Full-automatic and self-adaptive steel outer diameter precision detection intelligent trolley

Abstract

The invention provides a full-automatic and self-adaptive steel outer diameter precision detection intelligent trolley, and relates to the technical field of steel automatic detection. The trolley comprises a metal frame, a power management module, an electric driving module, a self-adaptive clamping module, a laser ranging module and a data acquisition and transmission module; wherein the metal frame is used as a support; the power management module is used for supplying power and managing power; the electric driving module is used for realizing continuous and stable movement and fixed-point parking of the trolley; the self-adaptive clamping module is used for keeping the stable contact of the trolley on steel with different diameters and preventing lateral shaking; the laser ranging module calculates the outer diameter of the steel in real time by detecting an echo signal after the light beam is shielded by the outer edge part of the steel; and the data acquisition and transmission module realizes acquisition of defect images. The invention provides an efficient, intelligent and accurate outer diameter detection solution for the field of modern steel manufacturing and processing.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic steel detection, and particularly to a fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel. Background Art

[0002] At present, the detection of the outer diameter size and surface defects of steel is a key process in steel processing, manufacturing and quality control. Traditionally, the measurement of the outer diameter of steel mainly relies on manual measurement or the use of contact measurement tools such as calipers and micrometers, or contact detection using inductive sensors. Although these methods can meet the basic detection requirements to a certain extent, in the process of detecting steel in large quantities and over long distances, there are problems such as cumbersome operation, low efficiency, being easily interfered by mechanical wear and environmental factors, which in turn affect the measurement accuracy. In addition, traditional detection equipment is difficult to achieve adaptive clamping when the steel size changes, resulting in unstable steel position during the detection process, thus affecting the accuracy of the outer diameter measurement data and unable to achieve real-time and precise detection.

[0003] In recent years, with the continuous development of automation and intelligent manufacturing technologies, fully automatic steel detection systems have begun to receive extensive attention. However, existing fully automatic detection equipment mostly focuses on using a single measurement technology, or there are deficiencies in the integration of laser ranging and adaptive clamping systems. Although some systems have introduced laser ranging technology to achieve non-contact measurement, due to the unstable clamping mechanism, they cannot effectively adapt to steel of different sizes, resulting in large fluctuations in measurement data and being difficult to meet the high-precision requirements. In addition, there are also certain lags in aspects such as real-time data acquisition and transmission in existing systems, and they cannot fully meet the requirements of modern steel production for high-speed and high-precision detection.

[0004] Therefore, there is an urgent need for a fully automatic intelligent trolley for precise detection of the outer diameter of steel that integrates laser ranging, precise adaptive clamping and real-time defect image acquisition functions, which can achieve adaptive clamping of steel with different diameters, continuous and stable operation, and efficient data transmission while ensuring the detection accuracy, so as to meet the high standards of modern steel manufacturing and processing fields for automated and intelligent detection equipment. Summary of the Invention

[0005] The present invention relates to a fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel. The main inventive content lies in integrating five modules: ① laser ranging, ② adaptive clamping, ③ motion drive, ④ data acquisition and transmission, and ⑤ power management, to achieve non-contact high-precision outer diameter measurement of long steel and real-time defect image acquisition. Among them, the laser ranging module consists of a high-precision laser displacement sensor installed above the trolley and a high-reflectivity laser reflection panel fixed on the side of the trolley; the laser emitted by the sensor shoots at the reflection panel along a horizontal or slightly inclined direction. When the steel is between the two, the outer edge of the steel blocks the light path, and by comparing the pre-calibrated reference distance with the actual received distance, the outer diameter of the steel is accurately calculated. The adaptive clamping module uses a combination of pressing rollers and pre-tension springs, which can not only ensure the stable operation of the trolley on the steel surface but also automatically adapt to steel with different diameters and maintain the stability of the measurement light path. The motion drive module uses a stepping motor combined with a large and small gear transmission system to achieve continuous and stable motion and precise positioning, enabling the trolley to accurately stop at each preset measurement point. The data acquisition and transmission module consists of a PLC and a computer, which integrates the laser ranging data and the high-definition image of the steel surface collected by an industrial camera in real time, and transmits the data to the front-end system through an industrial communication module for defect recognition and data post-processing by the back-end algorithm. The power management module uses a high-energy density lithium battery and is equipped with a dedicated battery management system (BMS), ensuring that the whole vehicle can run continuously for more than 5 hours, and an optional solar charging panel can be used to extend the battery life. At the same time, the whole machine is designed with waterproof and dustproof features, suitable for industrial environments that are humid or may be flooded with water.

