阅读说明：本技术 基于结构光的辊压机辊面重建装置和方法 (Roller press roller surface reconstruction device and method based on structured light ) 是由 辛斌杰 王益亮 兰宁 邓娜 严庆帅 于佳 周曦 江燕婷 李安琪 于 2019-09-17 设计创作，主要内容包括：本发明公开了基于结构光的辊压机辊面重建装置,包括控制辊压机运动的运动控制系统、用于投射光栅条纹的光栅投影装置和用于采集图像的图像采集模块,所述图像采集模块电连接有用于处理图像的计算机系统,本发明还公开了一种基于结构光的辊压机辊面重建方法,包括：通过运动控制系统控制辊压机在光封闭空间内运动；对辊压机表面投射编码光栅条纹,并通过图像采集装置获取投射光栅条纹之后的辊压机表面的形变条纹图；计算机系统根据所述形变条纹图获得被测辊压机表面的相位分布信息并计算得到高度信息,可快速且准确地重建辊压机辊面的的三维形态,对辊面破损情况进行实时监测,极大的提高了工作的效率,有效解决背景技术中的技术问题。(The invention discloses a roller press roller surface reconstruction device based on structured light, which comprises a motion control system for controlling the movement of a roller press, a grating projection device for projecting grating stripes and an image acquisition module for acquiring images, wherein the image acquisition module is electrically connected with a computer system for processing the images, and the invention also discloses a roller press roller surface reconstruction method based on the structured light, which comprises the following steps: controlling the roller press to move in the light closed space through a motion control system; projecting the encoded grating stripes on the surface of the roller press, and acquiring a deformation stripe image of the surface of the roller press after the grating stripes are projected through an image acquisition device; the computer system obtains the phase distribution information of the surface of the measured roller press according to the deformation stripe diagram and calculates to obtain height information, so that the three-dimensional form of the roller surface of the roller press can be quickly and accurately reconstructed, the damage condition of the roller surface is monitored in real time, the working efficiency is greatly improved, and the technical problem in the background technology is effectively solved.)

1. The roller surface reconstruction device of the roller press based on the structured light is characterized by comprising a motion control system for controlling the movement of the roller press, a grating projection device for projecting grating stripes and an image acquisition module for acquiring images, wherein the image acquisition module is electrically connected with a computer system for processing the images, the computer system comprises an image acquisition card for acquiring the images and an image processing and analyzing module for processing the images, and the motion control system, the grating projection device, the computer system and the roller press are all arranged in a light closed space.

2. The roller press roller surface reconstruction device based on structured light as claimed in claim 1, wherein the grating projection device comprises a projector and a camera, the projector is used for projecting grating stripes on the roller press, the camera is used for shooting images projected on the surface of the roller press, and the camera is electrically connected with the image acquisition module to transmit the shot images.

3. The roller surface reconstruction device of the roller press based on the structured light as claimed in claim 1, wherein the computer system comprises a CPU, a storage hard disk, an image acquisition card and a graphic processing analysis module, and the graphic processing analysis module comprises a phase extraction module and a height recovery module.

4. The roller surface reconstruction method of the roller press based on the structured light is characterized by comprising the following steps:

controlling the roller press to move in the light closed space through a motion control system;

projecting the encoded grating stripes on the surface of the roller press, and acquiring a deformation stripe image of the surface of the roller press after the grating stripes are projected through an image acquisition device;

the computer system obtains phase distribution information of the surface of the measured roller press according to the deformation stripe graph and calculates to obtain height information;

and converting the height information into point cloud data, and splicing the point clouds obtained by calculating a plurality of stripe patterns to obtain a complete three-dimensional shape of the roll surface of the roll squeezer so as to complete the reconstruction of the surface of the roll squeezer.

5. The method for reconstructing the roll surface of a roll squeezer based on structured light according to claim 4, wherein the encoded grating stripes are sinusoidal grating stripes with adjustable amplitude, phase and projection direction, and are generated by computer programming.

6. The method for reconstructing the roll surface of a roll squeezer based on structured light as claimed in claim 4, wherein said computer system obtains continuous phase distribution information of the measured roll surface from the deformed fringe pattern by a three-dimensional measurement method of active optical measurement, specifically a phase shift method.

7. The method for reconstructing the roll surface of the roll squeezer based on the structured light as claimed in claim 6, wherein the phase shift method specifically comprises obtaining folding phase information of a deformed fringe pattern, and unfolding the folding phase into a continuous phase distribution through a phase unfolding algorithm, wherein the phase shift method is a four-step phase shift method.

8. The roller surface reconstruction method based on structured light of claim 4, wherein the height information is calculated by the following steps:

and establishing a mapping relation between the phase and the height according to a mathematical model of the grating projection device, and correspondingly restoring the height information of the surface of the measured object according to the continuous phase information.

