Detection system for angle steel punching

Abstract

The invention relates to the technical field of machine measurement, in particular to an angle steel punching detection system which comprises a conveying mechanism suitable for bearing angle steel and conveying the angle steel; the imaging mechanism is arranged on a conveying path of the angle steel; the imaging mechanism is provided with a camera assembly, a first light source and a second light source; the first light source and the second light source are arranged on the two sides of an angle steel limb where a punched hole of the angle steel is located, and the camera assembly is located on the same side of the first light source or the second light source. According to the embodiment of the invention, the continuously shot images are obtained, the spatial size and the coordinate position of the target point are obtained from different image frames, the parameter information of the punched hole can be obtained after corresponding calculation, and whether the punched hole is qualified or not can be judged by comparing the deviation between the measured parameter information and the parameter information designed in a drawing. Interference of personal errors in the traditional manual detection process is effectively reduced, and the measurement and detection efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of machine measurement, and in particular to a detection system for angle steel punching. Background Art

[0002] In the hole processing and production process of angle steel tower components, most of the holes in the angle steel are processed by punching technology. The punching quality includes hole position, hole diameter, difference between large and small hole diameters, and hole verticality. The position accuracy and size accuracy of the punching directly affect the assembly quality of the tower.

[0003] At present, vernier calipers are still used to measure punching-related dimensions, so that the entire process is completed manually, which is time-consuming and labor-intensive. In addition, the measurement results are easily affected by the inspectors themselves, and the repeatability of the measurement results is poor.

[0004] Therefore, the existing manual measurement methods can no longer meet the requirements of modern industrial large-scale production for measurement efficiency. Summary of the invention

[0005] In view of this, the present invention provides a detection system for angle steel punching to solve the problem of manually measuring the relevant dimensions of the punching.

[0006] In a first aspect, the present invention provides a detection system for angle steel punching, the detection system comprising:

[0007] A conveying mechanism, suitable for carrying and conveying the angle steel;

[0008] An imaging mechanism is arranged on the conveying path of the angle steel; the imaging mechanism is provided with a camera assembly, a first light source and a second light source; the first light source and the second light source are respectively arranged on both sides of the angle steel limb where the punching hole of the angle steel is located, and the camera assembly is located on the same side of the first light source or the second light source; and the first light source and the second light source are monochromatic light sources of different colors;

[0009] When the angle steel passes through the detection area, the first light source and the second light source illuminate the punching hole at the same time, and the camera assembly continuously shoots the angle steel limb where the punching hole is located at a preset frequency to obtain an image frame;

[0010] According to the starting frame of the image frame and the imaging parameters of the camera assembly, the spatial distance between the edge of the angle steel along the surface direction of the angle steel limb and the imaging optical axis is obtained;

[0011] Calculating parameters of the measurement frames in the image frames to obtain the spatial coordinates of the centers of the leading edge contour and the trailing edge contour;

[0012] Based on the spatial distance, the spatial coordinates of the circle center, and the distance of translation of the angle steel from the starting frame to the measuring frame, an axial spatial coordinate is obtained;

[0013] The axial spatial coordinates are compared with the preset spatial coordinates of the punching to determine whether they are qualified.

[0014] Beneficial effects: The embodiment of the present invention obtains the spatial size and coordinate position of the target point from different image frames by acquiring continuously shot images, and can obtain the parameter information of the punching after corresponding calculations. It can judge whether the punching is qualified by comparing the deviation between the measured parameter information and the parameter information designed in the drawing. This realizes the automatic measurement of the punching size, thereby effectively reducing the interference of human errors in the traditional manual detection process, and at the same time, greatly improves the measurement and detection efficiency.

[0015] In an optional implementation, the camera assembly includes:

[0016] Area array camera, which is a color area array global exposure camera;

[0017] A telecentric lens, mounted on the area array camera;

[0018] The imaging optical axis is a straight line formed by light passing through the center of the telecentric lens and perpendicular to the photosensitive element of the area array camera.

[0019] In an optional implementation, the imaging optical axis is perpendicular to the surface where the angle steel limb is located, the imaging optical axis is aligned with the angle steel directrix, and the distance between the telecentric lens and the surface where the angle steel limb is located is the object distance.

