A method, device, equipment and medium for measuring the profile size of a section steel

Abstract

The application relates to a profile size measurement method, device, equipment and medium of a section steel, and relates to the technical field of profile size measurement.The method comprises the following steps: acquiring a plurality of first sub-profiles collected by a plurality of laser profile meters respectively; performing coordinate conversion processing on the first sub-profiles to convert the first sub-profiles into a system coordinate system; merging the first sub-profiles in the system coordinate system to obtain a first section steel cross-section profile; based on the first section steel cross-section profile, acquiring an overlapping area between different first sub-profiles, and dividing the first sub-profiles corresponding to the overlapping area into overlapping sections and reserved sections respectively; eliminating a plurality of overlapping sections of the overlapping area to generate a second sub-profile corresponding to the overlapping area; based on a plurality of reserved sections and a plurality of second sub-profiles, obtaining a target section steel cross-section profile; and based on the target section steel cross-section profile, acquiring profile size information corresponding to a current section steel.The application has the effects of improving the measurement accuracy of the profile size of the section steel and improving the measurement efficiency of the profile size of the section steel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of profile size measurement, and in particular to a profile size measurement method, device, equipment and medium. BACKGROUND

[0002] As a strip steel material with a specific cross-sectional shape (such as H-shaped steel, angle steel, channel steel, etc.), the profile size precision of the profile directly determines the mechanical properties and assembly reliability of the structural member. Especially in the fields of building load-bearing beams, bridge components, industrial equipment frames, etc., unqualified size may lead to stress concentration, connection failure, and even overall collapse.

[0003] The existing way to obtain the size of the profile steel is generally to cut the profile steel by manual operation, and obtain the numerical size of the profile by measuring the geometric size on the cutting surface. The current manual measurement method requires special clamping plates for different profile steel specifications, and the position of the special clamping plate needs to be adjusted repeatedly to match the measurement point. The single detection takes a long time, and the measurement lag may lead to a large backlog of samples. Moreover, manual measurement is prone to subjective operation errors, which further leads to measurement deviation of the profile size of the profile steel.

[0004] Therefore, there is an urgent need for a technical solution that can automatically measure the profile size of the profile steel. SUMMARY

[0005] In order to improve the measurement accuracy of the profile size of the profile steel and improve the measurement efficiency of the profile size of the profile steel, the present application provides a profile size measurement method, device, equipment and medium.

[0006] In a first aspect, the present application provides a profile size measurement method of a profile steel, which adopts the following technical solution:

[0007] A profile size measurement method of a profile steel, comprising:

[0008] Based on the surrounding multi-laser profiler, a plurality of first sub-profiles collected by each of the plurality of laser profilers are obtained;

[0009] The plurality of first sub-profiles are subjected to coordinate conversion processing to convert each of the first sub-profiles into a system coordinate system; and the plurality of first sub-profiles in the system coordinate system are merged to obtain a first profile of a cross section of the profile steel;

[0010] Based on the first profile of the cross section of the profile steel, an overlapping region between different first sub-profiles is obtained, the first sub-profile corresponding to the overlapping region is divided into an overlapping segment and a reserved segment, and the overlapping region is a region in which the plurality of first sub-profiles overlap with each other in space; for each overlapping region, the plurality of overlapping segments of the overlapping region are eliminated, and a second sub-profile corresponding to the overlapping region is generated;

[0011] Based on the plurality of the reserved segments and the plurality of the second sub-profiles, a target profile of the steel section is obtained, and based on the target profile of the steel section, profile size information corresponding to the current steel section is acquired.

[0012] By eliminating the redundant overlapping segments in the overlapping area, the conversion from the redundant multi-source data to a single reliable profile is realized, which provides a bottom guarantee for the precision, efficiency and reliability of the online detection of the profile size of the steel section.

[0013] Optionally, the profile size information corresponding to the current steel section is acquired based on the target profile of the steel section, including:

[0014] A plurality of horizontal straight lines are created at the same interval in a preset area corresponding to the target profile of the steel section, and an outermost intersection point of each horizontal straight line and the target profile of the steel section is acquired;

[0015] A straight line is fitted respectively to a plurality of the outermost intersection points on different sides of the target profile of the steel section, and two side structure lines corresponding to the target profile of the steel section are obtained;

[0016] Based on the included angle between the two side structure lines and the horizontal axis in the system coordinate system, a rotation angle of the target profile of the steel section is acquired, and the target profile of the steel section is rotated based on the rotation angle to obtain a rotated target profile of the steel section;

[0017] A plurality of size acquisition points corresponding to the current steel section are acquired, and the profile size information corresponding to each size acquisition point in the rotated target profile of the steel section is acquired.

[0018] By creating horizontal straight lines uniformly in the preset area and acquiring intersection points, each position of the steel section profile can be fully and uniformly covered, so that the profile shape of the steel section can be more accurately captured. The complex target steel profile is simplified into two side structure lines, which greatly reduces the complexity of subsequent processing, making the size measurement and angle calculation more intuitive and efficient. By fitting a straight line, the geometric characteristics of the side of the steel section can be more accurately described, and the measurement error caused by irregularity of the profile can be reduced, thereby improving the accuracy of size measurement.

[0019] Optionally, the preset area corresponding to the target profile of the steel section is acquired, including:

[0020] A convex hull algorithm is run on all discrete points of the target profile of the steel section to obtain a convex hull vertex set;

[0021] If the type of the current steel section is an angle steel, the two points farthest apart in the convex hull vertex set are determined as a top flange vertex and a bottom flange vertex, respectively.

[0022] If the section steel type is a channel steel, the highest point in the uppermost 10% range along the profile height direction is taken as the top flange vertex, and the lowest point is taken as the bottom flange vertex;

[0023] If the section steel type is an H-shaped steel, the extreme points of the left and right sides of the convex hull are taken, and the extreme points of the longitudinal coordinates are combined to form the top flange vertex and the bottom flange vertex;

[0024] Based on the section steel parameter library, the theoretical flange width and the total profile height of the current section steel type are queried;

[0025] A horizontal interval is generated by symmetrically expanding the top flange vertex as the center in the horizontal coordinate direction according to the theoretical flange width, and a vertical interval is generated by taking the longitudinal coordinate range of the bottom flange vertex and the top flange vertex, and the two together form a rectangular preset area; the channel steel and the H-shaped steel generate corresponding rectangular preset areas according to the respective horizontal coordinate extreme values and the longitudinal coordinate expansion ratio;

[0026] The rectangular preset area is output as the preset area, so that all subsequent horizontal straight lines are generated only in this area.

[0027] By adopting the above technical scheme, the flange vertex of the angle steel can be quickly located, providing a clear reference point for subsequent size measurement and profile analysis. It can be applied to angle steels of different sizes, has good adaptability and universality. The flange vertex is determined by limiting the highest point and the lowest point in the range, which can more accurately reflect the actual structural characteristics of the channel steel. It can work stably on channel steels of different sizes and shapes, and has strong robustness. According to the type of the current section steel, the corresponding theoretical flange width and profile total height are queried in the section steel parameter library preset in the electronic device, reducing the error.

[0028] Optionally, before the coordinate conversion processing is performed on the plurality of first sub-profiles, the method further comprises:

[0029] Based on the type of the current section steel, the corresponding basic clipping point number and first profile correction strategy are obtained;

[0030] For each first sub-profile, the target clipping point number corresponding to the basic clipping point number is dynamically calculated according to the acquisition parameters of the laser profilometer generating the first sub-profile, the acquisition parameters including laser wavelength, sampling frequency and incident angle;

[0031] For each first sub-profile, the end portion of the first sub-profile is clipped based on the target clipping point number to obtain a clipped first sub-profile;

[0032] For each cropped first sub-outline, a drift point in the cropped first sub-outline is corrected based on the first outline correction strategy to obtain a corrected first sub-outline, so that the coordinate conversion processing is performed based on the corrected first sub-outline.

[0033] By adopting the technical solution, the target number of cutting points is dynamically adjusted according to the type of the profile steel and the specific parameters of the laser profiler, which can better adapt to the drift under different measurement conditions. The end of each first sub-outline is cut according to the target number of cutting points dynamically calculated, which effectively reduces the measurement error caused by end drift.

[0034] Optionally, the target profile steel section profile is obtained based on the plurality of retained segments and the plurality of second sub-outlines, comprising:

[0035] The plurality of retained segments and the plurality of second sub-outlines are connected to obtain a second profile steel section profile.

[0036] Based on the type of the profile steel, a plurality of temperature monitoring regions corresponding to the second profile steel section profile are divided, and a plurality of temperature monitoring strategies corresponding to the plurality of temperature monitoring regions are obtained, the temperature monitoring strategy comprising a plurality of temperature monitoring points.

[0037] For each temperature monitoring point, current temperature data corresponding to the temperature monitoring point is obtained, and based on the current temperature data, a first compensation position corresponding to the temperature monitoring point after deformation is obtained.