[0006] The specific technical solution is as follows: a fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel, the trolley includes a metal frame, a power management module, an electric drive module, an adaptive clamping module, a laser ranging module, and a data acquisition and transmission module;

[0007] Among them, the metal frame serves as a support;

[0008] The power management module is used for power supply and power management;

[0009] The electric drive module is used to achieve continuous and stable motion and fixed-point docking of the trolley;

[0010] The adaptive clamping module is used to ensure stable contact of the trolley on steel with different diameters and prevent lateral shaking;

[0011] The laser ranging module calculates the outer diameter of the steel in real time by detecting the echo signal after the light beam is partially blocked by the outer edge of the steel;

[0012] The data acquisition and transmission module realizes the acquisition of defect images.

[0013] The advantages of the present invention are as follows. Firstly, non-contact outer diameter measurement is achieved through laser ranging, avoiding the low efficiency and error problems in the traditional method. Secondly, the adaptive clamping system not only ensures the stable operation of the trolley on the steel, but also can automatically adjust the clamping force according to the steel with different diameters, guaranteeing the stability and repeatability of the detection data. The combination of a stepper motor and gear drive enables the trolley to achieve high-speed and stable movement during continuous driving and millimeter-level precise positioning at each measurement point. In addition, the real-time image acquisition module obtains high-definition steel surface images through an industrial camera and realizes fast data transmission with the help of an industrial communication module, providing strong support for defect detection and subsequent data processing. Finally, the whole vehicle adopts a lightweight design and is combined with an efficient power management scheme, which not only meets the requirement of continuous operation for more than 5 hours, but also has high waterproof and dustproof capabilities, adapting to harsh industrial environments. Combining the above advantages, the present invention provides an efficient, intelligent and precise outer diameter detection solution for the modern steel manufacturing and processing fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of the overall structure of the fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel in the present invention;

[0015] Figure 2 is a schematic diagram of the motion drive module structure of the fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel in the present invention;

[0016] Figure 3 is a schematic diagram of the adaptive clamping module structure of the fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel in the present invention;

[0017] Figure 4 is a schematic diagram of the laser ranging module structure of the fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel in the present invention;

[0018] Figure 5 is the specific working process of the power management module, motion drive module, adaptive clamping module, laser ranging module and data acquisition and processing module in the present invention.

[0019] In the figure, the reference numerals are:

[0020] Stepper motor 1, large gear 2, small gear 3, pressing roller 4, pre-tightening spring 5, laser displacement sensor 6, panel 7, industrial camera 8. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] To make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above objectives, the present invention adopts the following technical solutions.

[0022] Figure 1 It is a schematic structural diagram of a fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel, showing the spatial layout and assembly method of each key component. Figure 1 As shown in the figure, the trolley includes a metal frame, a power management module, a motion drive module, an adaptive clamping module, a laser ranging module, and a data acquisition and transmission module. The main body of the trolley uses a lightweight metal frame as a support. Figure 1 、 Figure 2 As shown in the figure, the motion drive module includes: a stepper motor 1, a large gear 2, and a small gear 3. The stepper motor 1 is fixed inside the frame, and a small gear 3 is installed on its output shaft, which meshes precisely with the large gear 2 located outside the steel. The large gear 2 transmits the power of the stepper motor 1 to the whole trolley through the driving roller, and the driving roller rolls on the upper surface of the steel to achieve continuous and stable movement and fixed-point docking. Figure 1 、 Figure 3 As shown in the figure, the adaptive clamping module includes: a pressing roller 4 and a pre-tightening spring 5. The adaptive clamping module ensures that the trolley can maintain stable contact on steel with different diameters and prevent lateral shaking. The adaptive clamping mechanism formed by the combination of the pressing roller 4 and the pre-tightening spring 5 can automatically adjust the clamping force according to the size of the steel. Figure 1 、 Figure 4 As shown in the figure, the laser ranging module includes: a laser displacement sensor 6 and a panel 7. The laser displacement sensor 6 is installed at the front upper position of the trolley, and the panel 7 is installed on the side of the trolley. The laser displacement sensor 6 calculates the outer diameter of the steel in real time by detecting the echo signal after the light beam is blocked by the outer edge part of the steel. The data acquisition and transmission module includes: an industrial camera 8. The data acquisition and transmission module realizes the acquisition of defect images. An industrial camera 8 is set at the front end of the trolley, and the shooting angle can be finely adjusted according to the diameter of the steel and the detection area.

