Steel bar size measuring method, system, equipment and medium

Abstract

The invention relates to a steel bar size measurement method, system and device and a medium, and relates to the technical field of steel bar measurement, and the method comprises the steps: detecting the dynamic pressure distribution data of the top surface of a steel bar, and determining a contact mode and determining the three-dimensional coordinate of the highest point according to the data; generating a pan-tilt angle adjustment instruction based on the contact mode and the coordinates, and vertically aligning the optical axis of the camera with the steel bar axis and avoiding shielding; and triggering the camera to acquire an optimized image after the reinforcement is positioned on the detection bearing platform, selecting an image processing algorithm according to a contact mode, extracting a main reinforcement contour in combination with a reinforcement parameter database, and calculating reinforcement diameter dimension parameters. According to the invention, the interference of reinforcement ribs can be reduced, and the efficiency and accuracy of reinforcement dimension detection are improved.

Description

TECHNICAL FIELD

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

[0002] As the core material in construction engineering, the accurate measurement of the geometric parameters such as the diameter and rib of steel bars directly affects the quality of components and construction safety. With the rapid development of the construction industry, the application range of steel bars continues to expand, and the requirements for their size detection are also increasing. From traditional manual detection to modern automation technology, steel bar detection methods have undergone significant progress. However, with the improvement of construction standards, the requirements for detection accuracy and efficiency are also increasing, and the traditional method gradually exposes its limitations, and more accurate and reliable detection technology is needed to meet the industry demand.

[0003] Currently, for steel bar size detection, the industry mainly uses manual detection and automated detection. Manual detection usually uses vernier calipers, gauges and other tools, which is simple to operate but low in efficiency and easily affected by human factors. Automated detection relies more on machine vision technology, which captures the surface of the steel bar through a camera and extracts the contour features to achieve it. Specifically, the steel bar needs to be placed in a fixed device first to ensure its stable position; then the camera captures the surface of the steel bar from multiple angles to obtain image data containing rib and main bar information; then the contour features of the steel bar are extracted through image processing algorithms, such as main bar edge and rib distribution information.

[0004] However, the existing technology has obvious defects in dealing with the complex transverse and longitudinal rib structures on the surface of the steel bar. Because the rib structure on the surface of the steel bar can easily interfere with the measurement system, it will cause distortion of the contour extraction, thereby affecting the final measurement accuracy. This problem is particularly prominent under high-precision detection requirements, and has become a key problem restricting the further development of steel bar size detection technology. SUMMARY

[0005] The present application aims to provide a steel bar size measurement method that can reduce the interference of steel bar ribs and improve the efficiency and accuracy of steel bar size detection.

[0006] In the first aspect, the present application provides a steel bar size measurement method, which adopts the following technical solution: A steel bar size measurement method, comprising: obtaining steel bar top surface dynamic pressure distribution data detected by a pressure sensor array in a mechanical arm clamping piece top groove; judging the contact mode of the steel bar top surface based on the spatial gradient features of the pressure distribution data, and determining the three-dimensional position coordinates of the highest points of the steel bar top, the contact mode including a transverse rib mode and a longitudinal rib mode; Generate a gimbal angle adjustment instruction of the platform camera according to the contact mode and the highest point position, so that the camera optical axis is perpendicular to the steel bar axis and avoids the occlusion area formed by the highest point of the rib; When the steel bar is fixed in the cap beam groove, trigger the corresponding camera to collect the angle-optimized steel bar image; Based on the contact mode, dynamically select an image processing algorithm, and extract the main rib profile from the steel bar image without rib interference in combination with the standard geometric features in the preset steel bar parameter database; Based on the main rib profile, calculate the steel bar diameter size parameter.

[0007] By adopting the above technical solutions, the dynamic pressure distribution data of the steel bar top surface is captured in real time, the spatial gradient features are combined to identify the transverse rib or longitudinal rib contact mode, the gimbal angle adjustment instruction is dynamically generated to avoid rib occlusion in advance, the image processing algorithm is adaptively selected based on the contact mode, the edge interference of the rib in the visual measurement is effectively reduced, and the main rib profile extraction accuracy is optimized through the multimodal data cooperation of the pressure sensing and visual detection.

[0008] In a preferred example, the application can be further configured to: based on the spatial gradient features of the pressure distribution data, determine the contact mode of the steel bar top surface, and determine the three-dimensional position coordinates of a plurality of highest point positions on the steel bar top, the contact mode including the transverse rib mode and the longitudinal rib mode, comprising: When a locally high-pressure area periodically distributed transversely in the pressure matrix is detected, and the matching degree between the interval of adjacent high-pressure areas and the standard transverse rib interval reaches a preset matching threshold, the transverse rib mode is determined; When a strip-shaped band extending continuously longitudinally beyond a preset pressure value is identified in the pressure matrix, and the error between the high-pressure band width and the standard longitudinal rib width is within a preset allowable range, the longitudinal rib mode is determined.