[0038] For each temperature monitoring point, based on the current temperature data, a temperature partition corresponding to the temperature monitoring point and a compensation weight corresponding to the temperature partition are obtained.

[0039] For each temperature monitoring point, based on the compensation weight corresponding to the temperature monitoring point, a weighted calculation is performed on the first compensation position to obtain a second compensation position corresponding to the temperature monitoring point.

[0040] Based on the second compensation position corresponding to each temperature monitoring point, a position compensation processing is performed on the second profile steel section profile, and the profile steel section profile obtained after position compensation is taken as the target profile steel section profile.

[0041] By adopting the technical solution, according to the characteristics of different profile steels, the temperature monitoring region and the temperature monitoring strategy can be reasonably divided to ensure the comprehensiveness and accuracy of temperature monitoring. By obtaining the temperature data in real time, the temperature change of the profile steel can be captured in time to ensure the timeliness and accuracy of compensation. Through the position compensation processing, the influence of high temperature on the profile steel section profile is reduced, and the accuracy of the subsequent size measurement result is improved.

[0042] Optionally, based on the first type steel cross section profile, an overlapping region between different first sub-profiles is obtained, the overlapping region corresponding first sub-profiles are divided into overlapping segments and reserved segments respectively, and the overlapping region is a region in which a plurality of first sub-profiles overlap in space; for each overlapping region, a plurality of overlapping segments of the overlapping region are eliminated, and a second sub-profile corresponding to the overlapping region is generated, including:

[0043] For each two-dimensional point on the current first sub-profile, the Euclidean point distance between the two-dimensional point and a plurality of corresponding matching points is obtained, and each other first sub-profile has a matching point;

[0044] For each Euclidean point distance, if the Euclidean point distance is less than a point distance threshold, the two-dimensional point and the matching point corresponding to the Euclidean point distance are taken as an overlapping point pair;

[0045] Based on a plurality of overlapping point pairs, the overlapping region is obtained, for each first sub-profile, the profile segment of the first sub-profile located in the overlapping region is taken as the overlapping segment, and the profile segment of the first sub-profile located outside the overlapping region is taken as the reserved segment;

[0046] The overlapping segments falling into the overlapping region are classified by shape, the shape classification includes a straight line segment, a circular arc segment and other shape segments; the overlapping segments which are straight line segments or circular arc segments and are located in a user feature table are marked as feature regions, and the overlapping segments which are other shape segments or are not located in the user feature table are marked as non-feature regions, and the user feature table includes a channel steel leg thickness region and an angle steel bending point;

[0047] For each non-feature region, a plurality of midpoints between the overlapping point pairs corresponding to the non-feature region are calculated, a plurality of midpoints are connected, the second sub-profile is generated, the overlapping segment corresponding to the non-feature region is removed, and the second sub-profile is taken as the profile corresponding to the non-feature region;

[0048] For each feature region, if the shape classification corresponding to the feature region is a straight line segment, a first straight line equation and a second straight line equation are fitted to obtain a first intersection point between the first straight line equation and the second straight line equation; if the shape classification corresponding to the feature region is a circular arc segment, a third straight line equation and a circle equation are fitted to obtain a second intersection point between the third straight line equation and the circle equation;

[0049] For each feature region, based on the first intersection point or the second intersection point, a plurality of overlapping point pairs corresponding to the feature region are replaced to form a second sub-profile corresponding to the feature region, and the overlapping segment corresponding to the feature region is removed, and the second sub-profile is taken as the profile corresponding to the feature region.

[0050] By adopting the technical scheme, the key feature area can be identified by distinguishing through the feature table, different processing strategies are adopted for the feature area and the non-feature area, and the pertinence and accuracy of processing are improved. By replacing the overlapping point pair with the key geometric point, a more accurate contour can be generated, and the accuracy of the contour is improved.

[0051] Optionally, before the two-dimensional point corresponding to the Euclidean distance and the matching point are taken as the overlapping point pair, if the Euclidean distance is less than the point distance threshold, the method further includes:

[0052] Synchronously collecting the spot reflection intensity data of all laser profilers at the current time, determining the weight based on the cosine of the angle between each laser profiler and the axis of the profile steel, and calculating the weighted average reflection intensity;

[0053] Based on the weighted average reflection intensity and the background noise standard deviation of all laser profilers, the system-level signal-to-noise ratio is calculated.

[0054] In the preset feature response database, taking the surface material category of the profile steel, the environmental illumination level and the production line vibration amplitude as the matching dimensions, a composite correction factor is calculated.

[0055] Based on the system-level signal-to-noise ratio and the composite correction factor, the point distance threshold corresponding to the initial threshold is dynamically calculated.

[0056] By adopting the technical scheme, the system-level signal-to-noise ratio and the composite correction factor are adjusted, the threshold can be dynamically optimized according to the current measurement conditions and environmental factors, and the threshold can more accurately reflect the actual overlap. Therefore, the point distance threshold is dynamically adjusted according to the system-level signal-to-noise ratio and the composite correction factor, which can adapt to different measurement conditions and improve the accuracy of overlapping point pair identification. By dynamically adjusting the threshold, the overlapping point pair can be more accurately identified, the possibility of misjudgment is reduced, and the measurement accuracy is improved.

[0057] In a second aspect, the application provides a profile steel contour size measurement device, which adopts the following technical scheme:

[0058] A profile steel contour size measurement device includes:

[0059] A first acquisition module is configured to acquire a plurality of first sub-contours collected by a plurality of laser profilers based on a surround-type multi-laser profiler.

[0060] A coordinate conversion module is configured to perform coordinate conversion processing on a plurality of first sub-contours to convert each first sub-contour to a system coordinate system, and combine a plurality of first sub-contours in the system coordinate system to obtain a first profile steel cross-sectional contour.

[0061] The second acquisition module is configured to acquire an overlapping area between different first sub-profiles based on the first profile of the section of the steel, divide the first sub-profile corresponding to the overlapping area into an overlapping segment and a reserved segment respectively, and eliminate the overlapping segments of the overlapping area and generate a second sub-profile corresponding to the overlapping area.

[0062] The size measurement module is configured to obtain a target profile of the section of the steel based on the reserved segments and the second sub-profiles, and acquire profile size information corresponding to the current steel based on the target profile of the section of the steel.

[0063] In a third aspect, the present application provides an electronic device, which adopts the technical scheme as follows.

[0064] An electronic device includes a processor and a memory, and the processor is coupled to the memory.

[0065] The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of the first aspect.

[0066] In a fourth aspect, the present application provides a computer readable storage medium, which adopts the technical scheme as follows.

[0067] A computer readable storage medium includes a computer program or instructions, when the computer program or instructions are run on a computer, so that the computer executes the method according to any one of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0068] Figure 1 FIG. 1 is a flowchart of a profile measurement method of a section of a steel according to an embodiment of the present application.

[0069] Figure 2 FIG. 3 is a schematic diagram of a surrounding multi-laser profilometer arrangement according to an embodiment of the present application.

[0070] Figure 3 FIG. 4 is a schematic diagram of each first sub-profile according to an embodiment of the present application.

[0071] Figure 4 FIG. 5 is a schematic diagram of a first profile of a section of a steel according to an embodiment of the present application.

[0072] Figure 5 FIG. 6 is a schematic diagram of a target profile of a section of a steel according to an embodiment of the present application.

[0073] Figure 6 FIG. 7 is a schematic diagram of the intersection of a horizontal straight line and an angle steel profile according to an embodiment of the present application.

[0074] Figure 7 This is a schematic diagram of the side structural lines and structural vertices in the profile of an angle steel section according to one embodiment of this application.

[0075] Figure 8 This is a schematic diagram of the left width of the cross-sectional profile of an angle steel according to one embodiment of this application.

[0076] Figure 9 This is a schematic diagram of the left-hand thickness in the cross-sectional profile of an angle steel according to one embodiment of this application.

[0077] Figure 10 This is a schematic diagram of the drift at the end of the contour line in one embodiment of this application.

[0078] Figure 11 This is a schematic diagram of the overlapping area of ​​one embodiment of this application.

[0079] Figure 12 This is a structural block diagram of a steel profile dimension measuring device according to one embodiment of this application.

[0080] Figure 13 This is a structural block diagram of an electronic device according to one embodiment of this application. Detailed Implementation

[0081] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0082] The present application will be further described in detail below with reference to the accompanying drawings.

[0083] This application provides a method for measuring the outline dimensions of structural steel. This method can be executed by a device, which can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, desktop computer, etc., but is not limited to these.

[0084] like Figure 1 As shown, a method for measuring the profile dimensions of steel sections, using electronic equipment as the execution subject, is described in its main process flow as follows (steps S101 to S104):

[0085] Step S101: Based on the surround multi-laser profilometer, acquire the first sub-contour collected by each of the multiple laser profilometers.