[0020] In an optional implementation, before shooting, the area array camera and the telecentric lens are calibrated so that the imaging optical axis is aligned with the image center of the area array camera.

[0021] In an optional implementation, the imaging parameters of the camera assembly include:

[0022] The leading edge imaging parameters are imaging parameters of the area array camera on the leading edge surface of the angle steel when the telecentric lens is at a preset object distance;

[0023] The rear edge imaging parameters are imaging parameters of the area array camera on the rear edge surface of the angle steel when the telecentric lens is at a preset object distance;

[0024] The leading edge imaging parameters and the trailing edge imaging parameters are perspective projection matrices on the leading edge surface and the trailing edge surface, respectively.

[0025] In an optional implementation, obtaining the spatial distance between the edge of the angle steel along the angle steel limb surface direction and the imaging optical axis according to the starting frame of the image frame and the imaging parameters of the camera assembly includes:

[0026] The starting frame is a frame of image in which the end edge of the angle steel is closest to the imaging optical axis;

[0027] The spatial distance is calculated according to the leading edge imaging parameters and the pixel distance between the end edge of the angle steel in the image and the center of the image.

[0028] In an optional implementation, the spatial distance is calculated as follows:

[0029] Xs=tr(Us, H); xs=tr(Us, h);

[0030] Among them, Xs is the leading edge spatial distance, Us is the pixel distance, and H is the leading edge imaging parameter; xs is the trailing edge spatial distance, and h is the trailing edge imaging parameter.

[0031] In an optional implementation, the performing parameter calculation on the measurement frame in the image frame to obtain the spatial coordinates of the center of the leading edge contour and the trailing edge contour includes:

[0032] Extracting a first image of the hole front edge contour from the measurement frame using a color threshold segmentation method;

[0033] The image diameter U of the first image is calculated by using the pixel area calculation method. D ;

[0034] The pixel centroid calculation method is used to calculate the image coordinates (U O , V O );

[0035] Calculate the spatial coordinates of the center of the circle in the first image:

[0036] (X O , Y O )=tr(U O , V O , H).

[0037] In an optional implementation, the performing parameter calculation on the measurement frame in the image frame to obtain the spatial coordinates of the center of the leading edge contour and the trailing edge contour includes:

[0038] extracting a second image of the hole trailing edge contour from the measurement frame using a color threshold segmentation method;

[0039] The image diameter U of the second image is calculated by using the pixel area calculation method.d ;

[0040] The pixel centroid calculation method is used to calculate the image coordinates (u o , v o );

[0041] Calculate the spatial coordinates of the center of the circle in the contour image:

[0042] (x o ,y o )=tr(u o , v o , h).

[0043] In an optional implementation, the obtaining of the axial spatial coordinates based on the spatial distance, the spatial coordinates of the center of the circle, and the distance of translation of the angle steel from the starting frame to the measuring frame includes:

[0044] The rear edge of the hole is used as the aperture measurement reference, and the axial spatial coordinate x o ' is calculated as follows:

[0045] x o '=xs+x o +Δx;

[0046] Wherein, Δx is the distance that the angle steel is translated from the starting frame to the measuring frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a schematic diagram of the axial test of the detection system in an embodiment of the present invention;

[0049] Figure 2 It is a schematic diagram of the lateral test of the detection system in an embodiment of the present invention;

[0050] Figure 3 Schematic diagram of the reflection imaging of the hole front edge profile in an embodiment of the present invention;

[0051] Figure 4 Schematic diagram of transmission imaging of the hole trailing edge profile in an embodiment of the present invention;

[0052] Figure 5 Schematic diagram of the hole image measurement process in an embodiment of the present invention.

[0053] Description of reference numerals:

[0054] 1. Imaging mechanism; 11. Area array camera; 12. Telecentric lens; 13. First light source; 14. Second light source;

[0055] 2. Rollers; 3. Angle steel. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0057] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0058] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0060] Combine the following Figures 1 to 5 , describing an embodiment of the present invention.

[0061] According to an embodiment of the present invention, on the one hand, a detection system for punching holes in angle steel 3 is provided, and the detection system includes a conveying mechanism and an imaging mechanism 1 .