[0023] As Figure 2 、 Figure 5 It is a schematic diagram of the connection and working process of each module of the adaptive fully automatic intelligent trolley for precise detection of the outer diameter of steel. The specific implementation method is as follows:

[0024] 1. Power management module

[0025] The power management module uses a high-energy density lithium battery pack as the main power supply, ensuring that the entire system can operate stably for more than 5 hours continuously while meeting the lightweight requirements. Through a reasonable series-parallel design, the internal structure of the battery pack is optimized to achieve uniform heat dissipation under high load conditions and avoid local overheating. To ensure the safety and service life of the battery, this module integrates a dedicated battery management system (BMS). This system monitors the voltage, current, and temperature of the battery in real-time and quickly takes protective measures when abnormalities are detected, such as interrupting charging when the voltage exceeds the preset upper limit, stopping discharging when the voltage is lower than the safe value, and cutting off the circuit in case of overcurrent or short circuit. At the same time, it realizes balanced charging among individual battery cells to ensure stable overall performance. In addition, this module can also be optionally equipped with a solar charging panel, which is arranged on the top of the trolley or other unobstructed areas and works in coordination with the BMS through a dedicated charging control circuit to achieve automatic charging, further extending the system's endurance and reducing dependence on external power supply.

[0026] To adapt to humid or potentially water-infiltrated industrial environments, all interfaces and wiring of the power management module adopt a waterproof and sealed design, reaching an overall protection level of IP65 and above, thus ensuring the stability and safety of the power system even in harsh environments. The design of the entire module not only ensures long-term stable power supply but also realizes efficient and intelligent power management through multiple protection measures and auxiliary solar charging, providing a solid power guarantee for the reliable operation of the fully automatic intelligent trolley for precise detection of the outer diameter of steel.

[0027] To further optimize the power utilization efficiency and extend the battery life, the present invention introduces a control method based on the "adaptive power distribution algorithm" in the power management module. Specifically, in addition to monitoring voltage, current, and temperature, the BMS also evaluates the output power demand of the battery in real-time and dynamically balances it with the power supplied by the solar charging panel. When the system determines that the power required by the trolley is not sufficient to deplete the current battery energy storage, it will automatically reduce the depth of discharge to protect the battery cells and extend the cycle life; when high power output is required (such as high-speed movement or frequent start-stop), it will preferentially call on the reserve energy of the battery pack and supplement it according to the real-time power generation of the solar panel. Through this adaptive power distribution algorithm, the system can not only effectively reduce the burden on the battery but also maximize the utilization of solar energy in an environment with sufficient sunlight, providing sustainable power support for the trolley during long-distance detection operations.

[0028] 2. Electric drive module

[0029] The electric drive module adopts a gear transmission scheme, making full use of the micro-step control advantage of the stepper motor to achieve precise and stable movement of the trolley on the steel surface. Specifically, a small gear 3 is installed on the output shaft of the core drive unit of this module, and the small gear 3 meshes precisely with the large gear 2 located outside the steel. Due to the large transmission ratio between the small gear 3 and the large gear 2, every tiny rotation of the stepper motor 1 is amplified by the transmission ratio, enabling precise control of the rotation angle of the large gear 2, thus ensuring excellent positioning accuracy of the trolley during movement.

[0030] The large gear 2 is fixed outside the steel and is mechanically connected to the drive roller. A high-friction material is selected for the surface of the drive roller, and its design enables the roller to firmly grip the steel surface, efficiently transmitting the rotational power of the large gear 2 to the vehicle's movement system. This design can not only ensure the stability of the trolley during high-speed driving but also quickly achieve precise docking at each preset measurement point for high-precision laser ranging and image acquisition. To eliminate mechanical clearances and vibrations during transmission, high-precision machining techniques are adopted in both gear selection and installation processes of this module to ensure meshing accuracy and transmission rigidity, thereby reducing measurement errors caused by tiny deviations during movement.

