CN104457570A - Method for measuring position of casting blank - Google Patents
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- CN104457570A CN104457570A CN201410709973.2A CN201410709973A CN104457570A CN 104457570 A CN104457570 A CN 104457570A CN 201410709973 A CN201410709973 A CN 201410709973A CN 104457570 A CN104457570 A CN 104457570A
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Abstract
The invention relates to the field of steel making, and discloses a method for measuring the position of a casting blank. According to the method, a laser measurement method and a camera measurement method are used for measuring the position of the casting blank independently and respectively, and respective measurement results are obtained; according to the laser measurement method, the position of the casting blank is measured through a laser range finder, according to the camera measurement method, the position of the casting blank is measured through a camera, and by comparing the respective measurement results of the laser measurement method and the camera measurement method, the final measurement result of the position of the casting blank is obtained through a decision algorithm. The method for measuring the position of the casting blank is high in measurement precision and high in disturbance resistance.
Description
Technical field
The present invention relates to steelmaking technical field, particularly relate to the high-precision automatic measuring method of strand position in a kind of continuous casting production process.
Background technology
In steel industry, generally adopt at present continuous casting technology to produce slab, general strand flakiness ratio be greater than 3 be namely called slab.
Molten iron is smelted into qualified molten steel through converter or electric furnace, and molten steel is cast into continuous casting billet through conticaster.Continuous casting billet is still in red heat state when going out casting machine.For the ease of transport and follow-up production, continuous casting billet needs to be cut into the length of specifying.The device performing cutting is generally flame cutting machine (is called for short fire and cuts machine), and " length of specifying " is called as scale.In the ordinary course of things, continuous casting billet needs through cutting twice process, is first time cutting (being called for short all) and second time cutting (being called for short two to cut) respectively.All are that continuous casting billet is cut into the longer female base of length, two cut be through all cutting after female base continue to cut into the sub-base of the shorter fritter of length.If scale is longer, female base also may be cut and directly ejection without two.In the ordinary course of things, the steel billet after cutting is rolled into satisfactory steel plate through milling train, and steel plate is exactly final finished product.
In the cutting process of strand, increasing the benefit to reduce costs, needing the strict cutting accuracy controlling strand.The overgauge that the appearance compared with scale of strand physical length is larger, then cause waste; Occur that larger minus deviation then causes useless base and loses larger.For all, the Cutting Length of female base accurately to be controlled; Cut for two, accurately will control the Cutting Length of each block base.
No matter be all or two cut, in order to improve the measuring accuracy of strand and then improve cutting accuracy, technician has found out various measuring method.Measuring method common at present has: touch hammer method, measuring roller method, videographic measurment method, occurred again laser optical method in recent years.Touch hammer method and measuring roller is owned by France in contact measurement method, in measuring process, measurement mechanism needs directly to contact with strand; And videographic measurment method and laser optical method belong to contactless measurement, measurement mechanism does not have physical contact with strand.
Touching hammer method is that specified location is placed one and touched hammer in strand working direction, touch hammer inside have an inductive switch, when strand base head to arrive near assigned address and bump against touch hammer after can trigger inductive switch action, inductive switch and then externally a transmission electric signal, fire is cut after machine receives this signal and is namely started follow-up cutting flow process.Machine cut by fire and the distance of touching between hammer is exactly the length of required scale.The shortcoming one of this measuring method is that measuring accuracy is lower, and error generally can more than 20 millimeters, and shortcoming two needs adjustment to touch the position of hammer when changing scale, is not suitable for changing scale continually.
Measuring roller method installs a measuring roller between conticaster and cutter sweep, roller has a disk and strand lower surface physical contact, the axle of measuring roller has been installed a scrambler.When strand moves forward and backward, strand meeting disc rotated and then drive scrambler rotate, thus scrambler can provide the distance of strand movement.Because this device directly contacts with hot base, so need to cool measuring roller device.Secondly, because strand is active movement, disk is passive rotation, asynchronously so just there will be measuring error if moved therebetween.3rd, because scrambler exists cumulative errors, so need the impact eliminating cumulative errors.The measuring accuracy of measuring roller generally at 20 millimeters to 40 millimeter.
