CN111824523A - Reinforcing steel bar counting, packaging and detecting system and method based on line laser - Google Patents
Reinforcing steel bar counting, packaging and detecting system and method based on line laser Download PDFInfo
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- CN111824523A CN111824523A CN201910453527.2A CN201910453527A CN111824523A CN 111824523 A CN111824523 A CN 111824523A CN 201910453527 A CN201910453527 A CN 201910453527A CN 111824523 A CN111824523 A CN 111824523A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/06—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of articles or material to be packaged
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Abstract
A reinforcing steel bar counting, packaging and detecting system based on line laser comprises a binocular camera module, a support, a reinforcing steel bar conveying mechanism and a reinforcing steel bar packaging mechanism, wherein a plurality of groups of limiting grooves are formed in the support, and a base with a height capable of being lifted is arranged below the support; a steel bar counting, packaging and detecting method based on line laser comprises the following steps: setting a plurality of groups of binocular camera modules on the opposite side of the measured steel bar by taking a platform where the measured steel bar is located as a reference surface; respectively obtaining profile images of the end faces of left and right reinforcing steel bars for three-dimensional correction; matching the corrected images to obtain imaging matching point pairs; calculating according to the parallax to obtain three-dimensional data; obtaining a steel bar end face outline drawing and the number of steel bars; counting more than half of the detection results of the binocular camera modules as the final number; the required number of the steel bars is set, and the number of the steel bars reaches the set number and then is sent to the steel bar packing device. The invention has strong anti-environmental interference capability; the counting of the number of the steel bars is quickly and accurately analyzed, bundling work is completed, the accuracy is high, the structure is simple, the cost is reduced, and the work efficiency is improved.
Description
Technical Field
The invention relates to the technical field of steel bar counting, in particular to a system and a method for counting, packaging and detecting steel bars based on line laser.
Background
In the production process of the steel bars, when the steel bars need to be bundled according to a certain number, manual operation is generally adopted, and the counted steel bars and the non-counted steel bars need to be marked for multiple times, so that a large amount of labor cost is consumed, the efficiency is low, and the counting error is increased; be provided with automatic counting assembly on a lot of assembly lines, the production efficiency of product is high, and the user need count the product number of production and come to check the reinforcing bar.
In the prior art, a mechanical reinforcing steel bar counting device can only work at a constant speed, reinforcing steel bars are required to be kept in a regular state, and during a production peak period, due to the fact that the diameter of the reinforcing steel bars is small, a large number of reinforcing steel bars can be piled together, and good counting accuracy cannot be guaranteed. Because the work load is great, wastes time and energy, does not have fine calculating device to solve the problem that exists among the aforesaid now, and the electronic induction equipment relies on the electronic induction device to carry out direct scanning completely and has the counting error, and the probability that triggers automatic counting device is not high, influences construction result and process.
Disclosure of Invention
The invention aims to solve the technical problem of providing a reinforcing steel bar counting, packaging and detecting system and method based on line laser, which can scan reinforcing steel bars or other materials on a reinforcing steel bar production line in the actual construction process to complete counting, can also replace manual work to complete bundling work for fixing the number of the reinforcing steel bars, has high accuracy and simple structure, and can reduce the configuration of workers, reduce the production cost and improve the working efficiency.
The purpose of the invention and the technical problem to be solved are realized by adopting the following technical scheme:
the utility model provides a reinforcing bar count packing detecting system based on line laser, includes two mesh camera modules, support, reinforcing bar conveying mechanism, reinforcing bar packing mechanism, two mesh camera modules fixed mounting in on the support, be provided with the multiunit spacing groove on the support with the adjusting position, the base of high liftable is installed to the support below, reinforcing bar conveying mechanism and reinforcing bar packing mechanism are connected to together, the mounted position of two mesh camera modules keeps relatively with reinforcing bar conveying mechanism.