[0031] In addition, the drive module also incorporates a closed-loop control system that uses encoder feedback to continuously monitor the actual position of the stepper motor and performs precise adjustment through the PLC. This closed-loop feedback mechanism not only improves the movement accuracy of the trolley but also can quickly respond and achieve seamless transition when switching movement states (such as from high-speed driving to fixed-point docking), ensuring the stability of the steel position before each laser ranging. Generally speaking, through the precise cooperation of the stepper motor 1, the small gear 3, the large gear 2, and the drive roller, the electric drive module not only realizes the control of continuous and stable movement on the steel surface but also ensures high-precision positioning during fixed-point measurement, providing reliable power support for the efficient detection of the entire intelligent trolley.

[0032] Based on the closed-loop control system, the present invention further introduces a self-learning motion trajectory optimization algorithm, which is used to automatically adjust the acceleration and deceleration curves and docking thresholds of the trolley when detecting multiple steel materials with different lengths and diameters. The acceleration and deceleration thresholds refer to the turning points in the speed curve of the stepper motor drive pulse that distinguish the acceleration stage, constant-speed stage, and deceleration stage; while the docking threshold is used to determine the reference coordinates or speed thresholds for the trolley to switch from normal movement to low-speed fine-tuning or final stop. These thresholds can be initially set according to the mechanical load limit, safety requirements, and spatial distribution of the measurement points, and then continuously iteratively corrected through the self-learning algorithm to balance detection efficiency and positioning accuracy under different steel sizes and lengths. This self-learning motion trajectory optimization algorithm is based on iterative learning control. The specific approach is as follows: when the PLC reads the current position of the trolley from the encoder After that, it will be compared with the set reference trajectory to calculate the deviation . After completing one detection, the system updates the correction amount of the stepping motor drive pulse timing , where is the learning gain operator, which is used to adjust the pulse frequency and duty cycle according to the historical error. This correction amount will be recorded in the memory variable of the PLC. When the next round of detection starts, the PLC will correct the pulse sequence in the acceleration and deceleration stages according to to strive to reduce the error in the same detection section. In actual operation, when slight vibration or position error is detected during the acceleration or deceleration of the trolley, the algorithm will automatically record the pulse frequency, pulse cumulative number and corresponding load status at that time, and perform fine-tuning of the pulse timing in subsequent iterations. After multiple cycles, the trolley can form an optimal driving curve for a specific steel specification to achieve fast and high-precision fixed-point measurement. Compared with the traditional one-time set motion curve, this self-learning motion trajectory optimization algorithm can gradually correct the motion control parameters without external intervention, greatly improving the detection efficiency and positioning stability.

[0033] 3. Adaptive clamping module

[0034] The adaptive clamping module is one of the core innovations of the whole vehicle. Its design aims to ensure that the trolley always maintains stable contact when moving on the steel surface and can automatically adapt to the changes in steel with different diameters, thus providing a constant and accurate benchmark for subsequent laser ranging and image acquisition. This module mainly consists of a pressing roller, a preloading spring, and a precision guiding and adjusting mechanism. The pressing roller is made of a high-friction material and is designed as a component that can roll on the steel surface. Its installation position is finely adjusted through a low-friction slider within a fixed guide rail. The preloading spring uses its elastic characteristics to provide a preset pressure in the initial state, enabling the roller to firmly adhere to the steel surface. When the diameter of the steel increases, the preloading spring automatically extends accordingly to adjust the clamping force to avoid excessive pressure on the steel; when the diameter of the steel decreases, the spring contracts correspondingly to ensure that the clamping force always remains within an appropriate range, thus achieving adaptive clamping of steel with different specifications. In the specific layout, one end of the preloading spring 5 is usually fixed at the positioning point of the bracket, and the other end abuts against the roller seat equipped with a low-friction slider. The bracket is located on the metal frame of the trolley. When the trolley just enters the working state, the spring is in a pre-compressed state and transmits a certain amount of force to the roller seat; when the trolley contacts the steel, if it encounters steel with a large diameter, the outer edge of the steel pushes the roller seat away, and the spring is further compressed as a result, but no excessive force will be generated to avoid damaging the steel or causing excessive vibration; if the diameter of the steel is relatively small, the spring will rebound and drive the roller seat to move slightly forward along the guide rail, making the pressing roller closely adhere to the steel surface. The installation position of the pressing roller is finely adjusted through a low-friction slider within a fixed guide rail. The preloading spring uses its elastic characteristics to provide a preset pressure in the initial state, enabling the pressing roller to firmly adhere to the steel surface. The guiding and adjusting mechanism works in coordination with the fixed guide rail, low-friction slider, and adjusting screw to ensure that the pressing roller only moves in a predetermined direction.