Camera method uses video camera to take the image of strand continuously, detects the image coordinate at strand base head or place, base tail position, then can calculate real strand position according to the corresponding relation of image coordinate in strand physical location and image from image.The advantage of camera method is that cost is low, and measurement mechanism does not directly contact with strand, and shortcoming is that measuring accuracy is easily subject to the illumination condition of environment and the impact of strand temperature, often needs the brightness of operating personnel to image to adjust.The measuring accuracy of camera method is generally in 0 to 40 millimeter.
Laser optical method uses laser range finder to measure the position of strand.Laser range finder is launched beam of laser and is shone directly into testee surface, and laser can be reflected back toward laser range finder.Laser range finder is according to Emission Lasers and receive the poor distance calculated between testee to laser range finder of reflected signal institute elapsed time, can be calculated the physical location of testee by certain conversion.The measuring accuracy of laser optical method is very high, generally in-1 to+1 millimeter.The shortcoming of laser ranging method is the interference being easily subject to water vapour, and when environment temperature is lower especially in the winter time, the interference of water smoke is very large, and the result causing the method to measure and actual capabilities also exist very large error.
Current steel industry is badly in need of the strand location measurement method that a kind of measuring accuracy is high, antijamming capability is strong.
Summary of the invention
(1) technical matters that will solve
The object of this invention is to provide the strand location measurement method that a kind of measuring accuracy is high, antijamming capability is strong.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of strand location measurement method, utilize laser optical method and videographic measurment method first to measure the position of strand independently of one another, obtaining respective measurement result respectively; Laser optical method adopts laser range finder to measure the position of strand, videographic measurment method adopts the position of video camera continuous coverage strand, relatively the respective measurement result of laser optical method and videographic measurment method, obtains the final measurement of the position of strand by ruling algorithm; First set effective fluctuation range of a measurement result, if the measurement result of laser optical method is within effective fluctuation range, then assert that the measurement result of laser optical method is effective, and the measurement result of videographic measurment method is invalid, final measurement result is the measurement result of laser optical method; If the measurement result of laser optical method is in outside effective fluctuation range, then assert that the measurement result of laser optical method is invalid, and the measurement result of videographic measurment method is effective, final measurement result is the measurement result of videographic measurment method.
Wherein, described laser optical method comprises the steps:
S1, be arranged on roller-way by strand, the direction of motion of strand is identical with the direction of motion of roller-way, and the base end surface of strand or base breech face are end face to be measured, and the position of described end face to be measured is the position of strand;
S2, the flame cutting machine be arranged on roller-way are provided with two and cut rifle, make described flame cutting machine be parked in original position, to cut the initial point of mid point as coordinate system of the line of the central point of rifle muzzle described in two, using the moving direction of strand as the positive dirction of coordinate;
S3, laser range finder is arranged on strand along on the direction of roller-way movement, and the laser beam making described laser range finder send is parallel with the moving direction of strand or in an angle, enable described laser beam direct irradiation at the end face described to be measured of described strand;
S4, described flame cutting machine is made to be parked in original position, calibration device is placed on roller-way, described calibration device is made to be between described flame cutting machine and laser range finder, measure the distance between the first scaling board of described calibration device and the second scaling board, and measure the distance of the first scaling board to initial point, then read laser range finder and send laser and irradiate the laser length that the laser length of the first scaling board and laser irradiate the second scaling board;
S5, utilize described laser range finder to send end face to be measured that laser irradiates described strand, read the laser length of described laser range finder to the end face described to be measured of strand;
S6, according to formula: E=L1/ (D1 – D2) calculates the cosine value of described angle; Wherein: E is the cosine value of angle; L1 is the distance between the first scaling board and the second scaling board; D1 is the laser length that laser is irradiated on the first scaling board; D2 is the laser length that laser is irradiated on the second scaling board;
S7, according to formula: L=L2+D1*E calculates the coordinate of the internal reference point of laser range finder; Wherein: L is the coordinate of described laser range finder, L2 is the coordinate of the first scaling board;
S8, according to formula: L4=L-L3=L-D*E calculates the position of strand; Wherein: L4 is the position of strand, D is the laser length that laser range finder is irradiated to described strand, and L3 is the projection of D in coordinate axis.