9. The method for reconstructing the roll surface of a roll squeezer based on structured light as claimed in claim 4, further comprising calibrating the camera and the projector, specifically calibrating the camera and the projector by a specific calibration object, and solving the internal parameters and the external parameters of the camera and the projector.

Technical Field

The invention relates to the technical field of computer vision three-dimensional reconstruction, in particular to a roller surface reconstruction device and method of a roller press based on structured light.

Background

A roller press is novel cement energy-saving grinding equipment developed in the middle of the international 80 s, and has the functions of replacing a ball mill pre-grinding system with high energy consumption and low efficiency and reducing steel consumption and noise. The roller press is designed by the material bed grinding principle and is mainly characterized in that: high pressure, full speed, full material and material bed crushing. In production practice, over long-term use, the roll surfaces of a roll press can be damaged to some extent, including: cracks are generated on the surface of the roller, and pits or hard wear-resistant layers on the surface of the roller are peeled off. After the roller surface of the roller press is damaged, the surface of the roller press is uneven, the material cannot be effectively extruded, the weighing bin is frequently punched, a material returning belt and a hopper entering the weighing bin are lifted and pressed, and the system jumps and stops. Therefore, the research on the reconstruction of the roll surface of the rolling machine to detect the damage degree of the roll surface of the rolling machine is of great significance to the efficient work of the rolling machine.

With the development of computer technology and image analysis technology, researchers begin to precisely detect the appearance of a roller press by using an optical CCD technology (digital image sensing technology), detect the concave-convex appearance information of the roller surface of the roller press by using a computer digital image processing technology, evaluate the appearance grade of the roller surface of the roller press, and evaluate the damage condition of the roller surface of the roller press by using the evaluation result of the roller surface so as to repair the roller press in time, ensure the safe and stable operation of the roller press and improve the working efficiency of the roller press. For example, CN104923576B, "automatic detection device for roll surface of finish rolling work roll in hot rolling production line", adopts a system consisting of roll surface shooting of work roll and roll surface rating of work roll, and performs representation and data processing on the captured roll surface image transmitted by the roll surface shooting system through an image management system and a management program; the lower machine roll surface image processed by the image processing system is compared with the roll surface standard of the working roll for training and learning, the grade of the roll surface to be graded is automatically given, and the judgment grade information of the working roll is transmitted to the working roll management system for recording.

Compared with the traditional artificial rating method, the device objectively evaluates and completely records the use process of the whole working roll, provides an objective basis for the repeated use of the working roll on the machine, can selectively use the working roll with the corresponding roll surface grade according to the rolling variety, and effectively avoids a series of quality losses caused by the fact that the roll surface grade of the working roll on the machine does not meet the requirement. But the device can not carry out real-time imaging and monitoring on the damage condition of the roll surface of the roll squeezer in work.

Disclosure of Invention

In order to find a more effective implementation scheme, the invention provides a roller surface reconstruction device and method of a roller press based on structured light, which can rapidly and accurately reconstruct the three-dimensional shape of the roller surface of the roller press, realize the real-time monitoring of the roller surface damage condition, greatly improve the working efficiency, effectively meet the requirement of the modern industry on automatic production and effectively solve the technical problem in the background technology.

In order to achieve the purpose, the invention discloses a roller surface reconstruction device of a roller press based on structured light, which comprises a motion control system for controlling the motion of the roller press, a grating projection device for projecting grating stripes and an image acquisition module for acquiring images, wherein the image acquisition module is electrically connected with a computer system for processing the images, the computer system comprises an image acquisition card for acquiring the images and an image processing and analyzing module for processing the images, and the motion control system, the grating projection device, the computer system and the roller press are all arranged in a light closed space.

Preferably, the grating projection device comprises a projector and a camera, the projector is used for projecting grating stripes on the roller press, the camera is used for shooting images projected on the surface of the roller press, and the camera is electrically connected with the image acquisition module to transmit the shot images.

Preferably, the computer system comprises a CPU, a storage hard disk, an image acquisition card, and a graphic processing and analyzing module, wherein the graphic processing and analyzing module comprises a phase extraction module and a height recovery module.

The invention also discloses a roller surface reconstruction method of the roller press based on the structured light, which comprises the following steps:

controlling the roller press to move in the light closed space through a motion control system;

projecting the encoded grating stripes on the surface of the roller press, and acquiring a deformation stripe image of the surface of the roller press after the grating stripes are projected through an image acquisition device;

the computer system obtains phase distribution information of the surface of the measured roller press according to the deformation stripe graph and calculates to obtain height information;

and converting the height information into point cloud data, and splicing the point clouds obtained by calculating a plurality of stripe patterns to obtain a complete three-dimensional shape of the roll surface of the roll squeezer so as to complete the reconstruction of the surface of the roll squeezer.