The invention also provides a reinforcing steel bar counting, packaging and detecting method based on the line laser, which comprises the following steps:
(1) the method comprises the following steps that a platform where a measured steel bar is located is used as a reference surface, a binocular camera module consisting of a plurality of groups of binocular stereo cameras and line laser transmitters is erected above the opposite side of the measured steel bar, so that the length of line laser emitted by the line laser transmitters is enough to sweep the upper surface of the measured steel bar, the binocular cameras can shoot laser lines, and the positions of the binocular cameras and the line laser transmitters are kept relatively fixed;
(2) each binocular camera module respectively acquires a left steel bar end face contour image and a right steel bar end face contour image of the measured steel bar through a left camera and a right camera of the binocular camera, and performs three-dimensional correction on the left steel bar end face contour image and the right steel bar end face contour image;
matching the corrected left steel bar end face outline image and the corrected right steel bar end face outline image to obtain a line laser imaging matching point pair;
obtaining left and right view parallax according to the line laser matching point pairs, and calculating according to the left and right view parallax to obtain three-dimensional data of the end face outline of the measured steel bar;
(3) the data processing module obtains a steel bar end face outline graph and the information of the number of the steel bars according to the three-dimensional data of the steel bar end face outline and the corresponding relation;
(4) comparing the number of the steel bars calculated according to the image acquisition result of the binocular camera module at the control module, and calculating a numerical value as the final number of the steel bars according to the detection results of N groups (N is more than one half of the number of the binocular camera module);
(5) and setting the required fixed number for packing, and sending the steel bars to the steel bar packing device after the number of the steel bars finally calculated by the data processing module reaches the set number.
Preferably, according to the step 3, the data processing module determines the central point and the number of each steel bar according to the gray image by quantizing the three-dimensional data and converting the three-dimensional data into the gray image by using watershed transformation;
the data processing module is used for carrying out binarization on the obtained three-dimensional data of the complete profile of the end face of the steel bar according to a preset measuring distance range to obtain a binary image;
performing watershed transformation on the binary image, and converting the binary image into a gray level image;
and marking the gray maximum value point in the gray image as a central point of the steel bar, and analyzing and processing the obtained profile image of the end face of the steel bar.
Preferably, according to the step 1, the left camera and the right camera of the binocular camera are subjected to three-dimensional calibration to obtain an internal reference matrix A of the binocular camera, and a rotation matrix R and a translation vector T between the left camera and the right camera.
Preferably, the left camera and the right camera of the binocular camera are subjected to three-dimensional calibration, and a rotation matrix R and a translation vector T between an internal reference matrix A, the left camera and the right camera of the binocular camera are obtained and comprise:
respectively calibrating a left camera and a right camera of a binocular camera to obtain an internal reference matrix A of the binocular camera, a rotation matrix R1 of the left camera and a rotation matrix Rr of the right camera, and a translation vector T1 of the left camera and a translation vector Tr of the right camera;
calculating a rotation matrix R and a translation vector T between the left camera and the right camera according to the following formula:
preferably, the performing the stereo correction on the left steel bar end face contour image and the right steel bar end face contour image includes:
decomposing the rotation matrix R into two rotation matrices R1 and rr, wherein R1 and rr are obtained by assuming that the optical axes of the left camera and the right camera are parallel by rotating each of the left camera and the right camera by half;
aligning the left steel bar end face outline image and the right steel bar end face outline image by the following formula:
where Rrect is a rotation matrix that aligns the rows:
the rotation matrix Rrect starts from the direction of the pole e1, the origin of the profile image of the end face of the left steel bar is taken as the main point, and the direction of the translation vector of the left camera to the right camera is taken as the direction of the main point:
e1and e2Is orthogonal to e1Normalized to unit vector:
wherein Tx is a component of the translation vector T in the horizontal direction in the plane where the binocular camera is located, and Ty is a component of the translation vector T in the vertical direction in the plane where the binocular camera is located;
e3 is orthogonal to e1 and e2, and e3 is calculated by the following formula:
e3＝e2×e1
according to the physical significance of the rotation matrix, the method comprises the following steps:
wherein alpha is the angle of the left camera and the right camera which need to rotate in the plane where the left camera and the right camera are located, and alpha is more than or equal to 0 and less than or equal to 180 degrees; the left camera is rotated by α' about the e3 direction, and the right camera is rotated by α "about the e3 direction.
Preferably, according to step 1, the binocular camera module is erected and is equipped with the multiunit, the binocular camera module is installed on the support, be provided with the height that elevating system can adjust the support on the support, the quantity more than or equal to two sets of binocular camera module.
Preferably, according to the step 1, the line laser emitter is arranged in the binocular camera, or the line laser emitter is externally hung on the binocular camera and forms a common structure with the binocular camera, or the line laser emitter and the binocular camera are installed in a split mode.