[0062] Specifically, the conveying mechanism is suitable for carrying the angle steel 3 and conveying the angle steel 3. Usually, the angle steel 3 is conveyed with the bent side facing downward and the two angle steel limbs of the angle steel 3 are lifted by the conveying mechanism, that is, the angle steel 3 is V-shaped with the concave surface facing upward during the conveying process. Since the punching holes on the angle steel 3 need to be imaged and detected, it is necessary to avoid the conveying mechanism blocking the punching holes at the imaging position.

[0063] When the conveying mechanism adopts the conveyor belt method, the conveyor belt can also adopt a V-shaped structure that matches the angle steel 3, and the conveyor belt needs to avoid the punching position. When the conveying mechanism adopts the roller 2 method, the conveying plane formed by the rollers 2 on both sides is V-shaped, such as Figure 1 As shown, the angle steel 3 can also be transported. It should be noted that along the transport direction, the space between two adjacent rollers 2 can be expanded to ensure that the imaging mechanism 1 can be set in the space, so that the angle steel 3 can be imaged and detected. In this embodiment, the roller 2 is used as an example.

[0064] Of course, those skilled in the art can change the type of conveying mechanism according to actual conditions. This embodiment is only an example, but not a limitation. Those skilled in the art can make changes according to actual conditions as long as the same technical effect can be achieved.

[0065] Further, the imaging mechanism 1 is arranged on the conveying path of the angle steel 3, and the imaging mechanism 1 is provided with a camera assembly, a first light source 13 and a second light source 14. The first light source 13 and the second light source 14 are respectively arranged on both sides of the angle steel limb where the punching hole of the angle steel 3 is located, and the camera assembly is located on the same side of the first light source 13 or the second light source 14. That is to say, the first light source 13 can be arranged on the front edge side of the angle steel limb where the punching hole is located, and the second light source 14 can be arranged on the rear edge side of the angle steel limb where the punching hole is located; the first light source 13 can also be arranged on the rear edge side of the angle steel limb where the punching hole is located, and the second light source 14 can be arranged on the front edge side of the angle steel limb where the punching hole is located. The so-called front edge side and rear edge side are the positions where the camera assembly is arranged. If the camera assembly is on the same side as the first light source 13, then the first light source 13 is on the front edge side, and the second light source 14 is on the rear edge side; if the camera assembly is on the same side as the second light source 14, then the second light source 14 is on the front edge side, and the first light source 13 is on the rear edge side. And the first light source 13 and the second light source 14 use monochromatic light sources of different colors. Generally, it is a monochromatic light source of red, green and blue, and the commonly used central wavelengths are 625nm, 520nm and 480nm. The method for extracting the leading edge contour image and the trailing edge contour image adopts the color threshold segmentation method. In this embodiment, the first light source 13 is the leading edge side and the second light source 14 is the trailing edge side for example.

[0066] In the actual test process, the rollers 2 support the angle steel 3 so that the angle steel 3 can be transported along the axial direction of the angle steel 3 on the row of rollers 2 at a specified speed v. The imaging mechanism 1 is installed between two adjacent rollers 2, and the angle steel 3 is placed between the first light source 13 and the second light source 14. The punching holes of the angle steel 3 are generally tapered holes, with the rear edge of the hole as the aperture measurement reference. The hole size requirement parameters include hole position, hole diameter, large and small aperture difference, and hole verticality.

[0067] Furthermore, in this embodiment, when the angle steel 3 passes through the detection area, the first light source 13 and the second light source 14 illuminate the punched hole at the same time. Moreover, when the first light source 13 illuminates the punched hole on the angle steel limb, the reflection of the irradiated light by its front surface enables the outline of the front edge of the hole to be clearly imaged. When the second light source 14 passes through the angle processing hole, the shielding of the transmitted light by its back surface enables the outline of the rear edge of the hole to be clearly imaged.

[0068] The specific detection methods are as follows:

[0069] S1. Further, the camera assembly continuously shoots the angle steel limb where the punch hole is located at a preset frequency to obtain image frames. When the camera assembly continuously shoots the angle steel limb image at a frequency f, the translation distance of the angle steel 3 in adjacent image frames is Δx=v / f.