[0086] For small size and relatively simple shape of the section steel (such as flat steel, angle steel), the ring type multi-laser profiler composed of 4 laser profilers can cover the field of view, for large size or complex cross-sectional shape of the section steel (such as channel steel, H-shaped steel), the ring type multi-laser profiler composed of 6 to 8 laser profilers can cover the field of view. As shown in Figure 2 and Figure 3 In the embodiment, the ring type multi-laser profiler can adopt the layout of 8 laser profilers to measure the profile of the section steel, and the 8 laser profilers can include a first laser profiler, a second laser profiler, a third laser profiler, a fourth laser profiler, a fifth laser profiler, a sixth laser profiler, a seventh laser profiler and an eighth laser profiler. The section steel can be hot angle steel, channel steel or H-shaped steel, etc. Each laser profiler emits linear laser and collects reflected light, and the original point cloud can be generated by the light strip center extraction algorithm (such as Steger method) to form the initial profile segment in the local coordinate system, i.e. the first sub-profile, Figure 3 The correspondence between each laser profiler and the first sub-profile generated by each laser profiler is shown.

[0087] In the embodiment, the laser scanning frequency of the laser profiler can be not less than 1000Hz, and the point cloud density can be not less than 1 point / mm2. The multiple laser profilers are respectively installed according to the preset angle, so that the acquisition range of the ring type multi-laser profiler can cover the whole surface of the section steel.

[0088] Step S102: performing coordinate conversion processing on the multiple first sub-profiles to convert each first sub-profile into a system coordinate system; and merging the multiple first sub-profiles in the system coordinate system to obtain a first section steel profile.

[0089] In the embodiment, when synthesizing the section steel profiles collected by multiple laser profilers, the coordinate system of each laser profiler relative to the system center needs to be determined first, so as to perform coordinate system conversion, and then merge the first sub-profiles collected by each laser profiler into the common system coordinate system. As shown in Figure 2 and Figure 4 The current type of section steel is angle steel.

[0090] In the embodiment, the conversion matrix Ti=[Ri∣ti] (including rotation matrix Ri and translation vector ti) of each laser profiler to the system coordinate system can be established by the four-ball calibration device (the centers of the balls are not coplanar), so as to eliminate the installation pose deviation. Then, the point cloud Plocal corresponding to the first sub-profile is transformed to the system coordinate system, i.e. Pglobal=Ri·Plocal+ti. The point clouds corresponding to the converted first sub-profiles are superimposed according to the spatial position, and the first section steel profile corresponding to the angle steel, Figure 4 is generated.

[0091] Step S103: Based on the profile of the first steel section, obtain the overlapping areas between different first sub-profiles, and divide the first sub-profiles corresponding to the overlapping areas into overlapping segments and retained segments respectively. The overlapping area is the area where multiple first sub-profiles overlap each other in space. For each overlapping area, eliminate multiple overlapping segments of the overlapping area and generate the second sub-profile corresponding to the overlapping area.

[0092] When multiple laser profilometers are arranged around a steel profile, the scanning fields of adjacent laser profilometers overlap to ensure that the steel profile surface is not covered by blind spots. This overlap results in multiple profiling points at the same location. If direct measurement is performed, multiple intersection points will be captured simultaneously, making it impossible to determine the effective boundary point and increasing the dimensional measurement error. For example, when eight laser profilometers are arranged at a 45-degree angle, the overlap rate of the fields of view of adjacent laser profilometers can reach 15% to 30%.

[0093] By eliminating redundant sub-contours, i.e. overlapping segments, in overlapping areas, the transformation from multi-source data redundancy to a single reliable contour is achieved, providing an underlying guarantee for the accuracy, efficiency, and reliability of online detection of steel profile dimensions.

[0094] Step S104: Based on the multiple reserved segments and the multiple second sub-profiles, obtain the target steel section profile, and based on the target steel section profile, obtain the profile size information corresponding to the current steel section.

[0095] In this embodiment, the first sub-profile (i.e., the retained segment) connecting all non-overlapping areas, the complete first sub-profile without overlapping areas, and the second sub-profile form a single continuous target steel section profile. For example... Figure 5 As shown, Figure 5 The target steel section profile is obtained after eliminating redundant overlapping segments in the overlapping area.

[0096] Based on the target steel section profile, the dimensions of the steel profile are measured. The electronic device has a preset mapping relationship between the steel type corresponding to the current steel and the dimension measurement points. For example, if the current steel type is angle steel, the dimension measurement points can include the left width, right width, left thickness, and right thickness; if the current steel type is channel steel, the dimension measurement points can include the top width, left leg width, right leg width, left leg thickness, right leg thickness, and middle thickness.

[0097] In this embodiment, obtaining the contour dimension information corresponding to the current steel section based on the target steel section contour specifically includes the following processing:

[0098] In the preset area corresponding to the target section profile of the section steel, a plurality of horizontal straight lines are created at the same interval, and the most outer intersection point of each horizontal straight line and the target section profile of the section steel is obtained;

[0099] The most outer intersection points on different sides of the target section profile of the section steel are respectively fitted with straight lines to obtain two side structure lines corresponding to the target section profile of the section steel;

[0100] Based on the included angle between the two side structure lines and the horizontal axis in the system coordinate system, the rotation angle of the target section profile of the section steel is obtained, and the target section profile of the section steel is rotated based on the rotation angle to obtain a rotated target section profile of the section steel;

[0101] A plurality of size acquisition points corresponding to the current section steel are obtained, and the profile size information corresponding to each size acquisition point in the rotated target section profile of the section steel is obtained.

[0102] In this embodiment, the highest point and the lowest point corresponding to the target section profile of the section steel are extracted, and a preset area between the highest point and the lowest point is obtained. In the preset area, N horizontal straight lines can be created at the same interval, and the most outer intersection point of each horizontal straight line and the target section profile of the section steel is obtained. In a specific area defined by the target section profile of the section steel, a plurality of horizontal straight lines are drawn at a certain interval (for example, every certain distance). These horizontal straight lines act as reference lines for intersecting with the section profile of the section steel. By calculating the intersection point of each horizontal straight line and the section profile of the section steel, especially the most outer intersection point, the key points of the section profile at different height positions can be obtained. These key points can reflect the shape characteristics of the section steel at different horizontal positions, and provide basic data for further size measurement and profile analysis.

[0103] Transportation vibration can cause the section steel to tilt instantaneously. If horizontal lines are generated in the whole area, the horizontal lines may only intersect with a single flange or two points on the same leg, and cannot fit effective side structure lines. The "side line" fitted by the single-side intersection point is parallel to the actual section steel axis (not the true boundary), which leads to invalid rotation angle calculation in the subsequent process.

[0104] By setting a preset area, the horizontal line can be forced to pass through the left-right symmetry axis of the section steel. The horizontal line intersects with the left and right flanges / legs respectively in the area, ensuring that the intersection points belong to different sides. The preset area avoids deformation-prone areas (such as channel leg ends), and the horizontal line can still pass through the left and right structures even if it shakes in the stable area.

[0105] By uniformly creating horizontal straight lines in the preset area and obtaining intersection points, the positions of the section steel profile can be fully and uniformly covered, so that the profile shape of the section steel can be more accurately captured.

[0106] In this embodiment, after obtaining the outermost intersection points of each horizontal straight line and the target section profile of the steel, these intersection points are grouped according to the side they are on, such as the left and right sides. Then, a mathematical fitting method such as the least squares method is used to fit a straight line for each group of intersection points. These two straight lines represent the two side structure lines of the target section profile of the steel. In this way, the complex target section profile of the steel can be simplified into two straight lines with clear geometric relationships, facilitating subsequent size measurement and angle calculation.

[0107] By simplifying the complex target section profile of the steel into two side structure lines, the complexity of subsequent processing is greatly reduced, making size measurement and angle calculation more intuitive and efficient. By fitting straight lines, the geometric characteristics of the side of the steel can be more accurately described, reducing measurement errors caused by irregularities in the profile, thereby improving the accuracy of size measurement.

[0108] The angles between the two side structure lines and the horizontal axis in the system coordinate system are calculated. Under normal circumstances, these two angles will be positive and negative, respectively, indicating the degree of inclination of the two sides relative to the horizontal direction. The average of these two angles is taken as the positive angle. Then, according to this positive angle, the entire target section profile of the steel is rotated around its center point, completing the positive rotation of the target section profile of the steel, and the target section profile of the steel reaches a standard attitude, facilitating subsequent size measurement and further analysis. It is easy to understand that the positive and negative signs represent the direction of the angle, and when the steel is in a standard attitude, the two angles are equal, and the average of the two angles is 0, i.e. the positive angle is 0.

[0109] After rotating the section profile of the steel, the measurement reference can be unified, allowing different direction target section profiles of the steel to be measured in the same coordinate system, improving the standardization of measurement. By calculating the angles and rotating, the angle deviation of the target section profile of the steel can be effectively corrected, reducing the size measurement error caused by the angle inclination, and improving the accuracy of the measurement results.

[0110] At specific positions of the steel (i.e. size collection points), according to actual measurement requirements, the profile size information related to these points is obtained. In the rotated target section profile of the steel, the distances between these size collection points, the projection lengths or other geometric relationships are calculated to obtain the corresponding profile size information. These profile size information can directly reflect the geometric characteristics of the steel, and are important basis for steel quality detection and production control.