Preferably, according to the step 4, a majority voting module is arranged in the control module, the profile images of the end face of the steel bar, which are correspondingly collected by each binocular camera module, are relatively independent, and the data processing module adopts a method of more than half of the total number as a criterion to vote the counting results so as to improve the accuracy of the counting part.
Preferably, according to the step 4, the control module further includes a result output module, which is divided into an original image output, an image processing intermediate result output, a counting result output and a voting result output according to different output modes.
The invention can scan the steel bars or other materials on the steel bar production line in the actual construction process to obtain the end face outline image of the bundled steel bars, can adapt to various illumination environments and has strong environmental interference resistance; through quantizing the three-dimensional data and converting the three-dimensional data into a gray image by watershed transformation, determining the central point and the number of the steel bars according to the gray image, quickly and accurately analyzing the number of the steel bars, completing counting, and replacing manpower to complete bundling work for fixing the number of the steel bars.
Drawings
FIG. 1 is a schematic flow chart of steps of a method for counting, packaging and detecting reinforcing steel bars based on line laser;
FIG. 2 is a schematic diagram of an implementation and installation structure of a steel bar counting, packaging and detecting system based on a line laser;
FIG. 3 is a schematic diagram of a steel bar counting process of a steel bar counting, packaging and detecting method based on line laser;
fig. 4 is a schematic view of a steel bar end face detection system for counting and packaging steel bars based on line laser.
Reference numerals: the device comprises a support 1, a binocular camera module 2, a limiting groove 3, a base 4, a reinforcing steel bar 5, a reinforcing steel bar packing mechanism 6 and a reinforcing steel bar conveying mechanism 7.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings. It is obvious that the described embodiments are only a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by those skilled in the art without inventive efforts belong to the protection scope of the present invention.
It should be understood that in the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally used in the product of the present invention, which are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, although the terms first, second, third, etc. may be used herein to describe various elements, components and/or sections, these elements, components and/or sections should not be limited by these terms.
In this embodiment, as shown in fig. 2, a reinforcing bar count packing detecting system based on line laser, includes two mesh camera modules 2, support 1, reinforcing bar conveying mechanism 7, reinforcing bar packing mechanism 5, two mesh camera modules 2 fixed mounting in on the support 1, be provided with multiunit spacing groove 3 on the support 1 with the adjusting position, base 4 that height can rise and fall is installed to support 1 below, reinforcing bar conveying mechanism 5 is connected to together with reinforcing bar packing mechanism 7, two mesh camera modules 2's mounted position keeps relatively with reinforcing bar conveying mechanism 7.
A reinforcing steel bar counting and packaging detection system and method based on line laser comprises the following steps:
(1) the platform where the measured steel bar is located is used as a datum plane, a plurality of groups of binocular camera modules consisting of binocular stereo cameras and line laser transmitters are erected above the opposite side of the measured steel bar, the length of line laser emitted by the line laser transmitters is enough to sweep the upper surface of the measured steel bar, the binocular cameras can shoot laser lines, and the positions of the binocular cameras and the line laser transmitters are kept relatively fixed.
(2) Each binocular camera module respectively acquires a left steel bar end face contour image and a right steel bar end face contour image of the measured steel bar through a left camera and a right camera of the binocular camera, and performs three-dimensional correction on the left steel bar end face contour image and the right steel bar end face contour image;
matching the corrected left steel bar end face outline image and the corrected right steel bar end face outline image to obtain a line laser imaging matching point pair;
and obtaining left and right view parallax according to the line laser matching point pairs, and calculating according to the left and right view parallax to obtain three-dimensional data of the end face profile of the measured steel bar.
(3) The data processing module obtains a steel bar end face outline graph and the information of the number of the steel bars according to the three-dimensional data of the steel bar end face outline and the corresponding relation;
(4) and comparing the number of the steel bars calculated according to the image acquisition result of the binocular camera module at the control module, and taking the detection result of N groups (N is more than one half of the number of the binocular camera module) of the binocular camera module as the final number of the steel bars.
(5) And setting the required fixed number for packing, and sending the steel bars to the steel bar packing device after the number of the steel bars finally calculated by the data processing module reaches the set number.
