Measurement Method of Bar Unmanned Warehouse Area Based on Binocular Vision

With the development of Industry 4.0 and the implementation of the 14th Five-Year Plan, intelligent manufacturing has become a significant trend in the steel industry, which can propel the steel industry toward a more intelligent, efficient, and sustainable direction. At present, the operation mode of unmanned warehouse area for slabs and coils has become relatively mature, while the positioning accuracy requirement of bars is getting more stringent because they are stacked in the warehouse area according to the stacking position and transferred by disk crane. Meanwhile, the traditional laser ranging and line scanning method cannot meet the demand for precise positioning of the whole bundle of bars. To deal with the problems above, this paper applies machine vision technology to the unmanned warehouse area of bars, proposing a binocular vision-based measurement method. On the one hand, a 3D reconstruction model with sub-pixel interpolation is established to improve the accuracy of 3D reconstruction in the warehouse area. On the other hand, a feature point matching algorithm based on motion trend constraint is established by means of multi-sensor data fusion, thus improving the accuracy of feature point matching. Finally, a high-precision unmanned 3D reconstruction of the bar stock area is completed.