[0111] In this embodiment, the size measurement is carried out on the basis of the corrected profile, which can ensure the accuracy of the measurement, avoid the size error caused by the inclination or angle deviation of the profile, and provide reliable data support for the quality control of the profile steel. It can also adapt to different types of profile steel and various size measurement requirements, has good universality and flexibility, and can meet the diversified measurement requirements in actual production.

[0112] The profile size information of the size collection point in the corrected target profile steel cross-section profile can include:

[0113] As shown in Figures 6 to 9 , when the type of profile steel is angle steel, the intersection point of each horizontal straight line and the outermost side of the target profile steel cross-section profile (i.e., the red intersection point in Figure 6 ) can be obtained, and these intersection points can be grouped according to the side (e.g., left side and right side) where they are located, to obtain two side edge structure lines. The corresponding two side edge structure lines intersect at a point, which is the structural vertex of the angle steel (i.e., the red intersection point in Figure 7 ). After the target profile steel cross-section profile is corrected, the angle steel edge width and the angle steel edge thickness can be measured. Taking the measurement of the left edge width as an example, the target profile steel cross-section profile is turned to the side edge horizontal state, and a horizontal line is drawn upward at a specified distance, the part of the target profile steel cross-section profile below the horizontal line is cut off, and the horizontal projection length of the cut-off part is calculated, which is the left edge width. Taking the measurement of the left edge thickness as an example, a vertical line is drawn based on the above-mentioned extracted side edge structure line, and the offset distance of the vertical line from the structural vertex is specified, then the vertical line intersects the target profile steel cross-section profile at two points, and the distance between the two points is the left edge thickness.

[0114] When the type of profile steel is channel steel, a horizontal straight line is drawn from the profile vertex in the corrected target profile steel cross-section profile, and the intersection point of the horizontal straight line and the corrected side edge structure line is the two structural vertices of the channel steel; another horizontal straight line is drawn from the profile bottom end of the corrected target profile steel cross-section profile, and the intersection point of the horizontal straight line and the corrected side edge structure line is the two structural bottom end points of the channel steel. After the target profile steel cross-section profile is corrected, the channel steel top width, channel steel leg width, channel steel leg thickness, and channel steel intermediate thickness can be measured. The distance between the two structural vertices of the channel steel is the channel steel top width; taking the measurement of the left leg width as an example, the corrected target profile steel cross-section profile is turned to the side edge horizontal state, a horizontal line is drawn upward at a specified distance, the part of the target profile steel cross-section profile below the horizontal line is cut off, and the horizontal projection length of the cut-off part is calculated, which is the left leg width; taking the measurement of the left leg thickness as an example, a vertical line is drawn based on the above-mentioned extracted left side edge structure line, and the offset distance of the vertical line from the structural bottom end point is specified, then the vertical line intersects the profile at two points, and the distance between the two points is the left leg thickness; a vertical line is drawn at the center of the line connecting the two structural vertices, then the vertical line intersects the profile at two points, and the distance between the two points is the channel steel intermediate thickness.

[0115] In this embodiment, a preset region corresponding to the target section steel profile is obtained, including:

[0116] A convex hull algorithm is run on all discrete points of the target section steel profile to obtain a convex hull vertex set.

[0117] If the type of the current section steel is angle steel, the two points farthest apart in the convex hull vertices are determined as the top flange vertex and the bottom flange vertex, respectively.

[0118] If the type of the section steel is channel steel, the highest point in the uppermost ten percent range is taken as the top flange vertex and the lowest point is taken as the bottom flange vertex along the profile height direction.

[0119] If the type of the section steel is H-shaped steel, the left and right lateral coordinate extreme points are taken, and the longitudinal coordinate extreme points are combined to form the top flange vertex and the bottom flange vertex.

[0120] Based on the section steel parameter library, the theoretical flange width and the total profile height of the current section steel type are queried.

[0121] A horizontal interval is generated by symmetrically expanding in the horizontal coordinate direction with the top flange vertex as the center according to the theoretical flange width, and a vertical interval is generated with the longitudinal coordinate range of the bottom flange vertex and the top flange vertex, which together form a rectangular preset region. Channel steel and H-shaped steel generate corresponding rectangular preset regions according to their respective horizontal coordinate extreme values and longitudinal coordinate expansion ratios.

[0122] The rectangular preset region is output as the preset region, so that all subsequent horizontal straight lines are generated only in this region.

[0123] Running the convex hull algorithm on all discrete points of the target section steel profile, it is easy to understand that the convex hull algorithm is a computational geometry method used to find the smallest convex polygon that can contain all given points. By running the convex hull algorithm, a convex hull vertex set can be obtained, which defines the outer boundary of the section steel profile.

[0124] In this embodiment, the convex hull algorithm can quickly extract the key geometric feature points of the section steel profile, providing a basis for further analysis and processing. The convex hull vertex set can simplify complex section steel profiles, making them more efficient and intuitive in subsequent processing.

[0125] When the type of the profile steel is angle steel, the two points farthest apart from the set of convex hull vertices are found. These two points represent the top flange vertex and the bottom flange vertex of the angle steel, respectively. Due to the relatively simple geometry of angle steel, its flange vertices are usually located at the two farthest endpoints of the contour, so they can be quickly determined in this way. This enables quick positioning of the flange vertices of the angle steel, providing clear reference points for subsequent size measurement and contour analysis. It can be applied to angle steels of different sizes, with good adaptability and versatility.

[0126] When the type of the profile steel is channel steel, the highest point in the upper 10% range along the height direction of the contour is taken as the top flange vertex, and the lowest point is taken as the bottom flange vertex. The flange vertices of channel steel are usually located at the top and bottom of its contour, so the structural feature points of channel steel can be determined.

[0127] Determining the flange vertices by limiting the highest and lowest points within a certain range can more accurately reflect the actual structural features of channel steel. This enables stable operation on channel steels of different sizes and shapes, with strong robustness.

[0128] When the type of the profile steel is H-shaped steel, first find the extreme points of the horizontal coordinates on the left and right sides of the convex hull, then combine the extreme points of the vertical coordinates to determine the top flange vertex and the bottom flange vertex. The flange vertices of H-shaped steel are usually located at the left and right sides and the top and bottom of its contour, so the structural feature points of H-shaped steel can be determined.

[0129] According to the type of the current profile steel, query the corresponding theoretical flange width and total contour height in the profile steel parameter library preset in the electronic device. The profile steel parameter library is a database that stores standard parameters of different types of profile steel. By querying, the theoretical size information of the profile steel can be obtained, providing a reference for subsequent measurement and analysis. Theoretical size information can help more accurately perform contour analysis and size measurement, reducing errors.

[0130] Centered on the top flange vertex, a horizontal interval is generated by symmetrically expanding in the horizontal coordinate direction according to the theoretical flange width. At the same time, the vertical interval is generated by the vertical coordinate range of the bottom flange vertex and the top flange vertex. The two intervals together form a rectangular preset area. For channel steel and H-shaped steel, the corresponding rectangular preset area is generated according to the respective horizontal coordinate extreme value and vertical coordinate expansion ratio. By generating a rectangular preset area, the generation range of subsequent horizontal straight lines can be limited, avoiding unnecessary calculations and improving measurement efficiency.

[0131] The generated rectangular preset area is output, and the generation of all subsequent horizontal straight lines will be limited to this area. By limiting the generation range of horizontal straight lines, unnecessary calculations can be reduced, improving measurement efficiency. Ensuring that the intersection point calculation of the horizontal straight line and the target profile steel cross-section contour is performed within the preset area can reduce errors caused by excessive range.

[0132] In this embodiment, as shown in Figure 10 the end of the profile will drift, in order to solve the drift problem, before the coordinate transformation processing of the plurality of first sub-profiles, further comprising:

[0133] Based on the current section steel type, the section steel type corresponding to the basic cutting point number and the first profile correction strategy are obtained;

[0134] For each first sub-profile, according to the acquisition parameters of the laser profiler for generating the first sub-profile, the target cutting point number corresponding to the basic cutting point number is dynamically calculated, and the acquisition parameters include laser wavelength, sampling frequency and incident angle;

[0135] For each first sub-profile, based on the target cutting point number, the end of the first sub-profile is cut to obtain the cut first sub-profile;

[0136] For each cut first sub-profile, based on the first profile correction strategy, the drift point in the cut first sub-profile is corrected to obtain the corrected first sub-profile, and the coordinate transformation processing is performed based on the corrected first sub-profile.

[0137] In this embodiment, before the profile correction, first, according to the type of the current section steel (such as angle steel, channel steel, H-shaped steel, etc.), the basic cutting point number and the first profile correction strategy corresponding to the type of the section steel are obtained from the section steel parameter library preset in the electronic device. The basic cutting point number is a basic value preset according to different section steel types, which is used for subsequent dynamic adjustment. The first profile correction strategy includes curvature threshold, correction weight and other parameters, which are optimized according to the geometric characteristics of the section steel and the measurement requirements.

