应用多个激光线结构光传感器对无缝钢管进行光切,求出各个光切面中心点的空间三维坐标,通过空间直线拟合和误差评定算法,由此确定钢管轴线的直线度。本文提出了无缝钢管直线度激光视觉在线测量方法,推导出数学模型,并进行实验研究,给出了实验结果。关键词: 无缝钢管; 直线度; 视觉准直; 在线测量Abstract : From the light incision by several laser structure light sensors , a 3D coordinate of the central of the light incision plane can be attained. And with the space line fitting and error examination algorithms , the seamless steel pipe straightness is gained. The method and mathematical model of the measurement of the seamless steel pipe straightness by laser vision , and experiment result is described.Key words : Seamless steel pipe ; Straightness ; Vision alignment ; On2line measurement