsic parameters and extrinsic parameters of the binocular camera, and correcting camera distortion; S3, turn on the line laser of the binocular line laser 3D scanning system, use the binocular camera to shoot the target, use the world coordinate system of the target and the calibration result in step S2, combine the polar line constraint to generate the 3D data of the target, transform the target posture, obtain multiple groups of 3D data, and fit the light plane equation through the multiple groups of 3D data, which is the laser light plane equation in the world coordinate system.

5. The method for online three-dimensional measurement of highly reflective materials based on binocular line laser according to claim 4 is characterized in that: After the pallet is replaced, step one also includes pallet calibration to establish a conversion relationship between the three-dimensional information data of the laser light strip in the world coordinate system and the pallet coordinates.

6. The method for online three-dimensional measurement of highly reflective materials based on binocular line laser according to claim 5, characterized in that: The value of γ1 in the gamma enhancement process is 0.7, and the value of γ2 in the gamma reduction process is 1.

53.

7. The method for online three-dimensional measurement of highly reflective materials based on binocular line laser according to claim 6, characterized in that: The measurement system also includes a barcode scanning camera. The pallet is provided with a two-dimensional code for marking the distribution information and material information of each material positioning hole on the pallet. Step six also includes converting the single-frame three-dimensional data into structural three-dimensional data in the pallet coordinate system, segmenting the structural three-dimensional data according to the distribution information of the material positioning holes, and counting and calculating the three-dimensional structural dimensions of the material.

8. The method for online three-dimensional measurement of highly reflective materials based on binocular line laser according to claim 7, characterized in that: It also includes a verification step, which includes the following contents: judging whether the material placement order is correct according to the distribution information of the material positioning holes and the material information; judging whether the material measurement results meet the structural size requirements according to the material information.

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