[0138] According to different correction strategies for different section steel types, the profile problem of specific section steel can be more effectively handled. By cutting and correcting the drift points at the end of the profile, the measurement error is reduced, and the accuracy and reliability of the measurement are improved.

[0139] For each first sub-profile, the acquisition parameters of the laser profiler for generating the sub-profile are obtained, including laser wavelength, sampling frequency and incident angle. According to these parameters, the target cutting point number is dynamically calculated. The specific formula for calculating the target cutting point number can be represented as:

[0140]

[0141] Wherein, is the target cutting point number, is the basic cutting point number, is the sampling frequency of the laser profiler, an incident angle of the laser profilometer, a laser wavelength of the laser profilometer, , , a coefficient determined through a calibration experiment, for example, may be 0.002, may be 0.1, may be 0.003.

[0142] In this embodiment, the target number of cutting points is dynamically adjusted according to the specific parameters of the laser profilometer, which can better adapt to the drift under different measurement conditions. It can flexibly cope with the changes of different laser profilometer parameters, and improve the robustness and adaptability of the system.

[0143] According to the target cutting point number calculated dynamically, the end of each first sub-profile is cut. Thus, the drift points that may exist at the end of the profile can be removed, which are prone to cause measurement errors due to being at the junction of light and dark. The profile obtained after cutting is more stable and reliable, providing a better basis for subsequent correction and coordinate conversion processing. By cutting the points at the end of the profile, the measurement error caused by end drift is effectively reduced.

[0144] For each cut first sub-profile, based on the corresponding first profile correction strategy, the following drift point correction steps can be performed on the cut first sub-profile: calculate the curvature of each profile point, if the curvature exceeds the preset threshold value related to the type of steel, mark the point as a candidate drift point; based on the collaborative verification of multiple laser profilometers, project the candidate drift point into the coordinate system of the adjacent laser profilometer through coordinate transformation, if the three-dimensional Euclidean distance between the projected point and the actual point in the adjacent laser profilometer exceeds the preset threshold value, confirm that the point is a drift point; for each confirmed drift point, calculate the local tangent vector of its adjacent effective point, and generate a correction point in the direction of the vector to replace the original drift point.

[0145] Specifically, the curvature of each profile point can be represented as:

[0146]

[0147] wherein, is the curvature, is the change in angle between point i and its adjacent points, is the distance between adjacent points. If the curvature of a point exceeds the preset threshold value related to the type of steel (for example, the threshold value of an angle steel is 0.25, the threshold value of a channel steel is 0.18, and the threshold value of an H-shaped steel is 0.20), the point is marked as a candidate drift point.

[0148] In this embodiment, the coordinate transformation matrix can be used to project the candidate point Projecting into the coordinate system of the adjacent laser profiler, a projection point is obtained Then, a three-dimensional Euclidean distance between the projection point and the actual point of the adjacent laser profiler is calculated If it exceeds a preset threshold (for example, the threshold can be 1mm), it is confirmed that the point is a drift point.

[0149] For each confirmed drift point, its adjacent valid points and are found, and a local tangent vector is calculated. Then, a new correction point is generated in the direction of the tangent vector, and the original drift point is replaced with the new correction point.

[0150] In this embodiment, by calculating the curvature, the possible drift points can be identified, providing a basis for subsequent verification and correction. Through the cooperative verification of multiple laser profilers, the misjudgment rate can be effectively reduced, and the accuracy of drift point identification can be improved. By generating a correction point along the tangent vector, the gradient continuity of the profile can be maintained, avoiding the profile rupture problem caused by directly deleting the drift point, and improving the accuracy of the profile and the reliability of the measurement.

[0151] In this embodiment, the target section steel cross-sectional profile is obtained based on the plurality of reserved segments and the plurality of second sub-profiles, comprising:

[0152] connecting the plurality of reserved segments and the plurality of second sub-profiles to obtain a second section steel cross-sectional profile;

[0153] based on the type of section steel, dividing a plurality of temperature monitoring areas corresponding to the second section steel cross-sectional profile, and obtaining a plurality of temperature monitoring strategies corresponding to each of the plurality of temperature monitoring areas, the temperature monitoring strategy comprising a plurality of temperature monitoring points;

[0154] for each temperature monitoring point, obtaining current temperature data corresponding to the temperature monitoring point, and based on the current temperature data, obtaining a first compensation position corresponding to the temperature monitoring point after deformation;

[0155] for each temperature monitoring point, based on the current temperature data, obtaining a temperature partition corresponding to the temperature monitoring point and a compensation weight corresponding to the temperature partition;

[0156] for each temperature monitoring point, based on the compensation weight corresponding to the temperature monitoring point, the first compensation position is weighted calculated to obtain a second compensation position corresponding to the temperature monitoring point;

[0157] According to the second compensation position corresponding to each temperature monitoring point, a position compensation is performed on the second section profile of the section steel to obtain a target section profile of the section steel.

[0158] After the cutting and correction, the remaining reserved segments and the second sub-profiles corresponding to the original overlapping areas are connected according to their actual positions on the section steel. Specifically, according to the coordinate information of each sub-profile, a complete section profile of the section steel is spliced to form a second section profile of the section steel. The integrity of the section profile of the section steel is ensured, and an accurate basis is provided for subsequent temperature compensation and size measurement.

[0159] According to the type of the section steel (such as angle steel, channel steel, H-shaped steel, etc.), a plurality of temperature monitoring regions and a plurality of temperature monitoring strategies corresponding to the temperature monitoring regions are obtained on the second section profile of the section steel. The temperature monitoring strategy defines the number and position of the temperature monitoring points in the corresponding region, which are used to monitor the temperature change of the section steel in different regions in real time. Thus, according to the characteristics of different types of section steel, the temperature monitoring regions and the temperature monitoring strategies can be reasonably divided to ensure the comprehensiveness and accuracy of temperature monitoring.

[0160] For each temperature monitoring point, real-time temperature data is obtained. According to the temperature data, in combination with the thermal expansion model of the section steel, the deformation of the temperature monitoring point under high temperature is calculated, and the first compensation position corresponding to the deformation is determined. Thus, by obtaining the temperature data in real time, the temperature change of the section steel can be captured in time, and the timeliness and accuracy of the compensation are ensured.

[0161] For each temperature monitoring point, according to the current temperature data, the temperature partition to which the temperature monitoring point belongs is determined. Each temperature partition corresponds to a compensation weight, which is used to adjust the degree of temperature compensation. The compensation weight is preset according to the temperature range of the temperature partition and the thermal expansion characteristics of the section steel. Through the temperature partition, the temperature monitoring points can be classified and managed, and the complexity of the compensation process is simplified. According to the compensation weight corresponding to the temperature partition, the compensation degree can be flexibly adjusted to improve the adaptability and accuracy of the compensation.

[0162] For each temperature monitoring point, according to the compensation weight corresponding thereto, a weighted calculation is performed on the first compensation position corresponding to the deformation. Specifically, the first compensation position is multiplied by the compensation weight to obtain the second compensation position corresponding to the temperature monitoring point. Through the weighted calculation, the influence of the temperature partition is considered comprehensively, and a more accurate compensation position can be obtained.

[0163] According to the second compensation position corresponding to each temperature monitoring point, the second section profile of the section steel is subjected to position compensation processing. Specifically, each point in the second section profile of the section steel is adjusted according to the corresponding compensation position, and finally the section profile of the section steel after position compensation, that is, the target section profile of the section steel, is obtained. Through the position compensation processing, the influence of high temperature on the section profile of the section steel is reduced, and the accuracy of the subsequent size measurement result is improved.

[0164] As shown in Figure 11 As an optional implementation in the present embodiment, based on the first section profile of the section steel, the overlapping regions between different first sub-profiles are obtained, the first sub-profiles corresponding to the overlapping regions are respectively divided into overlapping segments and reserved segments, and the overlapping regions are regions in which the first sub-profiles overlap each other in space. For each overlapping region, the overlapping segments of the overlapping region are eliminated, and a second sub-profile corresponding to the overlapping region is generated, including:

[0165] For each two-dimensional point on the current first sub-profile, the Euclidean point distance between the two-dimensional point and the corresponding multiple pairing points is obtained, and there is one pairing point on each other first sub-profile.

[0166] For each Euclidean point distance, if the Euclidean point distance is less than a point distance threshold, the two-dimensional point and the pairing point corresponding to the Euclidean point distance are taken as an overlapping point pair.

[0167] Based on the multiple overlapping point pairs, the overlapping region is obtained, for each first sub-profile, the profile segment of the first sub-profile located in the overlapping region is taken as the overlapping segment, and the profile segment of the first sub-profile located outside the overlapping region is taken as the reserved segment. The midpoints between the multiple overlapping point pairs corresponding to the overlapping region are calculated, the multiple midpoints are connected to generate the second sub-profile, the overlapping segment corresponding to the overlapping region is removed, and the second sub-profile is taken as the profile corresponding to the overlapping region.