[0070] S2. Further, in this embodiment, according to the starting frame of the image frame and the imaging parameters of the camera assembly, the spatial distance between the edge of the angle steel 3 along the surface direction of the angle steel limb and the imaging optical axis is obtained. In this embodiment, the starting frame can be an image of any frame. Of course, the technician can also select a specific image to facilitate subsequent calculations and comparisons. Further, the imaging parameters include a perspective projection matrix, which is predetermined by the Zhang Zhengyou calibration method or other calibration methods and is used for the conversion of 3D space coordinates and 2D image coordinates. It ensures that the features extracted from the image can be accurately mapped back to the real spatial position.

[0071] S3. Further, in this embodiment, parameter calculation is performed on the measurement frame in the image frame to obtain the spatial coordinates of the center of the leading edge contour and the trailing edge contour. Since the leading edge contour and the trailing edge contour correspond to different spatial coordinates, the spatial coordinates of the center of the leading edge contour and the trailing edge contour need to be calculated respectively.

[0072] S4. Further, in this embodiment, the axial spatial coordinates are obtained based on the spatial distance, the spatial coordinates of the center of the circle, and the distance of the angle steel 3 translated from the starting frame to the measuring frame. That is, after the spatial distance is determined, the current design position of the punching of the angle steel 3 can be determined based on the original spatial coordinates of the center of the circle and the distance after the angle steel 3 is moved.

[0073] S5. Further, in this embodiment, after the current design position of the punching hole of the angle steel 3 is determined, the axial spatial coordinate is compared with the preset spatial coordinate of the punching hole to determine whether it is qualified. Specifically, it is determined whether the hole position of the angle steel 3 is within the allowable deviation range. If it is within the allowable deviation range, it is qualified; if it is not within the allowable deviation range, it is unqualified. In this embodiment, the spatial coordinates and specific dimensions can be the end spatial coordinates of the angle steel, the leading edge hole diameter, the leading edge hole center spatial coordinates, the trailing edge hole diameter, and the trailing edge hole center spatial coordinates.

[0074] With such a configuration, the embodiment of the present invention obtains the spatial size and coordinate position of the target point from different image frames by acquiring continuously shot images, and can obtain the parameter information of the punching after corresponding calculations. It can judge whether the punching is qualified by comparing the deviation between the measured parameter information and the parameter information designed in the drawing. This realizes the automatic measurement of the punching size, thereby effectively reducing the interference of human errors in the traditional manual detection process, and at the same time, greatly improves the measurement and detection efficiency.

[0075] Furthermore, in an optional implementation, the camera assembly includes an area array camera 11 and a telecentric lens 12 .

[0076] Specifically, in this embodiment, the area array camera 11 is a color area array global exposure camera, and the telecentric lens 12 is mounted on the area array camera 11. The imaging optical axis is a straight line formed by light passing through the center of the telecentric lens 12 and perpendicular to the photosensitive element of the area array camera 11.

[0077] Further, in an optional embodiment, the imaging optical axis is perpendicular to the surface where the angle steel limb is located, the imaging optical axis is aligned with the directrix of the angle steel 3, and the distance between the telecentric lens 12 and the surface where the angle steel limb is located is the object distance.

[0078] Furthermore, in an optional implementation, before shooting, the area array camera 11 and the telecentric lens 12 are calibrated so that the imaging optical axis C is aligned with the image center of the area array camera 11 .

[0079] Further, in an optional implementation, the imaging parameters of the camera assembly include leading edge imaging parameters and trailing edge imaging parameters.

[0080] Specifically, the leading edge imaging parameters are imaging parameters of the area array camera 11 on the leading edge surface of the angle steel 3 when the telecentric lens 12 is at a preset object distance. The trailing edge imaging parameters are imaging parameters of the area array camera 11 on the trailing edge surface of the angle steel 3 when the telecentric lens 12 is at a preset object distance. The leading edge imaging parameters and the trailing edge imaging parameters are the perspective projection matrices on the leading edge surface and the trailing edge surface, respectively. The perspective projection matrix is ​​a mathematical tool used to describe the transformation from 3D space to 2D images. It not only takes into account the geometric properties of the object itself, but also includes the influence of the position, posture and optical properties of the camera. Therefore, the leading edge imaging parameters and the trailing edge imaging parameters are actually comprehensive mapping rules for all points on the leading edge plane and the trailing edge plane of the angle steel 3.