[0035] 4. Laser Ranging Module

[0036] The laser ranging module uses a high-precision laser displacement sensor 6 installed on the upper part of the trolley. The laser displacement sensor 6 emits laser light at a horizontal or slightly inclined angle towards a highly reflective panel 7 fixed on the side, and the panel 7 reflects the laser light. During the system calibration phase, when there is no steel in the detection area, the reference distance measured by the laser displacement sensor 6 is recorded as . When the steel to be measured is placed between the laser displacement sensor 6 and the panel 7, due to partial occlusion of the laser beam by the outer edge of the steel, the actual distance measured by the laser displacement sensor 6 becomes . During the hardware installation and calibration phase, the horizontal or slightly inclined geometric relationship between the laser displacement sensor 6, the panel 7, and the central axis of the steel is determined in advance. That is to say, if the optical path shortens (or lengthens) by a certain amount, it means that the outer edge of the steel moves inward (or outward) in the lateral projection direction by the same amount. Since the movement amount of the steel cross-section in this direction directly corresponds to its radius or diameter, there is or The coefficient may be 1 or cosθ, which is used to correct the deviation between the laser tilt angle and the projection of the actual outer diameter of the steel. In this design, using laser ranging, the outer diameter of the steel can be calculated by comparing with the difference. Specifically, in the ideal state, the outer diameter of the steel can be calculated by the following formula: . If the laser beam is emitted at a certain tilt angle , an angle correction needs to be introduced, , where is the angle between the laser emission direction and the horizontal line. To simplify the measurement and calculation, by adjusting the sensor bracket to make close to zero, the formula is simplified to . The laser beam is slightly tilted towards the side of the steel. When the steel to be measured is placed between the laser displacement sensor 6 and the panel 7, its outer edge is located within the horizontal projection range of the oblique beam, and locally affects the echo path of the laser beam transmitted to the panel 7 in the lateral projection. The PLC calculates the outer diameter of the steel by collecting the distance data output by the laser displacement sensor 6 in real time and comparing it with the preset reference distance , thus realizing high-precision non-contact measurement. This method not only avoids the wear and mechanical errors caused by traditional contact measurement, but also provides fast and accurate data through laser ranging, laying a foundation for the efficient operation of the entire intelligent vehicle detection system. To adapt to long-distance detection and ambient light interference, the present invention adds an automatic gain control (AGC) mechanism to the laser ranging module. The AGC can automatically adjust the laser emission power and the receiving sensitivity according to the light intensity during the measurement process, so that the sensor can obtain a stable echo signal in both strong light and dark environments.

[0037] 5. Data Acquisition and Transmission Module

[0038] The data acquisition and transmission module is responsible for real-time acquisition and integration of laser ranging data and images of steel surface defects, and transmits this information to the front-end control system through industrial communication means for subsequent defect identification and data analysis. Specifically, this module mainly consists of a data processing unit PLC, an industrial computer, an industrial camera 8, and a communication module.

[0039] The selected industrial camera 8 has a high-definition resolution of no less than 1080p and high-speed image acquisition capabilities. It is installed on an adjustable bracket at the front end of the trolley to comprehensively capture defects such as tiny cracks and scratches on the steel surface. At the same time, the analog input module collects the ranging data obtained by the laser displacement sensor 6 and synchronously integrates it with the image data collected by the industrial camera 8. The data processing unit PLC filters out noise, synchronizes data, and converts formats for the original data to ensure the accuracy and stability of subsequent processing and transmission. In terms of communication, a communication module is used to achieve real-time transmission of detection data with the industrial computer.

[0040] During the data acquisition and transmission process, the present invention further adopts a distributed cache synchronization strategy, enabling the PLC and the industrial computer to each retain a buffer for outer diameter measurement data and image data. In the case of network bandwidth fluctuations or temporary communication interruptions, the system will automatically temporarily store the newly acquired data in the local cache and perform supplementary transmission and synchronization according to the timestamp priority after the communication is restored. This strategy can minimize the impact of network instability on data integrity and achieve lossless packet and low-latency transmission of detection data.