[0009] By adopting the above technical solutions, the transverse rib mode is accurately identified by using the transverse periodic high-pressure area features in the pressure matrix, the longitudinal rib mode is accurately determined by using the strip-shaped band features extending continuously longitudinally beyond the preset pressure value, and the reliability of the contact mode determination is improved in combination with the geometric feature matching mechanism of the standard parameter database.

[0010] In a preferred example, the application can be further configured to: generate a gimbal angle adjustment instruction of the platform camera according to the contact mode and the highest point position, so that the camera optical axis is perpendicular to the steel bar axis and avoids the occlusion area formed by the highest point of the rib, comprising: Based on the transverse rib interval parameter of the transverse rib mode in the standard steel bar parameter database, calculate the pitch angle compensation amount of the camera.

[0011] By adopting the technical scheme, the highest point of the transverse rib is actively avoided, and the integrity of the main rib profile in the collected image and the geometric feature definition are finally improved.

[0012] In a preferred example, the application can be further configured to: the step of calculating the steel bar diameter size parameter based on the main rib profile comprises: When the contact mode is the transverse rib mode, the pixel coordinates of the main rib profile are geometrically mapped with the standard diameter parameter to calculate a pixel scale conversion factor; According to the transverse rib height parameter h detected by the pressure sensor, a projection distortion compensation model is established, and the formula D=D p ·(1+k·h / H) is used, wherein D p is the pixel measurement value, k is a preset distortion coefficient, and H is the camera object distance; The compensated diameter measurement value D is output.

[0013] By adopting the technical scheme, the visual measurement distortion caused by the rib protrusion in the transverse rib mode is compensated, and the pixel coordinates are accurately converted into actual size parameters through geometric space mapping, so as to improve the diameter measurement accuracy of the transverse rib steel bar.

[0014] In a preferred example, the application can be further configured to: the step of calculating the steel bar diameter size parameter based on the main rib profile further comprises: The continuity of the transverse rib stripe distance is verified based on the edge gradient distribution, and a recalculation mechanism is triggered when the gradient mutation point exceeds a threshold value.

[0015] By adopting the technical scheme, if the transverse rib periodicity is destroyed, the recalculation mechanism is triggered in cooperation with the gradient mutation detection, the measurement efficiency is improved, and the anti-interference ability of the longitudinal rib steel bar diameter calculation is enhanced.

[0016] In a preferred example, the application can be further configured to: after the step of calculating the steel bar diameter size parameter based on the main rib profile, the application further comprises: The steel bar diameter under the image processing calculation of the unused contact mode of the steel bar is calculated, and the calculation results under the two contact modes are cross-verified; When the deviation rate of the transverse rib mode diameter D t and the longitudinal rib mode diameter D l exceeds a preset threshold value, the contact mode type is re-verified based on the pressure distribution data; The final diameter is calculated by using a weighted fusion formula, and the formula D final =w·D t +(1-w)·D l is used, wherein the weight w is determined by the pressure peak set distribution uniformity.

[0017] By adopting the above technical scheme, the cross verification mechanism of the double mode measurement results of the horizontal rib and the vertical rib is adopted, the contact mode rechecking is dynamically triggered through the deviation rate threshold, and then the accidental error of a single detection mode is reduced, and the measurement result stability and reliability under different working conditions are improved.

[0018] In a preferred example, the application can be further configured: the horizontal rib spacing parameter of the horizontal rib mode based on the standard steel bar parameter database, the step of calculating the pitch angle compensation amount of the camera, includes: According to the geometric relationship between the horizontal rib spacing parameter d and the camera field of view angle a, the compensation angle is calculated by the formula: Where R is the calibrated distance from the camera to the steel bar surface, and the optical axis center line after compensation is aligned with the horizontal rib gap center.

[0019] By adopting the above technical scheme, the image occlusion and projection distortion caused by the horizontal rib protrusion are reduced, the continuous and complete presentation of the main rib profile in the image is realized, and a high-precision data foundation is laid for subsequent visual measurement.

[0020] In a second aspect, the application provides a steel bar size measurement device, which adopts the following technical scheme: A steel bar size measurement device, comprising: A dynamic pressure sensing module: for acquiring the steel bar top surface dynamic pressure distribution data detected by the pressure sensor array in the top groove of the mechanical arm clamping piece; A pattern recognition and positioning module: for judging the steel bar top surface contact mode based on the spatial gradient features of the pressure distribution data, and determining the three-dimensional position coordinates of the highest point positions of the steel bar top, the contact mode including a horizontal rib mode and a vertical rib mode; An optical adjustment module: for generating a cloud angle adjustment instruction of the bearing platform camera according to the contact mode and the highest point position, so that the camera optical axis is perpendicular to the steel bar axis and avoids the occlusion area formed by the highest point of the rib; An image acquisition module: for triggering the corresponding camera to acquire the angle-optimized steel bar image when the steel bar is fixed in the bearing platform groove; an image processing module: for dynamically selecting an image processing algorithm based on the contact mode, and extracting the main rib profile without rib interference from the steel bar image in combination with the standard geometric features in the preset steel bar parameter database; A size solving module: for calculating the steel bar diameter size parameter based on the main rib profile.