In this embodiment, according to step 3, the data processing module determines the central point and the number of each reinforcing steel bar according to the gray image by quantizing the three-dimensional data and converting the quantized three-dimensional data into the gray image by using watershed transform;
in this embodiment, the data processing module binarizes the obtained three-dimensional data of the complete profile of the end face of the steel bar according to a preset measurement distance range to obtain a binary image; performing watershed transformation on the binary image, and converting the binary image into a gray level image; and marking the gray maximum value point in the gray image as a central point of the steel bar, and analyzing and processing the obtained profile image of the end face of the steel bar.
In this embodiment, the left camera and the right camera of the binocular camera are subjected to stereo calibration to obtain an internal reference matrix a of the binocular camera, and a rotation matrix R and a translation vector T between the left camera and the right camera.
Carry out three-dimensional calibration to the left camera and the right camera of binocular camera, obtain rotation matrix R and translation vector T between the internal reference matrix A, left camera and the right camera of binocular camera include:
respectively calibrating a left camera and a right camera of a binocular camera to obtain an internal reference matrix A of the binocular camera, a rotation matrix R1 of the left camera and a rotation matrix Rr of the right camera, and a translation vector T1 of the left camera and a translation vector Tr of the right camera;
calculating a rotation matrix R and a translation vector T between the left camera and the right camera according to the following formula:
the three-dimensional correction of the left steel bar end face outline image and the right steel bar end face outline image comprises the following steps:
decomposing the rotation matrix R into two rotation matrices R1 and rr, wherein R1 and rr are obtained by assuming that the optical axes of the left camera and the right camera are parallel by rotating each of the left camera and the right camera by half;
aligning the left steel bar end face outline image and the right steel bar end face outline image by the following formula:
where Rrect is a rotation matrix that aligns the rows:
the rotation matrix Rrect starts from the direction of the pole e1, the origin of the profile image of the end face of the left steel bar is taken as the main point, and the direction of the translation vector of the left camera to the right camera is taken as the direction of the main point:
e1and e2Is orthogonal to e1Normalized to unit vector:
wherein Tx is a component of the translation vector T in the horizontal direction in the plane where the binocular camera is located, and Ty is a component of the translation vector T in the vertical direction in the plane where the binocular camera is located;
e3 is orthogonal to e1 and e2, and e3 is calculated by the following formula:
e3＝e2×e1
according to the physical significance of the rotation matrix, the method comprises the following steps:
wherein alpha is the angle of the left camera and the right camera which need to rotate in the plane where the left camera and the right camera are located, and alpha is more than or equal to 0 and less than or equal to 180 degrees; the left camera is rotated by α' about the e3 direction, and the right camera is rotated by α "about the e3 direction.
In this embodiment, the binocular camera module erects and is equipped with the multiunit, the binocular camera module is installed on the support, be provided with the height that elevating system can adjust the support on the support, the quantity of binocular camera module is more than two sets of.
The binocular camera module of multiunit is erect opposite at reinforcing bar conveying mechanism, adjusts elevating system height according to the support and can completely shine the reinforcing bar terminal surface until line laser, and elevating system's control end sets up at control module, can control the mounting height of binocular camera module at any time according to the order.
In this embodiment, the line laser emitter is arranged in the binocular camera, or the line laser emitter is externally hung on the binocular camera and forms a common structure with the binocular camera, or the line laser emitter and the binocular camera are installed in a split type, and the binocular camera and the line laser emitter are kept relatively fixed during operation.
In this embodiment, according to step 4, as shown in fig. 3, a majority voting module is disposed in the control module, and the work flow of the majority voting module is as follows: firstly, collecting a steel bar image; carrying out image processing on the end face of the steel bar to obtain three-dimensional information of the end face of the steel bar; judging whether the quantity of the steel bars detected by each binocular camera module is consistent or not; if the number of the steel bars is consistent with the number of the steel bars, the number of the steel bars is recorded as the number of the steel bars, the steel bars are sent to a packaging mechanism to carry out the next operation after the number of the steel bars reaches a set value, if the number of the steel bars is inconsistent with the number of the steel bars, the number of the steel bars is recorded based on the detection result of the binocular camera modules which is more than one half of the total number of the binocular camera modules, and finally the.