[0041] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: modifying the technical solutions recorded in the foregoing embodiments, or equivalently replacing some or all of the technical features therein, does not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent trolley for precise detection of the outer diameter of steel, which is fully automatic and self-adaptive, is characterized in that The car includes a metal frame, a power management module, an electric drive module, an adaptive clamping module, a laser ranging module, and a data acquisition and transmission module; Among them, the metal frame serves as support; The power management module is used for power supply and power management; The electric drive module is used to achieve continuous and smooth movement and fixed-point parking of the trolley; Adaptive clamping module is used to keep the trolley in stable contact with steel of different diameters and prevent lateral shaking; The laser distance measurement module calculates the outer diameter of the steel in real time by detecting the echo signal after the light beam is blocked by the outer edge of the steel. The data acquisition and transmission module realizes the acquisition of defect images.

2. According to claim 1, a fully automatic and self-adaptive intelligent vehicle for precise detection of steel outer diameter, characterized in that: The power management module uses a lithium battery pack and integrates a battery management system to monitor the battery voltage, current and temperature in real time and take protective measures quickly when an abnormality is detected.

3. According to claim 2, a fully automatic and adaptive intelligent vehicle for precise detection of steel outer diameter, characterized in that: The power management module can also be equipped with an optional solar charging panel, which is placed on the top of the car or other unobstructed areas and works in conjunction with the battery management system through a dedicated charging control circuit.

4. According to claim 1, a fully automatic and self-adaptive intelligent vehicle for precise detection of steel outer diameter, characterized in that: The electric drive module includes a stepper motor and large and small gears. A small gear is installed on the output shaft of the stepper motor, and the small gear is meshed with a large gear located on the outside of the steel. The large gear is fixed to the outside of the steel and connected to the driving roller through a mechanical connection. The driving roller slides on the upper surface of the steel.

5. The intelligent trolley for precise detection of the outer diameter of steel bars, which is fully automatic and adaptive according to claim 4, is characterized in that, The electric drive module also has a built-in closed-loop control system that uses encoder feedback to monitor the actual position of the stepper motor in real time and performs precise adjustments through PLC.

6. According to claim 1, a fully automatic and self-adaptive intelligent vehicle for precise detection of steel outer diameter, characterized in that: The adaptive clamping module consists of a clamping roller, a preload spring and a guide adjustment mechanism. The clamping roller is made of high-friction material and is a component that can roll on the surface of steel. Its installation position is fine-tuned in the fixed guide rail through a low-friction slider. The preload spring uses its elastic properties to provide a preset pressure in the initial state, so that the roller can fit firmly to the steel surface. The guide adjustment mechanism uses the fixed guide rail, low-friction slider and adjustment screw to work together to ensure that the clamping roller only moves in the predetermined direction.

7. According to claim 1, a fully automatic and self-adaptive intelligent vehicle for precise detection of steel outer diameter, characterized in that: The laser ranging module includes a laser displacement sensor and a panel. The laser displacement sensor is installed on the upper part of the trolley. The sensor emits laser to the panel fixed on the side at a horizontal or slightly inclined angle.

8. According to claim 7, a fully automatic and self-adaptive intelligent vehicle for precise detection of steel outer diameter is characterized in that: During the system calibration phase, when there is no steel in the detection area, the reference distance measured by the laser displacement sensor is denoted as . When the steel to be measured is placed between the laser displacement sensor and the panel, due to partial occlusion of the laser beam by the outer edge of the steel, the actual distance measured by the sensor becomes . By comparing with , the outer diameter of the steel is calculated from the difference between them.

9. According to claim 1, a fully automatic and self-adaptive intelligent vehicle for precise detection of steel outer diameter, characterized in that: The data acquisition and transmission module consists of a PLC, an industrial computer, an industrial camera, and a communication module; the industrial camera is installed on an adjustable bracket at the front end of the trolley to comprehensively capture the defects on the surface of the steel. The PLC collects the ranging data obtained by the laser displacement sensor and synchronously integrates it with the image data collected by the industrial camera.

10. The fully automatic and adaptive intelligent trolley for precise detection of the outer diameter of steel materials according to claim 9, characterized in that, The industrial camera has a resolution of not less than 1080p and image acquisition capabilities.

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