[0021] In a third aspect, the application provides an electronic device, which adopts the following technical scheme: An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the steel bar size measurement method when executing the computer program.

[0022] In a fourth aspect, the present application provides a computer storage medium, such as the following technical solution: A computer readable storage medium stores a computer program, and the computer program implements the steps of the steel bar size measurement method when executed by a processor.

[0023] In summary, the present application has at least one of the following beneficial technical effects: 1. The present application detects the dynamic pressure distribution data of the top surface of the steel bar through the pressure sensor array, and judges the contact mode based on the spatial gradient characteristics, which can accurately identify the horizontal rib and longitudinal rib structure types of the steel bar, and avoid the judgment error caused by image interference as much as possible; 2. The present application adjusts the camera holder angle according to the contact mode and the highest point position, so that the camera optical axis is aligned with the steel bar axis and avoids the rib pattern shielding area in advance, improves the acquisition quality of the steel bar image, and improves the accuracy of the main reinforcement profile extraction; 3. The present application dynamically selects the appropriate measurement strategy by combining the pressure distribution data and the image processing algorithm, realizes the high-precision measurement of the steel bar diameter through the projection distortion compensation model or the magnification calculation formula, and solves the influence problem of the complex rib structure on the detection accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a flowchart of a steel bar size measurement method in one embodiment of the present application.

[0025] Figure 2 It is a flowchart of the sub-step of step S5 in one embodiment of the present application.

[0026] Figure 3 It is a flowchart of the sub-step of step S3 in one embodiment of the present application.

[0027] Figure 4 It is a flowchart of the sub-step of step S6 in one embodiment of the present application Figure 1 .

[0028] Figure 5 It is a flowchart of the sub-step of step S6 in one embodiment of the present application Figure 2 .

[0029] Figure 6 It is a flowchart of the step added after step S6 in one embodiment of the present application.

[0030] Figure 7is a sub-step flow chart of step S30 in one embodiment of the present application.

[0031] Figure 8 is a structural schematic diagram of a steel bar size measurement device in one embodiment of the present application.

[0032] Figure 9 is a principle block diagram of an electronic device in one embodiment of the present application.

[0033] Reference signs: 1, dynamic pressure sensing module; 2, pattern recognition and positioning module; 3, optical adjustment module; 4, image acquisition module; 5, image processing module; 6, size solving module. DETAILED DESCRIPTION

[0034] The following will be described in detail below with reference to the accompanying drawings. Figures 1-9 The present application will be further described in detail.

[0035] It should be noted that all data acquisition or all information acquisition or data acquisition actions in the present application are carried out in accordance with the corresponding data protection regulations and policies of the place of residence and with the authorization of the corresponding user.

[0036] Reference Figure 1 A steel bar size measurement method, specifically comprising: S1, acquiring steel bar top surface dynamic pressure distribution data detected by a pressure sensor array in a top groove of a mechanical arm gripper.

[0037] Specifically, the gripper of the mechanical arm includes top clamps and bottom clamps, which are horizontally arranged in two groups. The bottom of the top clamps and the top of the bottom clamps are provided with a plurality of grooves, and the grooves of the top clamps and the bottom clamps correspond one by one. The two groups of horizontally arranged top clamps and bottom clamps can clamp the steel bar and make the steel bar in a horizontal state. The top clamps and the bottom clamps are provided with a plurality of pressure sensor arrays inside the grooves, and are distributed in a ring shape, and use flexible piezoelectric film sensors.

[0038] When clamping the steel bar, the steel bar is embedded in the grooves of the upper and lower clamps, and the dynamic pressure generated by the contact between the surface rib of the steel bar and the inner wall of the groove is captured by the ring-shaped sensor array. The sensor array maps the radial pressure value of each ring element into a contact force distribution cloud diagram of the steel bar in the axial and circumferential directions, and marks the high pressure area and the low pressure area, wherein the high pressure area is the contact point between the rib top and the groove inner wall, and the low pressure area is the main rib or rib gap area.

[0039] Finally, the mechanical arm sends the steel bar to the associated groove of the pile cap, realizing the interaction of information.

[0040] S2, based on the spatial gradient feature of the pressure distribution data, judging the contact mode of the reinforcement top surface and determining the three-dimensional position coordinates of the highest points on the reinforcement top, the contact mode including the transverse rib mode and the longitudinal rib mode.