The contour images of the end faces of the steel bars, which are correspondingly acquired by the binocular camera modules, are relatively independent, and the data processing module carries out voting processing on a plurality of counting results by adopting a method taking more than half as the standard so as to improve the accuracy of the counting part; if two sets of binocular camera modules are adopted to carry out steel bar counting and packing operation, the quantity of the steel bars calculated according to the steel bar end face outline images collected by the two sets of binocular camera modules is used as the standard.
In this embodiment, according to step 4, the control module further includes a result output module, which is divided into an original image output, an image processing intermediate result output, a counting result output, and a voting result output according to different output modes. The result output module outputs an original image after the binocular camera module collects the profile image of the end face of the steel bar, the data processing module outputs an intermediate result of image processing, and finally outputs a calculated counting result and a voting result by a majority voting method; and according to the voting result and the preset packaging number, after the fixed counting number of the reinforcing steel bars is reached, the control module sends a command and sends the counted reinforcing steel bars to a packaging mechanism for packaging.
The invention can scan the steel bars or other materials on the steel bar production line in the actual construction process to obtain the end face outline image of the bundled steel bars, can adapt to various illumination environments and has strong environmental interference resistance; through quantizing the three-dimensional data and converting the three-dimensional data into a gray image by watershed transformation, determining the central point and the number of the steel bars according to the gray image, quickly and accurately analyzing the number of the steel bars, completing counting, and replacing manpower to complete bundling work for fixing the number of the steel bars.
The invention can scan the steel bars or other materials on the steel bar production line in the actual construction process to obtain the end face outline image of the bundled steel bars, can adapt to various illumination environments and has strong environmental interference resistance; through quantizing the three-dimensional data and converting the three-dimensional data into a gray image by watershed transformation, determining the central point and the number of the steel bars according to the gray image, quickly and accurately analyzing the number of the steel bars, completing counting, and replacing manpower to complete bundling work for fixing the number of the steel bars.
The preferred embodiments of the present disclosure have been disclosed to assist in describing the disclosure, and alternative embodiments have not been set forth in detail to avoid obscuring the invention in the particular embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the specification and its practical application, to thereby enable others skilled in the art to best understand the specification and its practical application. The specification is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a reinforcing bar count packing detecting system based on line laser, its characterized in that, includes two mesh camera modules, support, reinforcing bar conveying mechanism, reinforcing bar packing mechanism, two mesh camera modules fixed mounting in on the support, be provided with the multiunit spacing groove on the support with the adjusting position, the base of high liftable is installed to the support below, reinforcing bar conveying mechanism is in the same place with reinforcing bar packing mechanism is connected to, the mounted position of two mesh camera modules keeps relative with reinforcing bar conveying mechanism.
2. A reinforcing steel bar counting, packaging and detecting method based on line laser is characterized in that the reinforcing steel bar counting, packaging and detecting method based on the line laser comprises the following steps:
(1) the method comprises the following steps that a platform where a measured steel bar is located is used as a reference surface, a plurality of groups of binocular camera modules consisting of binocular stereo cameras and line laser transmitters are erected above the opposite side of the measured steel bar, so that the length of line laser emitted by the line laser transmitters is enough to sweep the upper surface of the measured steel bar, the binocular cameras can shoot laser lines, and the positions of the binocular cameras and the line laser transmitters are kept relatively fixed;
(2) each binocular camera module respectively acquires a left steel bar end face contour image and a right steel bar end face contour image of the measured steel bar through a left camera and a right camera of the binocular camera, and performs three-dimensional correction on the left steel bar end face contour image and the right steel bar end face contour image;
matching the corrected left steel bar end face outline image and the corrected right steel bar end face outline image to obtain a line laser imaging matching point pair;
obtaining left and right view parallax according to the line laser matching point pairs, and calculating according to the left and right view parallax to obtain three-dimensional data of the end face outline of the measured steel bar;
(3) the data processing module obtains a steel bar end face outline graph and the information of the number of the steel bars according to the three-dimensional data of the steel bar end face outline and the corresponding relation;
(4) comparing the number of the steel bars calculated according to the image acquisition result of the binocular camera module at the control module, and calculating a numerical value as the final number of the steel bars according to the detection results of N groups (N is more than one half of the number of the binocular camera module);
(5) and setting the required fixed number for packing, and sending the steel bars to the steel bar packing device after the number of the steel bars finally calculated by the data processing module reaches the set number.