[0081] Further, in an optional implementation, step S2 includes:

[0082] S21, taking the frame of image in which the end edge of the angle steel 3 is closest to the imaging optical axis as the starting frame;

[0083] S22, calculating the spatial distance according to the leading edge imaging parameters and the pixel distance between the end edge of the angle steel 3 in the image and the center of the image. The calculation method may be implemented by using a predetermined calculation formula or a predetermined data comparison table.

[0084] Furthermore, in an optional implementation manner, the spatial distance is calculated as follows:

[0085] Xs=tr(Us, H); xs=tr(Us, h);

[0086] Among them, Xs is the leading edge spatial distance, Us is the pixel distance, and H is the leading edge imaging parameter; xs is the trailing edge spatial distance, and h is the trailing edge imaging parameter.

[0087] Further, in an optional implementation, step S3 includes:

[0088] S31, extracting a first image of the hole front edge contour from the measurement frame using a color threshold segmentation method;

[0089] S32, calculating the image diameter U of the first image using a pixel area calculation method D ;

[0090] S33, using a pixel centroid calculation method to calculate the image coordinates (U O , V O );

[0091] S34, calculating the spatial coordinates of the center of the circle in the first image:

[0092] (X O , Y O )=tr(U O , V O , H).

[0093] Further, in an optional implementation, step S3 includes:

[0094] S35, extracting a second image of the hole rear edge contour from the measurement frame using a color threshold segmentation method;

[0095] S36, calculating the image diameter Ud of the second image by using a pixel area calculation method;

[0096] S37, calculating the image coordinates (uo, vo) of the center of the circle in the second image using a pixel centroid calculation method;

[0097] S38, calculating the spatial coordinates of the center of the circle in the contour image:

[0098] (xo, yo)=tr(uo, vo, h).

[0099] Further, in an optional implementation, the step S4 includes:

[0100] Taking the rear edge of the hole as the aperture measurement reference, the axial spatial coordinate xo' is calculated as follows:

[0101] xo'=xs+xo+Δx;

[0102] Wherein, Δx is the translation distance of the angle steel 3 from the starting frame to the measuring frame.

[0103] To judge whether the position of the angle steel hole 3 is within the allowable deviation range, for example, the diameter of the rear edge of the processed hole can be compared with the designed hole diameter to judge whether the diameter of the angle steel hole 3 is within the allowable deviation range;

[0104] You can also determine the front edge coordinates X of the processed hole O The difference with xo, Y O The difference between yo and angle steel is used to judge whether the verticality of the three holes of the angle steel is within the allowable deviation range;

[0105] It is also possible to determine the front edge diameter U of the processed hole D The difference between the diameter of the rear edge and the diameter of the rear edge Ud is used to determine whether the difference between the large and small apertures is within the allowable deviation range.

[0106] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A detection system for angle steel punching, characterized in that: include: A conveying mechanism, suitable for carrying the angle steel (3) and conveying the angle steel (3); An imaging mechanism (1) is arranged on a conveying path of the angle steel (3); the imaging mechanism (1) is provided with a camera assembly, a first light source (13) and a second light source (14); the first light source (13) and the second light source (14) are arranged on both sides of the angle steel limb where the punching hole of the angle steel (3) is located, and the camera assembly is located on the same side of the first light source (13) or the second light source (14); and the first light source (13) and the second light source (14) are monochromatic light sources of different colors; when the angle steel (3) passes through the detection area, the first light source (13) and the second light source (14) illuminate the punching hole at the same time; The camera assembly continuously photographs the angle steel limb where the punching hole is located at a preset frequency to obtain image frames; According to the starting frame of the image frame and the imaging parameters of the camera assembly, the spatial distance between the edge of the angle steel (3) along the surface direction of the angle steel limb and the imaging optical axis is obtained; Calculating parameters of the measurement frames in the image frames to obtain the spatial coordinates of the centers of the leading edge contour and the trailing edge contour; Based on the spatial distance, the spatial coordinates of the center of the circle and the distance of translation of the angle steel (3) from the starting frame to the measuring frame, an axial spatial coordinate is obtained; The axial spatial coordinates are compared with the preset spatial coordinates of the punching to determine whether they are qualified.