[0041] Specifically, the spatial gradient of the pressure data is calculated to obtain the transverse and longitudinal pressure change rates in this embodiment. If the gradient direction is perpendicular to the reinforcement axis and shows periodic fluctuations, it is determined as the transverse rib mode; if the gradient extends along the axis and is continuously distributed, it is the longitudinal rib mode. By finding the local maximum points in the pressure distribution, combined with the mapping of the sensor position to the three-dimensional coordinate system, the three-dimensional coordinates of the highest points on the reinforcement top are determined.

[0042] S3, generating a cloud angle adjustment instruction of the bearing platform camera according to the contact mode and the highest point position, so that the camera optical axis is perpendicular to the reinforcement axis and avoids the shielding area formed by the rib top.

[0043] Specifically, in the transverse rib mode, the cloud pitch angle is adjusted according to the axial position of the center point of the gap between adjacent transverse ribs to align the camera field of view center with the gap area and avoid rib top projection as much as possible; in the longitudinal rib mode, the longitudinal rib can be directly eliminated by longitudinal filtering without physical obstacle avoidance. By synchronously fusing the clamping piece coordinate system and the camera space calibration parameters, the angle amount that needs to be compensated by the optical axis is inversed through geometric projection, the camera is realized to shoot vertically to the reinforcement axis, the main reinforcement profile is completely in the lens, the rib protrusion is reduced to shield and interfere with the imaging area, and a higher complete reinforcement image is obtained.

[0044] S4, when the reinforcement is fixed in the bearing platform groove, the corresponding camera is triggered to collect the angle-optimized reinforcement image.

[0045] Specifically, when the mechanical arm completes the conveying action, the related instructions of completing the reinforcement conveying are sent, and at this time the camera shooting is automatically triggered. Since the camera has been adjusted to the optimized pose in advance, the camera further adopts the short exposure high frame rate mode to suppress mechanical vibration blur at this time, and collects a plurality of reinforcement images by eliminating rib shadow interference through multi-spectral fill light, completes a non-shielding and high-contrast reinforcement surface feature capture, and provides a non-distorted visual data source for subsequent main reinforcement profile extraction.

[0046] S5, dynamically selecting an image processing algorithm based on the contact mode, and extracting the main reinforcement profile without rib interference from the reinforcement image combined with the standard geometric features in the preset reinforcement parameter database.

[0047] Specifically, the customized image processing algorithm is called according to the contact mode, so that the image processing efficiency is improved in the case of confirming the horizontal rib dominance or the vertical rib dominance, the extraction error of the profile is controlled, and the anti-interference capability is improved. In the horizontal rib mode, in addition to the need to eliminate the interference of the horizontal rib, the interference of the parallel line segment of the outermost vertical rib needs to be eliminated, so that the outermost parallel line segment detected is guaranteed to be the profile of the main rib; in the vertical rib mode, the outermost parallel line segment after the horizontal rib interference is directly extracted as the diameter of the main rib.

[0048] S6, calculating the diameter size parameter of the steel bar based on the main rib profile.

[0049] Specifically, the extracted main rib profile is sub-pixel edge refined, and based on the camera calibration parameters, the straight line segment where the maximum parallel distance of the edges of the profile is located is measured as the diameter after the influence of the horizontal rib and the vertical rib is eliminated. The multi-modal data of pressure sensing and visual detection are cooperated to optimize the extraction precision of the main rib profile, suppress the measurement fluctuation caused by the rib interference, and realize high-precision steel bar size detection.

[0050] Reference Figure 2 Further, in one of the embodiments, step S5 is refined into the following sub-steps: S50, when the locally high-pressure area periodically distributed horizontally in the pressure matrix is detected, and the matching degree of the interval between adjacent high-pressure areas and the standard horizontal rib interval reaches a preset matching threshold, it is determined as the horizontal rib mode.

[0051] Specifically, in the horizontal rib mode determination, first, the steel bar surface contact pressure is captured in real time by the pressure sensor array, the local high-pressure area is identified by using a dynamically adjusted detection window, and after the isolated noise points are excluded, the horizontally distributed candidate high-pressure areas are screened out; then the interval distribution of these high-pressure areas is counted and compared with the preset standard interval parameter library of the horizontal rib, and if most of the interval errors are within the allowable range and present regular arrangement, it is determined as the horizontal rib mode.

[0052] S51, when the strip-shaped band extending continuously vertically in the pressure matrix and exceeding the preset pressure value is identified, and the error between the width of the high-pressure band and the standard vertical rib width is within the preset allowable range, it is determined as the vertical rib mode.

[0053] Specifically, in the vertical rib mode determination, by analyzing the strip-shaped band extending along the steel bar axis in the pressure matrix, first, the high-pressure band boundary is refined by interpolation according to the sensor data, and the width measurement precision is improved; if the deviation between the measured width and the standard vertical rib width is within the tolerance range and the high-pressure band is continuous without interruption, it is determined as the vertical rib mode.