3. The system and method for counting, packaging and detecting steel bars based on line laser as claimed in claim 1, wherein the data processing module determines the central point and number of each steel bar according to the gray image by quantizing the three-dimensional data and converting the quantized three-dimensional data into a gray image by using watershed transform according to step 3;
the data processing module is used for carrying out binarization on the obtained three-dimensional data of the complete profile of the end face of the steel bar according to a preset measuring distance range to obtain a binary image;
performing watershed transformation on the binary image, and converting the binary image into a gray level image;
and marking the gray maximum value point in the gray image as a central point of the steel bar, and analyzing and processing the obtained profile image of the end face of the steel bar.
4. The system and method for counting, packaging and detecting the steel bars based on the line laser according to claim 1, wherein the left camera and the right camera of the binocular camera are calibrated in a three-dimensional manner according to the step 1 to obtain an internal reference matrix A of the binocular camera, a rotation matrix R and a translation vector T between the left camera and the right camera.
5. The system and method for counting, packaging and detecting steel bars based on line laser according to claim 1, wherein the three-dimensional calibration of the left camera and the right camera of the binocular camera to obtain the internal reference matrix A of the binocular camera, the rotation matrix R and the translation vector T between the left camera and the right camera comprises:
respectively calibrating a left camera and a right camera of a binocular camera to obtain an internal reference matrix A of the binocular camera, a rotation matrix R1 of the left camera and a rotation matrix Rr of the right camera, and a translation vector T1 of the left camera and a translation vector Tr of the right camera;
calculating a rotation matrix R and a translation vector T between the left camera and the right camera according to the following formula:
6. the system and method for detecting counting and packaging of steel bars based on line laser according to claim 1, wherein the stereo correction of the left steel bar end face contour image and the right steel bar end face contour image according to step 1 comprises:
decomposing the rotation matrix R into two rotation matrices R1 and rr, wherein R1 and rr are obtained by assuming that the optical axes of the left camera and the right camera are parallel by rotating each of the left camera and the right camera by half;
aligning the left steel bar end face outline image and the right steel bar end face outline image by the following formula:
where Rrect is a rotation matrix that aligns the rows:
the rotation matrix Rrect starts from the direction of the pole e1, the origin of the profile image of the end face of the left steel bar is taken as the main point, and the direction of the translation vector of the left camera to the right camera is taken as the direction of the main point:
e1and e2Is orthogonal to e1Normalized to unit vector:
wherein Tx is a component of the translation vector T in the horizontal direction in the plane where the binocular camera is located, and Ty is a component of the translation vector T in the vertical direction in the plane where the binocular camera is located;
e3 is orthogonal to e1 and e2, and e3 is calculated by the following formula:
e3＝e2×e1
according to the physical significance of the rotation matrix, the method comprises the following steps:
wherein alpha is the angle of the left camera and the right camera which need to rotate in the plane where the left camera and the right camera are located, and alpha is more than or equal to 0 and less than or equal to 180 degrees; the left camera is rotated by α' about the e3 direction, and the right camera is rotated by α "about the e3 direction.
7. The system and the method for counting, packaging and detecting the steel bars based on the line laser according to the claim 5, characterized in that according to the step 1, the binocular camera module is provided with a plurality of groups, the binocular camera module is installed on a bracket, the bracket is provided with a lifting mechanism which can adjust the height of the bracket, and the number of the binocular camera modules is more than or equal to two groups.
8. The system and the method for counting, packaging and detecting the steel bars based on the line laser as claimed in claim 1, wherein the line laser emitter is built in the binocular camera according to the step 1, or the line laser emitter is externally hung on the binocular camera and forms a common structure with the binocular camera, or the line laser emitter and the binocular camera are installed in a split manner.
9. The system and the method for counting, packaging and detecting the reinforcing steel bars based on the line laser as claimed in claim 1, wherein according to the step 4, a majority voting module is arranged in the control module, the binocular camera modules correspondingly acquire contour images of the end faces of the reinforcing steel bars relatively independently, and the data processing module adopts a method of more than half of the total number to vote the counting results so as to improve the accuracy of the counting part.
10. The system and the method for counting and packaging steel bars based on line laser as claimed in claim 1, wherein the control module further comprises a result output module according to step 4, and the result output module is divided into an original image output, an image processing intermediate result output, a counting result output and a voting result output according to different output modes.
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