[0168] On each first sub-profile, for each two-dimensional point, the Euclidean distance between the point and the corresponding pairing point on the other first sub-profile is calculated. The pairing point refers to the point on the other first sub-profile that corresponds to the current two-dimensional point in spatial position. By calculating the Euclidean distance between these points, it can be determined which points are close to each other in space, thereby identifying possible overlapping regions.

[0169] For each calculated Euclidean distance, if the distance is less than a preset point distance threshold, it is considered that the corresponding two-dimensional point and the pairing point are overlapping, and they are marked as an overlapping point pair. The point distance threshold is a preset value for determining whether two points are close enough to be considered overlapping.

[0170] The screening by the point distance threshold can effectively distinguish the real overlapping points from the non-overlapping points, and reduce the misjudgment. Only the points that are really close to each other are identified as the overlapping points, and the accuracy of the identification of the overlapping region is improved.

[0171] The midpoints between the multiple overlapping point pairs in the overlapping region are calculated. Then, the midpoints are connected to generate a new second sub-contour. Finally, the first sub-contour corresponding to the overlapping region is removed, and the generated second sub-contour is taken as the final contour of the overlapping region. The new second sub-contour generated by the connection of the midpoints can effectively eliminate the influence of the overlapping region, and improve the accuracy of the contour.

[0172] For each overlapping region, if two or more first sub-contours overlap together, a two-by-two calculation mode can be adopted, that is, a new sub-contour a is calculated by overlapping segment 1 and overlapping segment 2, and a new sub-contour b is calculated by overlapping segment a and overlapping segment 3, and the new sub-contour b can be taken as the second sub-contour.

[0173] As another optional implementation of the embodiment, in addition to the overlapping of the scanning fields of the adjacent laser profilers causing the overlapping regions between the first sub-contours, when there are coordinate system conversion errors, surface defect interferences of the section steel, section defect interferences or thermal jitter, etc., the overlapping regions can be formed. Specifically, when the independent coordinate systems of the laser profilers are converted to the system coordinate system, the calibration errors (such as rotation matrix deviation ±0.1°) can make the same physical point be mapped to multiple position points in the system coordinate system, and form virtual overlapping.

[0174] The surface defect interferences can include the interferences of the hot rolling oxide scale and rust, and the interferences of surface defects such as scabs and bubbles. The oxide scale is easy to cause the fluctuation of the laser reflectivity, and the point cloud depth values collected by different laser profilers at the same position are different. The scabs and bubbles make the profile of the section steel locally protrude or recess, and the multiple laser profilers can capture different sides of the defects and generate non-coincident point clouds.

[0175] The section defect interferences can include the edge collapse of the channel steel and the vertex curvature of the angle steel. When the edge of the channel steel collapses, the deformation of the leg end can cause the actual profile to deviate from the theoretical straight line, and the fitting results of the edge collapse region by different angle laser profilers can have systematic deviation. When the vertex arc transition region of the angle steel is fitted, the positions of the connection points of the straight line segment and the arc segment are inconsistent, and multiple points can be coincident.

[0176] The thermal jitter can include the jitter and vibration of the section steel during transmission. The vibration of the hot rolling production line can cause the section steel to displace at the moment of scanning, and the point cloud spatial positions are offset when the same section is collected by multiple lasers at different times, and dynamic overlapping can be formed.

[0177] In the first type steel section profile, the overlapping regions between different first sub-profiles are obtained, the first sub-profiles corresponding to the overlapping regions are respectively divided into overlapping segments and reserved segments, and the overlapping regions are regions in which the first sub-profiles overlap each other in space; for each overlapping region, the multiple overlapping segments of the overlapping region are eliminated, and a second sub-profile corresponding to the overlapping region is generated.

[0178] The formation reason of the overlapping region can be identified by analyzing the characteristics and measurement data of the overlapping region. For example, the spot reflection intensity data of all laser profilers at the current time, the temperature field distribution data of the steel section, and the production line vibration spectrum data are synchronously collected. Specifically, it includes: point cloud spatial distribution, Euclidean point distance set of each sub-profile, which is used to analyze the spatial distribution uniformity of the point cloud; reflection intensity time series data, reflection intensity value collected by each laser profiler in real time, which is used to calculate the weighted average reflection intensity; temperature field distribution, temperature gradient of the steel section obtained by an infrared thermal imager, which is used to identify thermal dithering and surface defects; vibration spectrum, frequency and amplitude of production line vibration collected by an IMU sensor, which is used to identify thermal dithering type overlap. Based on the collected data, the standard deviation of the position of the overlapping point cloud is calculated, if the standard deviation <0.1mm, it can be considered that the overlapping region is formed by the field of view intersection type overlap; the coefficient of variation of the weighted average reflection intensity is calculated, if the coefficient of variation >30%, it can be considered that the overlapping region is formed by the scale interference; the ratio of the maximum curvature to the average curvature is calculated, if the maximum curvature >3 average curvature, it can be considered that the overlapping region is formed by the surface defect; the correlation coefficient of the vibration frequency and the point cloud offset is calculated, if the absolute value of the correlation coefficient >0.8, it can be considered that the overlapping region is formed by thermal dithering.

[0179] The electronic device is preconfigured with a mapping relationship between the formation reason of the overlapping region and the processing path for eliminating the redundant overlapping segments in the overlapping region. In this optional embodiment, if the overlapping of the scanning fields of view of adjacent laser profilers causes the overlapping region between the first sub-profiles, the first type steel section profile is obtained, the overlapping regions between different first sub-profiles are obtained, the first sub-profiles corresponding to the overlapping regions are respectively divided into overlapping segments and reserved segments, and the overlapping regions are regions in which the first sub-profiles overlap each other in space; for each overlapping region, the multiple overlapping segments of the overlapping region are eliminated, and a second sub-profile corresponding to the overlapping region is generated, specifically including:

[0180] For each two-dimensional point on the current first sub-profile, the Euclidean point distance between the two-dimensional point and the corresponding multiple pairing points is obtained, and each other first sub-profile has a pairing point;

[0181] For each of the Euclidean point distances, if the Euclidean point distance is less than a point distance threshold, the two-dimensional point corresponding to the Euclidean point distance and the paired point are taken as an overlapping point pair;

[0182] Based on the plurality of overlapping point pairs, the overlapping region is obtained. For each of the first sub-contours, a contour segment of the first sub-contour located in the overlapping region is taken as an overlapping segment, and a contour segment of the first sub-contour located outside the overlapping region is taken as a reserved segment.

[0183] The overlapping segments falling into the overlapping region are classified by shape. The shape classification includes straight line segments, circular arc segments, and other shape segments. The overlapping segments that are straight line segments or circular arc segments and are located in a user feature table are marked as feature regions, and the overlapping segments that are other shape segments or are not located in the user feature table are marked as non-feature regions. The user feature table includes a channel steel leg thickness region and an angle steel bending point.

[0184] For each of the non-feature regions, a plurality of midpoints between the overlapping point pairs corresponding to the non-feature region are calculated, a plurality of the midpoints are connected, a second sub-contour is generated, the overlapping segment corresponding to the non-feature region is removed, and the second sub-contour is taken as a contour corresponding to the non-feature region.

[0185] For each of the feature regions, if the shape classification corresponding to the feature region is a straight line segment, a first straight line equation and a second straight line equation are fitted, and a first intersection point between the first straight line equation and the second straight line equation is obtained. If the shape classification corresponding to the feature region is a circular arc segment, a third straight line equation and a circle equation are fitted, and a second intersection point between the third straight line equation and the circle equation is obtained.

[0186] For each of the feature regions, based on the first intersection point or the second intersection point, a plurality of overlapping point pairs corresponding to the feature region are replaced, a second sub-contour corresponding to the feature region is formed, the overlapping segment corresponding to the feature region is removed, and the second sub-contour is taken as a contour corresponding to the feature region.

[0187] According to the identified overlapping point pairs, the overlapping region is determined. Then, the overlapping segments falling into the overlapping region are classified by shape. The shape classification includes straight line segments, circular arc segments, and other shape segments. Through the shape classification, different geometric features in the overlapping region can be identified, providing detailed geometric information for subsequent processing. According to different shape features, different processing strategies can be adopted, improving the pertinence and effectiveness of processing.

[0188] According to the predefined feature table, if the overlapping segment in the overlapping area is a straight line segment or a circular arc segment and is located in the feature table (such as the thick area of the leg of a channel steel and the bending point of an angle steel), the overlapping segment can be marked as a feature area. Other shape segments or overlapping segments not located in the feature table can be marked as non-feature areas. By distinguishing through the feature table, the key feature areas can be clearly identified, different processing strategies are adopted for the feature areas and the non-feature areas, and the pertinence and accuracy of processing are improved.

[0189] For each non-feature area, the midpoints between a plurality of overlapping point pairs in the overlapping area are calculated. Then, the midpoints are connected to generate a new second sub-contour. Finally, the overlapping segment corresponding to the non-feature area is removed, and the generated second sub-contour is taken as the final contour of the non-feature area.