[0054] In addition, reference Figure 3 Further, in one of the embodiments, step S3 is refined into the following sub-steps: S30. Based on the horizontal rib spacing parameters of the horizontal rib pattern in the standard steel reinforcement parameter database, calculate and obtain the camera's pitch angle compensation.

[0055] Specifically, based on the standard spacing ΔL of the transverse ribs and the camera installation height H, the pitch angle compensation θ = arctan(ΔL / (2H)) is initially calculated using a planar model to ensure that the center of the field of view initially covers the interrib area. Subsequently, the distribution of transverse rib vertices is detected in real time using pressure sensors, and the θ value is automatically fine-tuned until the high-pressure area is completely removed from the field of view, ensuring occlusion avoidance. Finally, the model parameters are calibrated in reverse based on the subsequent diameter measurement results to improve the integrity of the main reinforcement outline and the clarity of geometric features in the acquired rebar images.

[0056] In addition, refer to Figure 4 Furthermore, in one embodiment, step S6 is refined into the following sub-steps: S60. When the contact mode is the transverse rib mode, the pixel coordinates of the main rib contour are geometrically mapped to the standard diameter parameters, and the pixel scale conversion factor is calculated and obtained.

[0057] Specifically, in the transverse rib mode, standard reinforcing bars are horizontally fixed to the groove of the foundation, unobstructed images are captured, and the pixel width W of the main reinforcing bar outline is extracted. pixel_std Calculate S = D std / W pixel_std In actual testing, the pixel width W of the main rib contour in the current image is used as the basis. pixel Preliminary calculation of the uncompensated diameter measurement value D p =S×W pixel This serves as the benchmark value for subsequent distortion compensation.

[0058] S61. Based on the transverse rib height parameter h detected by the pressure sensor, establish a projection distortion compensation model using the formula: D = D p ·(1+k·h / H), where D p Here, k is the pixel measurement value, k is the preset distortion coefficient, and H is the camera object distance.

[0059] Specifically, since the protrusion of the transverse ribs causes perspective distortion in the outline of the main reinforcement bars in the image, a linear compensation model is established by combining the transverse rib height parameter h detected by the pressure sensor and the camera object distance H. Here, k is a preset distortion coefficient, obtained by fitting diameter error curves under different h / H ratios through experimental calibration. The transverse rib height parameter h is obtained by mapping the pressure distribution intensity to a pre-calibrated height-pressure relationship. The camera object distance H is the perpendicular distance from the optical center to the reinforcement bar axis.

[0060] S62, Output the compensated diameter measurement value D.

[0061] Specifically, the projection distortion compensation model quantifies the magnification effect of the transverse rib height on the diameter measurement, and the compensated diameter D can correct the profile expansion error caused by rib lifting.

[0062] Further, with reference to Figure 5 , further, in one embodiment, step S6 is refined into the following sub-steps: S63, verify the continuity of the transverse rib stripe spacing based on the edge gradient distribution, and trigger the recalculation mechanism when the gradient mutation point exceeds the threshold.

[0063] Specifically, if a local gradient mutation point is detected, in this embodiment, the gradient value drops or rises by more than a preset threshold, it is marked as an abnormal breakpoint; the proportion of the number of abnormal breakpoints to the total period of the transverse rib is counted, and if it exceeds the set threshold, in this embodiment, it is set to 10%, that is, it is determined that the transverse rib periodicity is destroyed. The destruction of the transverse rib periodicity may be caused by rust, dirt or imaging interference on the surface of the steel bar. At this time, the recalculation mechanism is triggered, that is, the pan-tilt angle is automatically adjusted to re-shoot the image and re-acquire the main bar size of the steel bar, enhancing the anti-interference ability of the longitudinal rib steel bar diameter calculation.

[0064] Further, with reference to Figure 6 , further, in one embodiment, after step S6, steps S64, S65 and S66 are added: S64, calculate the steel bar diameter under the image processing calculation of the unused contact mode of the steel bar, and cross-verify the calculation results under the two contact modes.

[0065] Specifically, after completing the main bar diameter calculation of the transverse rib or longitudinal rib mode, the image processing algorithm corresponding to the other unused contact mode is automatically called, such as performing additional profile extraction and diameter inversion of the longitudinal rib mode after completing the transverse rib mode calculation.

[0066] S65, when the deviation rate of the transverse rib mode diameter D t and the longitudinal rib mode diameter D l exceeds the preset threshold, re-verify the contact mode type based on the pressure distribution data.