Preferably, the encoding grating stripes are sinusoidal grating stripes with adjustable amplitude, phase and projection direction.

Preferably, the computer system obtains continuous phase distribution information of the measured roller press surface from the deformation fringe pattern by a three-dimensional measurement method of active optical measurement, and the three-dimensional measurement method is specifically a phase shift method.

Preferably, the phase shift method specifically includes acquiring folding phase information of the deformed fringe pattern, and unfolding the folding phase into continuous phase distribution through a phase unfolding algorithm, where the phase shift method is a four-step phase shift method.

Preferably, the calculation process of the height information is as follows:

and establishing a mapping relation between the phase and the height according to a mathematical model of the grating projection device, and correspondingly restoring the height information of the surface of the measured object according to the continuous phase information.

The method further comprises the steps of calibrating the camera and the projector, specifically calibrating the camera and the projector through a specific calibration object, and solving internal parameters and external parameters of the camera and the projector.

Compared with the prior art, the roller surface reconstruction device and method of the roller press based on structured light have the following beneficial effects:

and aiming at the characteristic that the surface of the roller press is uneven after the roller surface is damaged, the roller surface of the roller press is subjected to three-dimensional reconstruction by using a structured light method, so that the damage condition of the roller surface is detected in time. The method comprises the steps of generating a sinusoidal stripe pattern with high quality and low noise by utilizing computer programming, projecting coding grating stripes to the surface of a roller press of a measured object by using a projector, receiving a deformed grating image modulated by the surface of the measured object by using a camera, obtaining phase distribution of the measured surface by adopting a four-step phase shift method, calculating height information of the measured surface according to a mapping relation between the phase and the height, converting the height information into point cloud data, splicing point clouds obtained by calculating a plurality of stripe images, realizing three-dimensional reconstruction of the roller press roller surface, and detecting the damage condition of the roller press roller surface.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic diagram of a three-dimensional reconstruction system for roll surfaces of a roll press according to the present invention;

FIG. 2 is a flow chart of a three-dimensional measurement method used in the present invention;

FIG. 3 is a raster image projected in the present invention;

FIG. 4 is a configuration diagram of a computer in the present invention;

FIG. 5 is a schematic diagram of the calibration of the grating projection system of the present invention;

fig. 6 is a schematic diagram of the work flow of the reconstruction method of the present invention.

1-a projector; 2-a roller press; 3-a computer system; 4-a camera; 5-a motion control system; 6-a switch; 7-an image acquisition module;

31-image acquisition card; 32-an image processing analysis module;

321-a phase extraction module; 322-height recovery module.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.

Referring to fig. 1 to 6, the invention discloses a roller surface reconstruction device of a roller press based on structured light, which comprises a motion control system 5 for controlling the motion of the roller press 2, a grating projection device for projecting grating stripes and an image acquisition module 7 for acquiring images, wherein a switch 6 for controlling the conduction is connected between the motion control systems, the image acquisition module 7 is electrically connected with a computer system 3 for processing images, the computer system 3 comprises an image acquisition card 31 for acquiring images and an image processing analysis module 32 for processing images, and the motion control system 5, the grating projection device, the computer system 3 and the roller press 2 are all arranged in an optical enclosed space 8.

In the device, phase shift information caused by the surface morphology of the measured object is extracted from the deformed grating stripe pattern by adopting a four-step phase shift method and a phase expansion method, a mapping relation from phase to height is established according to a mathematical model of a projection system, height information of the surface of the measured object is reduced, the height information is converted into point cloud data, then point clouds obtained by calculating a plurality of stripe patterns are spliced to obtain a complete three-dimensional shape of the roll surface of the roll squeezer, and the reconstruction of the surface of the roll squeezer is completed.

The grating projection device comprises a projector 1 and a camera 4, wherein the projector 1 is used for projecting grating stripes on the roller press 2, the camera 4 is used for shooting images projected on the surface of the roller press 2, and the camera 4 is electrically connected with an image acquisition module 7 to transmit the shot images.

The computer system comprises a CPU, a storage hard disk, an image acquisition card 31 and a graph processing and analyzing module 32, wherein the graph processing and analyzing module 32 comprises a phase extraction module 321 and a height recovery module 322.

The image acquisition device for receiving the deformed grating image modulated by the surface topography of the measured object is a scientific grade digital camera.

And acquiring continuous phase distribution information of the surface of the measured object by adopting a four-step phase shift method and a binary space-time coding phase expansion method.

And recovering the height information of the surface of the measured object according to the mapping relation between the phase information and the height information according to the mathematical model of the projection system.