[0190] For each feature area, different processing can be performed according to the shape classification, for example:

[0191] If the shape classification of the feature area is a straight line segment, two straight line equations (a first straight line equation and a second straight line equation) are fitted, and the intersection point (a first intersection point) of the two straight lines is calculated; if the shape classification of the feature area is a circular arc segment, a straight line equation (a third straight line equation) and a circle equation are fitted, and the intersection point (a second intersection point) of the straight line and the circle is calculated. By fitting the straight line equation and the circle equation, the geometric points in the feature area can be accurately determined, and the accuracy of processing is improved.

[0192] For each feature area, the first intersection point or the second intersection point obtained in the previous step is used to replace a plurality of overlapping point pairs in the feature area, to generate a new second sub-contour. Then, the overlapping segment corresponding to the feature area is removed, and the generated second sub-contour is taken as the final contour of the feature area. By replacing the overlapping point pairs with the key geometric points, a more accurate contour can be generated, and the accuracy of the contour is improved.

[0193] In the embodiment, before the two-dimensional point and the paired point corresponding to the Euclidean distance are taken as the overlapping point pair, if the Euclidean distance is less than the point distance threshold, the two-dimensional point and the paired point are also taken as the overlapping point pair.

[0194] The spot reflection intensity data of all laser profilers at the current time is synchronously collected, and the weight is determined based on the cosine of the angle between each laser profiler and the axis of the profile steel, and the weighted average reflection intensity is calculated;

[0195] Based on the weighted average reflection intensity and the standard deviation of the background noise of all laser profilers, the system-level signal-to-noise ratio is calculated;

[0196] In the preset feature response database, the composite correction factor is calculated with the profile steel surface material category, the environmental illumination level, and the production line vibration amplitude as the matching dimensions;

[0197] Based on the system-level signal-to-noise ratio and the composite correction factor, the point distance threshold corresponding to the initial threshold is dynamically calculated.

[0198] Before performing the overlapping point pair identification, first synchronize the acquisition of the current time spot reflection intensity data of all laser profilers. The reflection intensity data of each laser profiler reflects the light intensity information of its measurement point. In order to comprehensively consider the influence of the measurement angle of different laser profilers on the reflection intensity, the weight is determined based on the cosine value of the angle between each laser profiler and the axis of the profiled steel. Specifically, the smaller the angle, the greater the weight, because a smaller angle usually means a more direct reflection, and the reflection intensity is more reliable. Then, the weighted average reflection intensity is obtained by calculating the weighted average of the reflection intensity of all laser profilers according to these weights. By determining the weight through the cosine of the angle, the influence of different measurement angles on the reflection intensity can be considered comprehensively, and the accuracy of the reflection intensity calculation is improved.

[0199] Using the weighted average reflection intensity calculated in the previous step, combined with the background noise standard deviation of all laser profilers, the system-level signal-to-noise ratio (SNR) is calculated. The background noise standard deviation reflects the noise level in the measurement environment, while the weighted average reflection intensity represents the strength of the signal. The system-level signal-to-noise ratio is the ratio of signal strength to noise level, and is used to evaluate the overall performance of the measurement system. The system-level signal-to-noise ratio can evaluate the overall performance of the measurement system, providing a basis for subsequent threshold adjustment. By considering the background noise standard deviation, the influence of noise on the measurement result can be effectively suppressed, and the reliability of the measurement is improved.

[0200] In the preset feature response database, according to the three dimensions of profiled steel surface material category, environmental illumination level and production line vibration amplitude, the feature response data matching the current measurement condition is searched. Based on these data, a composite correction factor is calculated. The composite correction factor is used to adjust the initial threshold to adapt to different measurement conditions. For example, different material categories may have different effects on reflection intensity, environmental illumination level will affect the clarity of the spot, and production line vibration amplitude may affect the stability of the measurement. Through the composite correction factor, the threshold can be dynamically adjusted according to different measurement conditions, improving the adaptability and robustness of the method. Using the preset feature response database, the matching correction factor can be quickly found, improving the calculation efficiency.

[0201] According to the calculated system-level signal-to-noise ratio and the composite correction factor, the initial threshold value is dynamically adjusted to obtain the final point distance threshold value. The initial threshold value is a preset value used to determine whether two points are close enough to be considered as overlapping. Through the adjustment of the system-level signal-to-noise ratio and the composite correction factor, the threshold value can be dynamically optimized according to the current measurement conditions and environmental factors, so that it can more accurately reflect the actual overlapping situation. Therefore, the point distance threshold value is dynamically adjusted according to the system-level signal-to-noise ratio and the composite correction factor, which can adapt to different measurement conditions and improve the accuracy of overlapping point pair identification. By dynamically adjusting the threshold value, overlapping point pairs can be more accurately identified, reducing the possibility of misjudgment and improving the measurement accuracy.

[0202] Based on the same technical concept, the application also provides a profile size measuring device for a section steel, as shown in the drawings, which mainly comprises: Figure 12

[0203] The first acquisition module 201 is configured to acquire a plurality of first sub-profiles collected by a plurality of laser profilers based on a surround-type multi-laser profiler.

[0204] The coordinate conversion module 202 is configured to perform coordinate conversion processing on the plurality of first sub-profiles to convert each of the first sub-profiles into a system coordinate system, and combine the plurality of first sub-profiles in the system coordinate system to obtain a first section steel profile.

[0205] The second acquisition module 203 is configured to acquire overlapping regions between different first sub-profiles based on the first section steel profile, divide the first sub-profiles corresponding to the overlapping regions into overlapping segments and reserved segments respectively, and eliminate the overlapping segments of the overlapping regions for each overlapping region and generate a second sub-profile corresponding to the overlapping region.

[0206] The size measuring module 204 is configured to obtain a target section steel profile based on the plurality of reserved segments and the plurality of second sub-profiles, and acquire profile size information corresponding to a current section steel based on the target section steel profile.

[0207] ​In one example, the module in any of the above devices may be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0208] For example, when modules in a device can be implemented via a processing element scheduler, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling programs. Alternatively, these modules can be integrated together as a system-on-a-chip (SOC).

[0209] In this application, various objects such as messages / information / devices / network elements / systems / apparatus / actions / operations / processes / concepts may be named. It is understood that these specific names do not constitute a limitation on the relevant objects. The names may be changed depending on the scenario, context, or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from their functions and technical effects embodied / performed in the technical solution.

[0210] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0211] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0212] Based on the same technical concept, this application also provides an electronic device, such as... Figure 13 As shown, the electronic device 300 includes a processor 301 and a memory 302, and may further include one or more of an information input / output (I / O) interface 303, a communication component 304, and a communication bus 305.

[0213] The processor 301 is configured to control overall operations of the electronic device 300 to complete all or part of the steps of the profile size measurement method of the profiled steel described above. The memory 302 is configured to store various types of data to support the operations of the electronic device 300. The data can include, for example, instructions for any application or method operating on the electronic device 300, and application-related data. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as one or more of a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk, or an optical disk.

[0214] The I / O interface 303 provides an interface between the processor 301 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 304 is configured to test wired or wireless communication between the electronic device 300 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include a Wi-Fi component, a Bluetooth component, and an NFC component.

[0215] The communication bus 305 can include a path for transmitting information between the above-mentioned components. The communication bus 305 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 can be divided into an address bus, a data bus, a control bus, etc.

[0216] The electronic device 300 can be implemented with one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the profile dimension measurement method of the shaped steel according to the above-described embodiments.

[0217] The electronic device 300 can include, but is not limited to, a mobile terminal of a digital broadcasting receiver, a PDA (Personal Digital Assistant), a PMP (Portable Multimedia Player), and the like, and a stationary terminal such as a digital TV, a desktop computer, and the like, and can also be a server or the like.

[0218] Based on the same technical concept, the present application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the profile dimension measurement method of the shaped steel.

[0219] The computer-readable storage medium can include a U disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like, which are various media capable of storing program codes.

[0220] The terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles, or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such processes, methods, articles, or devices.

[0221] In addition, the terms "first", "second", and the like are used only for the purpose of description, and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, and the like, unless otherwise explicitly and specifically limited.