[0067] Specifically, when the deviation rate δ = |D t -D l | / min(D t , D l ) of the transverse rib and longitudinal rib mode diameters exceeds the preset threshold, in this embodiment, it is set to 3%, the pressure sensor data is traced back, and the pressure distribution characteristics are re-analyzed. If the data is correct but the deviation still exceeds the limit, start the manual review process, thereby reducing the accidental error of a single detection mode and improving the stability and reliability of the measurement results under different working conditions.

[0068] S66, the final diameter is calculated by using a weighted fusion formula, through the formula: D final = w·D t + (1-w)·D l , wherein the weight w is determined by the pressure peak set distribution uniformity.

[0069] Specifically, based on the high-pressure area distribution uniformity detected by the pressure sensor, the stronger the periodicity of the high-pressure area of the transverse rib mode and the higher the continuity of the high-pressure band of the longitudinal rib mode, the greater the weight of the corresponding mode, and the weight w is calculated: , wherein the transverse rib weight is the coefficient of variation of the high-pressure area interval, which can be defined as the standard deviation or the mean, and the smaller the coefficient of variation, the greater w; the longitudinal rib weight is the consistency of the high-pressure band width, and the higher the consistency, the greater 1-w. The final diameter D final = w·D t + (1-w)·D l , and outputs the fused confidence interval report.

[0070] In addition, referring to Figure 7 , further, in one embodiment, step S30 is refined into the following sub-steps: S300, according to the geometric relationship between the transverse rib interval parameter d and the camera field of view angle a, the compensation angle is calculated and obtained, through the formula: , wherein R is the calibrated distance from the camera to the steel bar surface, and the optical axis center line after compensation is aligned with the transverse rib gap center.

[0071] Specifically, while verifying whether the adjusted coverage width meets the requirement of capturing at least two complete transverse rib gaps in a single shot by combining the camera field of view angle a, if not, the value of theta is scaled, and finally the basic alignment of the optical axis and the gap center is realized through the control of the holder, and the actual offset is dynamically calibrated through the high-pressure area position feedback of the pressure sensor, thereby improving the shielding avoidance effect.

[0072] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0073] The embodiments of the present application also provide a steel bar size measurement device which corresponds one-to-one to the steel bar size measurement method in the embodiments.

[0074] Referring to Figure 8 , a steel bar size measurement device includes:. The detailed description of each functional module is as follows: Dynamic pressure sensing module 1: for acquiring the steel bar top surface dynamic pressure distribution data detected by the pressure sensor array in the top groove of the mechanical arm clamping piece; The mode recognition and positioning module 2 is used to determine the contact mode of the reinforcement top surface and determine the three-dimensional position coordinates of the highest points of the reinforcement top based on the spatial gradient features of the pressure distribution data. The contact mode includes the horizontal rib mode and the vertical rib mode. The optical adjustment module 3 is used to generate the cloud angle adjustment instruction of the bearing platform camera according to the contact mode and the highest point position, so that the camera optical axis is perpendicular to the reinforcement axis and avoids the shielding area formed by the highest points of the ribs. The image acquisition module 4 is used to trigger the corresponding camera to acquire the angle-optimized reinforcement image when the reinforcement is fixed in the bearing platform groove. The image processing module 5 is used to dynamically select the image processing algorithm based on the contact mode, and extract the main reinforcement contour without rib interference from the reinforcement image in combination with the standard geometric features in the preset reinforcement parameter database. The size calculation module 6 is used to calculate the reinforcement diameter size parameter based on the main reinforcement contour.

[0075] The dynamic pressure sensing module 1 acquires the pressure distribution data of the reinforcement top surface. The mode recognition and positioning module 2 determines the contact mode of the horizontal rib or the vertical rib of the reinforcement and determines the three-dimensional position coordinates of the highest points of the reinforcement top according to the pressure distribution data. The optical adjustment module 3 generates the adjustment instruction according to the contact mode and the highest point position, so that the camera optical axis is aligned with the reinforcement axis and avoids the rib interference area, thereby improving the acquisition quality of the reinforcement image. The image acquisition module 4 acquires the reinforcement image after angle optimization. The image processing module 5 extracts the main reinforcement contour without rib interference in combination with the contact mode and the standard geometric features. Finally, the size calculation module 6 calculates the reinforcement diameter size parameter based on the main reinforcement contour. Through the joint of the modules, the rib interference of the reinforcement on the size detection is reduced, and the efficiency and measurement accuracy of the reinforcement size detection are improved.

[0076] The specific limitations of the reinforcement size measurement device can be referred to the limitations of the reinforcement size measurement method in the context, which will not be repeated here. The modules in the above reinforcement size measurement device can be realized by software, hardware and their combinations in whole or in part. The above modules can be embedded in or independent of the processor in the electronic device in hardware form, or can be stored in the memory of the electronic device in software form, so as to be called and executed by the processor. In one embodiment, an electronic device is provided, which is a user terminal. Referring to Figure 9The electronic device comprises a processor, a memory, a network interface and a database connected through a system bus. The processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the electronic device is configured to store a detection data table. The network interface of the electronic device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement a steel bar size measurement method.