2. The angle steel punching detection system according to claim 1, characterized in that: The camera assembly comprises: The area array camera (11) is a color area array global exposure camera; A telecentric lens (12) mounted on the area array camera (11); The imaging optical axis is a straight line formed by light passing through the center of the telecentric lens (12) and perpendicular to the photosensitive element of the area array camera (11).

3. The angle steel punching detection system according to claim 2, characterized in that: The imaging optical axis is perpendicular to the surface where the angle steel limb is located, the imaging optical axis is aligned with the directrix of the angle steel (3), and the distance between the telecentric lens (12) and the surface where the angle steel limb is located is the object distance.

4. The angle steel punching detection system according to any one of claims 1 to 3, characterized in that: Before shooting, the area array camera (11) and the telecentric lens (12) are calibrated so that the imaging optical axis is aligned with the image center of the area array camera (11).

5. The angle steel punching detection system according to any one of claims 1 to 3, characterized in that: The imaging parameters of the camera assembly include: Front edge imaging parameters are imaging parameters of the area array camera (11) on the front edge surface of the angle steel (3) when the telecentric lens (12) is at a preset object distance; Trailing edge imaging parameters, which are imaging parameters of the area array camera (11) on the trailing edge surface of the angle steel (3) when the telecentric lens (12) is at a preset object distance; The leading edge imaging parameters and the trailing edge imaging parameters are perspective projection matrices on the leading edge surface and the trailing edge surface, respectively.

6. The angle steel punching detection system according to claim 5, characterized in that: The method of obtaining the spatial distance between the edge of the angle steel (3) along the surface direction of the angle steel limb and the imaging optical axis according to the starting frame of the image frame and the imaging parameters of the camera assembly comprises: The starting frame is a frame of image in which the end edge of the angle steel (3) is closest to the imaging optical axis; The spatial distance is calculated based on the leading edge imaging parameters and the pixel distance between the end edge of the angle steel (3) in the image and the center of the image.

7. The angle steel punching detection system according to claim 6, characterized in that: The spatial distance is calculated as follows: Xs=tr(Us, H); xs=tr(Us, h); Among them, Xs is the leading edge spatial distance, Us is the pixel distance, and H is the leading edge imaging parameter; xs is the trailing edge spatial distance, and h is the trailing edge imaging parameter.

8. The angle steel punching detection system according to claim 7, characterized in that: The performing parameter calculation on the measurement frame in the image frame to obtain the center space coordinates of the leading edge contour and the trailing edge contour includes: Extracting a first image of the hole front edge contour from the measurement frame using a color threshold segmentation method; The image diameter U of the first image is calculated by using the pixel area calculation method. D ; The pixel centroid calculation method is used to calculate the image coordinates (U O , V O ); Calculate the spatial coordinates of the center of the circle in the first image: (X O ,Y O )=tr(U O ,V O ,H)。 9. The angle steel punching detection system according to claim 7, characterized in that: The performing parameter calculation on the measurement frame in the image frame to obtain the center space coordinates of the leading edge contour and the trailing edge contour includes: extracting a second image of the hole trailing edge contour from the measurement frame using a color threshold segmentation method; The image diameter U of the second image is calculated by using the pixel area calculation method. d ; The pixel centroid calculation method is used to calculate the image coordinates (u o , v o ); Calculate the spatial coordinates of the center of the circle in the contour image: (x o ,y o )=tr(u o ,v o ,h)。 10. The angle steel punching detection system according to claim 9, characterized in that: The axial spatial coordinates are obtained based on the spatial distance, the spatial coordinates of the center of the circle and the distance of translation of the angle steel (3) from the starting frame to the measuring frame, including: The rear edge of the hole is used as the aperture measurement reference, and the axial spatial coordinate x o ' is calculated as follows: x o ’=xs+x o +Δx; Wherein, Δx is the distance that the angle steel (3) is translated from the starting frame to the measuring frame.

Images