[0222] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0223] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A method of measuring the profile dimensions of a section bar, characterized by, The method comprises the following steps: Based on the surround multi-laser profiler, a plurality of first sub-profiles collected by each of the multi-laser profilers are obtained; Coordinate conversion processing is performed on the plurality of first sub-profiles to convert each of the first sub-profiles into a system coordinate system; and the plurality of first sub-profiles in the system coordinate system are merged to obtain a first section profile of a section steel; Based on the first section profile of the section steel, an overlapping region between different first sub-profiles is obtained, the first sub-profile corresponding to the overlapping region is divided into an overlapping segment and a reserved segment respectively, and the overlapping region is a region in which the plurality of first sub-profiles overlap with each other in space; for each overlapping region, the plurality of overlapping segments of the overlapping region are eliminated, and a second sub-profile corresponding to the overlapping region is generated; Based on the plurality of reserved segments and the plurality of second sub-profiles, a target section profile of a section steel is obtained, and based on the target section profile of the section steel, profile size information corresponding to a current section steel is obtained; The profile size information corresponding to the current section steel is obtained based on the target section profile of the section steel, which comprises the following steps: a plurality of horizontal straight lines are created at the same interval in a preset region corresponding to the target section profile of the section steel, and an outermost intersection point between each horizontal straight line and the target section profile of the section steel is obtained; a plurality of straight lines are fitted respectively based on a plurality of outermost intersection points on different sides in the target section profile of the section steel to obtain two side structure lines corresponding to the target section profile of the section steel; an angle of rotation of the target section profile of the section steel is obtained based on an included angle between the two side structure lines and a horizontal axis in the system coordinate system, and the target section profile of the section steel is rotated based on the angle of rotation to obtain a rotated target section profile of the section steel; a plurality of size collection points corresponding to the current section steel are obtained, and the profile size information corresponding to each size collection point in the rotated target section profile of the section steel is obtained.

2. The method of claim 1, wherein, The preset region corresponding to the target section profile of the section steel is obtained, which comprises the following steps: Convex hull algorithm is run on all discrete points of the target section profile of the section steel to obtain a convex hull vertex set; If the type of the current section steel is angle steel, the two points farthest apart in the convex hull vertex set are determined as a top flange vertex and a bottom flange vertex respectively; If the type of the section steel is channel steel, the highest point in the uppermost ten percent range in the profile height direction is taken as a top flange vertex, and the lowest point is taken as a bottom flange vertex; If the type of the section steel is H-shaped steel, the left and right lateral coordinate extreme points of the convex hull are taken, and the vertical coordinate extreme points are combined to form a top flange vertex and a bottom flange vertex; Based on a section steel parameter library, a theoretical flange width and a total profile height of the current section steel type are queried; A horizontal interval is generated by symmetrically expanding in the lateral coordinate direction with the top flange vertex as the center according to the theoretical flange width, and a vertical interval is generated with the vertical coordinate range of the bottom flange vertex and the top flange vertex, which together form a rectangular preset region; the channel steel and the H-shaped steel generate corresponding rectangular preset regions according to the respective lateral coordinate extreme values and the vertical coordinate expansion ratio; The rectangular preset region is output as the preset region, so that all subsequent horizontal straight lines are generated only in this region.

3. The method of claim 1, wherein, Before the coordinate conversion processing is performed on the plurality of first sub-profiles, the method further comprises: Based on the type of the current profile steel, the base cutting point number corresponding to the type of the profile steel and the first profile correction strategy are obtained; For each of the first sub-profiles, the target cutting point number corresponding to the base cutting point number is dynamically calculated according to the acquisition parameters of the laser profilometer for generating the first sub-profile, the acquisition parameters including laser wavelength, sampling frequency and incident angle; For each of the first sub-profiles, the end part of the first sub-profile is cut based on the target cutting point number to obtain a cut first sub-profile; For each of the cut first sub-profiles, the drift points in the cut first sub-profile are corrected based on the first profile correction strategy to obtain a corrected first sub-profile, so that the coordinate conversion processing is performed based on the corrected first sub-profile.

4. The method of claim 3, wherein, The target profile steel section profile is obtained based on the plurality of retained segments and the plurality of second sub-profiles, comprising: The plurality of retained segments and the plurality of second sub-profiles are connected to obtain a second profile steel section profile; Based on the type of the profile steel, a plurality of temperature monitoring areas corresponding to the second profile steel section profile are divided, and a plurality of temperature monitoring strategies corresponding to the plurality of temperature monitoring areas are obtained, the temperature monitoring strategies including a plurality of temperature monitoring points; For each of the temperature monitoring points, the current temperature data corresponding to the temperature monitoring point is obtained, and based on the current temperature data, the first compensation position corresponding to the temperature monitoring point after deformation is obtained; For each of the temperature monitoring points, the temperature partition corresponding to the temperature monitoring point and the compensation weight corresponding to the temperature partition are obtained based on the current temperature data; For each of the temperature monitoring points, the first compensation position is weighted calculated based on the compensation weight corresponding to the temperature monitoring point to obtain the second compensation position corresponding to the temperature monitoring point; Based on the second compensation position corresponding to each of the temperature monitoring points, a position compensation processing is performed on the second profile steel section profile, and the profile steel section profile obtained after the position compensation is taken as the target profile steel section profile.

5. The method of claim 4, wherein, Based on the first profile steel section profile, the overlapping areas between different first sub-profiles are obtained, the first sub-profiles corresponding to the overlapping areas are divided into overlapping segments and retained segments respectively, and the overlapping areas are areas where the plurality of first sub-profiles overlap in space; for each overlapping area, the plurality of overlapping segments of the overlapping area are eliminated, and a second sub-profile corresponding to the overlapping area is generated, comprising: For each two-dimensional point on the current first sub-profile, the Euclidean point distance between the two-dimensional point and the corresponding plurality of paired points is obtained, and each other first sub-profile has a paired point; For each of the Euclidean point distances, if the Euclidean point distance is less than a point distance threshold, the two-dimensional point and the paired point corresponding to the Euclidean point distance are taken as an overlapping point pair. Based on the plurality of overlapping point pairs, the overlapping region is obtained, for each of the first sub-outline, the profile segment of the first sub-outline located in the overlapping region is taken as the overlapping segment, and the profile segment of the first sub-outline located outside the overlapping region is taken as the reserved segment; The shape classification of the overlapping segment falling into the overlapping region is performed, the shape classification includes a straight line segment, a circular arc segment and other shape segments; the overlapping segment which is a straight line segment or a circular arc segment and is located in a user feature table is marked as a feature area, and the overlapping segment which is other shape segments or is not located in the user feature table is marked as a non-feature area, the user feature table includes a channel steel leg thickness area and an angle steel bending point; For each of the non-feature area, the midpoint between the plurality of overlapping point pairs corresponding to the non-feature area is calculated, a plurality of midpoints are connected to generate the second sub-outline, and the overlapping segment corresponding to the non-feature area is removed, and the second sub-outline is taken as the profile corresponding to the non-feature area; For each of the feature area, if the shape classification corresponding to the feature area is a straight line segment, a first straight line equation and a second straight line equation are fitted to obtain a first intersection point between the first straight line equation and the second straight line equation; if the shape classification corresponding to the feature area is a circular arc segment, a third straight line equation and a circle equation are fitted to obtain a second intersection point between the third straight line equation and the circle equation; For each of the feature area, based on the first intersection point or the second intersection point, the plurality of overlapping point pairs corresponding to the feature area are replaced to form the second sub-outline corresponding to the feature area, and the overlapping segment corresponding to the feature area is removed, and the second sub-outline is taken as the profile corresponding to the feature area.

6. The method of claim 5, wherein, Before the for each of the Euclidean point distance, if the Euclidean point distance is less than a point distance threshold, the two-dimensional point and the paired point corresponding to the Euclidean point distance are taken as the overlapping point pair, further comprising: Synchronously collecting the spot reflection intensity data of all laser profilers at the current time, and determining the weight based on the cosine of the angle between each laser profiler and the axis of the steel profile, and calculating the weighted average reflection intensity; Based on the weighted average reflection intensity and the background noise standard deviation of all laser profilers, the system-level signal-to-noise ratio is calculated; In the preset feature response database, taking the steel profile surface material category, the environment illumination level and the production line vibration amplitude as the matching dimensions, a composite correction factor is calculated; Based on the system-level signal-to-noise ratio and the composite correction factor, the point distance threshold corresponding to the initial threshold is dynamically calculated.

7. A measuring device for use in the method of measuring the dimensions of a profile of a section steel according to any one of claims 1 to 6, characterized in that Comprising, The first acquisition module is used for acquiring a plurality of first sub-outlines collected by a plurality of laser profilers based on a surround type multi-laser profiler; The coordinate conversion module is used for performing coordinate conversion processing on a plurality of the first sub-outlines to convert each of the first sub-outlines into a system coordinate system; and merging a plurality of the first sub-outlines in the system coordinate system to obtain a first steel profile section outline; The second acquisition module is configured to acquire overlapping areas between different first sub-profiles based on the first profile of the section steel, divide the first sub-profiles corresponding to the overlapping areas into overlapping segments and reserved segments respectively, and the overlapping areas are areas in which the first sub-profiles overlap with each other in space; for each overlapping area, the overlapping segments of the overlapping area are eliminated, and a second sub-profile corresponding to the overlapping area is generated; The size measurement module is configured to obtain a target profile of a section steel based on the reserved segments and the second sub-profiles, and acquire profile size information corresponding to a current section steel based on the target profile of the section steel.

8. An electronic device, comprising: The electronic device comprises a processor and a memory, and the processor is coupled to the memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer program or instructions, when executed on a computer, cause the computer to perform the method according to any one of claims 1 to 6.

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