[0077] In one embodiment, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program: S1, acquiring dynamic pressure distribution data of a steel bar top surface detected by a pressure sensor array in a top groove of a manipulator gripper.

[0078] S2, judging a steel bar top surface contact mode based on a spatial gradient feature of the pressure distribution data, and determining three-dimensional position coordinates of a plurality of steel bar top highest point positions, the contact mode including a horizontal rib mode and a vertical rib mode.

[0079] S3, generating a gimbal angle adjustment instruction of a cap camera according to the contact mode and the highest point position, so that the camera optical axis is perpendicular to the steel bar axis and avoids a shielding area formed by the highest point of the rib.

[0080] S4, triggering the corresponding camera to collect an angle-optimized steel bar image when the steel bar is fixed in the cap groove.

[0081] S5, dynamically selecting an image processing algorithm based on the contact mode, and extracting a main bar contour without rib interference from the steel bar image in combination with standard geometric features in a preset steel bar parameter database.

[0082] S6, calculating a steel bar diameter size parameter based on the main bar contour.

[0083] In one embodiment, the step S5 includes the following sub-steps: S50, when a locally high pressure area with a horizontal periodic distribution is detected in the pressure matrix, and the matching degree between the interval distance of adjacent high pressure areas and the standard horizontal rib interval distance reaches a preset matching threshold, the horizontal rib mode is determined.

[0084] S51, when a strip-shaped band extending continuously in a vertical direction and exceeding a preset pressure value is recognized in the pressure matrix, and the error between the high pressure band width and the standard vertical rib width is within a preset allowable range, the vertical rib mode is determined.

[0085] In one of the embodiments, the step S3 is refined into the following sub-steps: S30, based on the transverse rib spacing parameter of the transverse rib mode in the standard steel bar parameter database, calculate the pitch angle compensation of the camera.

[0086] In one of the embodiments, the step S6 is refined into the following sub-steps: S60, when the contact mode is the transverse rib mode, the pixel coordinates of the main rib profile are geometrically mapped with the standard diameter parameter to calculate the pixel scale conversion factor.

[0087] S61, according to the transverse rib height parameter h detected by the pressure sensor, a projection distortion compensation model is established, and the formula is: D=D p ·(1+k·h / H), wherein D p is the pixel measurement value, k is the preset distortion coefficient, and H is the camera object distance.

[0088] S62, output the compensated diameter measurement value D.

[0089] In one of the embodiments, the step S6 is refined into the following sub-steps: S63, based on the edge gradient distribution, verify the continuity of the transverse rib spacing, and trigger the recalculation mechanism when the gradient mutation point exceeds the threshold.

[0090] In one of the embodiments, the step S6 is added after the step S6: S64, calculate the steel bar diameter under the image processing calculation of the unused contact mode of the steel bar, and cross-verify the calculation results under the two contact modes.

[0091] S65, when the deviation rate of the transverse rib mode diameter D t and the longitudinal rib mode diameter D l exceeds the preset threshold, re-verify the contact mode type based on the pressure distribution data.

[0092] S66, calculate the final diameter by using the weighted fusion formula: D final =w·D t +(1-w)·D l , wherein the weight w is determined by the pressure peak set distribution uniformity.

[0093] In one of the embodiments, the step S30 is refined into the following sub-steps: S300, according to the geometric relationship between the transverse rib spacing parameter d and the camera field of view angle α, calculate the compensation angle, through the formula: wherein R is the calibrated distance from the camera to the steel bar surface, and the compensated optical axis center line is aligned with the transverse rib gap center.

[0094] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, storage, databases, or other media in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0095] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional units and modules is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above-described functions.

Claims

1. A method of measuring the size of a reinforcing bar, characterized by, The method comprises the following steps: Obtain the dynamic pressure distribution data of the top surface of the steel bar detected by the pressure sensor array in the top groove of the mechanical arm clamp; Determine the contact mode of the top surface of the steel bar based on the spatial gradient characteristics of the pressure distribution data, and determine the three-dimensional position coordinates of the highest point positions of the steel bars, wherein the contact mode includes a horizontal rib mode and a vertical rib mode; Generate a gimbal angle adjustment instruction for the platform camera based on the contact mode and the highest point positions, so that the optical axis of the camera is perpendicular to the axis of the steel bar and avoids the blocked area formed by the highest point of the rib; When the steel bar is fixed in the platform groove, trigger the corresponding camera to collect the angle-optimized steel bar image; Based on the contact mode, dynamically select an image processing algorithm, and extract the main rib profile without rib interference from the steel bar image by combining the standard geometric features in the preset steel bar parameter database; Calculate the diameter size parameter of the steel bar based on the main rib profile.

2. The method of claim 1, wherein, The step of determining the contact mode of the top surface of the steel bar based on the spatial gradient characteristics of the pressure distribution data, and determining the three-dimensional position coordinates of the highest point positions of the steel bars, wherein the contact mode includes a horizontal rib mode and a vertical rib mode, comprises the following steps: When a locally high-pressure area with a horizontal periodic distribution is detected in the pressure matrix, and the matching degree between the interval distance of adjacent high-pressure areas and the standard horizontal rib interval distance reaches a preset matching threshold, it is determined as a horizontal rib mode; When a strip-shaped band extending continuously in the vertical direction and exceeding a preset pressure value is identified in the pressure matrix, and the error between the width of the high-pressure band and the standard vertical rib width is within a preset allowable range, it is determined as a vertical rib mode.

3. The method of claim 2, wherein, The step of generating a gimbal angle adjustment instruction for the platform camera based on the contact mode and the highest point positions, so that the optical axis of the camera is perpendicular to the axis of the steel bar and avoids the blocked area formed by the highest point of the rib, comprises the following steps: Based on the horizontal rib interval distance parameter of the horizontal rib mode in the standard steel bar parameter database, calculate the pitch angle compensation amount of the camera.

4. The method of claim 3, wherein, The step of calculating the diameter size parameter of the steel bar based on the main rib profile, comprises the following steps: When the contact mode is a horizontal rib mode, perform geometric spatial mapping of the pixel coordinates of the main rib profile and the standard diameter parameter to calculate a pixel scale conversion factor; According to the horizontal rib height parameter h detected by the pressure sensor, a projection distortion compensation model is established, and the formula D=D p ·(1+k·h / H) is used, wherein D p is a pixel measurement value, k is a preset distortion coefficient, and H is a camera object distance; Output the compensated diameter measurement value D.

5. The method of claim 1, wherein, The step of calculating the diameter size parameter of the steel bar based on the main rib profile, further comprises the following steps: Based on the edge gradient distribution, verify the continuity of the horizontal rib stripe interval distance, and trigger a recalculation mechanism when the gradient mutation point exceeds a threshold.

6. The method of claim 1, wherein, After the step of calculating the diameter size parameter of the steel bar based on the main rib profile, further comprises the following steps: Calculate the diameter of the steel bar under the image processing calculation of the unused contact mode of the steel bar, and cross-verify the calculation results under the two contact modes; When the deviation rate of the transverse rib mode diameter D t from the longitudinal rib mode diameter D l exceeds a preset threshold, the contact mode type is re-verified based on the pressure distribution data; The final diameter is calculated using a weighted fusion formula, through the formula: D final = w · D t + (1 - w) · D l where the weight w is determined by the pressure peak set distribution uniformity calculation.

7. The method of claim 3, wherein, The step of calculating the pitch angle compensation amount of the camera based on the horizontal rib interval distance parameter of the horizontal rib mode in the standard steel bar parameter database, comprises the following steps: According to the geometric relationship between the horizontal rib interval distance parameter d and the camera field of view angle α, calculate the compensation angle through the formula: where R is the calibration distance from the camera to the surface of the steel bar, and the compensated optical axis center line is aligned with the horizontal rib gap center.

8. A rebar dimension measuring device characterized by, The method comprises the following steps: A dynamic pressure sensing module (1) is used to obtain the dynamic pressure distribution data of the top surface of the steel bar detected by the pressure sensor array in the top groove of the mechanical arm clamp; The mode recognition and positioning module (2) is configured to determine the contact mode of the top surface of the steel bar based on the spatial gradient features of the pressure distribution data, and determine the three-dimensional position coordinates of the highest points on the top of the steel bars, wherein the contact mode includes a horizontal rib mode and a vertical rib mode. The optical adjustment module (3) is configured to generate a cloud angle adjustment instruction of the platform camera according to the contact mode and the highest point position, so that the optical axis of the camera is perpendicular to the steel bar axis and avoids the shielding area formed by the highest points of the ribs. The image acquisition module (4) is configured to trigger the corresponding camera to collect the angle-optimized steel bar image when the steel bar is fixed in the deck groove. The image processing module (5) is configured to dynamically select an image processing algorithm based on the contact mode, and extract the main bar contour without rib interference from the steel bar image in combination with the standard geometric features in the preset steel bar parameter database. The size solving module (6) is configured to calculate the steel bar diameter size parameter based on the main bar contour.

9. An electronic device, comprising: The computer program capable of being loaded and executed by the processor to perform the steel bar size measurement method according to any one of claims 1 to 7 is stored on the memory.

10. A computer-readable storage medium, characterized in that, The computer program capable of being loaded and executed by the processor to perform the steel bar size measurement method according to any one of claims 1 to 7 is stored.

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