Wherein, described videographic measurment method comprises: the side of strand or above video camera is installed, enable video camera shine directly into the end face described to be measured of strand; After camera acquisition to the image of strand, found the image coordinate of the end face described to be measured of strand, then gone out the world coordinates of end face to be measured described in strand by calibration algorithm backwards calculation by edge detection algorithm, described world coordinates is exactly strand physical location.
Wherein, described ruling algorithm comprises the steps:
S1, for same tested strand, the measurement result of laser optical method is set to X1, and the measurement result of videographic measurment method is set to X2, and carry out ruling to two measurement result X1 and X2, final measurement result is set to X3;
S2, using the measurement result X2 of videographic measurment method as benchmark, a given error range allowed is set to E1 and E2, and make E1 be less than E2, specialized range is the allowable fluctuation range of X1 from (X2+E1) to (X2+E2), relation relatively between X1 and scope (X2+E1) to (X2+E2), if X1 is among this scope, assert that final measurement X3 equals X1, the measurement result X1 namely assert laser optical method effectively and the measurement result X2 of videographic measurment method is invalid; Otherwise assert that final measurement X3 equals X2, namely assert that the measurement result X1 of laser optical method is invalid and measurement result X2 that is videographic measurment method is effective.
(3) beneficial effect
Compared with prior art, the present invention has the following advantages:
A kind of strand location measurement method provided by the invention, first utilizes laser optical method and videographic measurment method to measure the position of strand independently of one another, obtains respective measurement result respectively, and recycling ruling algorithm obtains the final measurement of the position of strand; By laser optical method and videographic measurment method are combined, two kinds of methods are complemented each other collaborative work, such that measuring accuracy is high, antijamming capability strong, the demand of current steel industry can be met.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the laser range finder measurement strand base head in a kind of strand location measurement method of the present invention;
Fig. 2 is the schematic diagram of the laser range finder measurement strand base tail in a kind of strand location measurement method of the present invention;
Fig. 3 is the schematic diagram that a kind of strand location measurement method of the present invention adopts two-point method Calibration of Laser stadimeter;
Fig. 4 is the principle of work schematic diagram that in Fig. 1, laser range finder measures strand base head;
Fig. 5 is the schematic diagram of the video camera measurement strand position in a kind of strand location measurement method of the present invention;
Fig. 6 is a two field picture of the strand that the camera acquisition in a kind of strand location measurement method of the present invention arrives;
Fig. 7 is the overall schematic of a kind of strand location measurement method of the present invention.
In figure: 1: flame cutting machine; 2: cut rifle; 3: strand; 4: roller-way; 5: laser range finder; 6: the laser beam that laser range finder sends; 7: the moving direction of strand; 8: video camera; 9: the first scaling boards; 10: the second scaling boards; 11: data processing unit.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following instance for illustration of the present invention, but is not used for limiting the scope of the invention.
In describing the invention, it should be noted that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second ", " the 3rd " etc. only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also can be indirectly be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood depending on concrete condition.
As shown in Figure 7, be a kind of strand location measurement method provided by the invention.Utilize laser optical method and videographic measurment method first to measure the position of strand 3 independently of one another, obtain respective measurement result respectively.Laser optical method adopts laser range finder 5 to measure the base head of strand 3 or the position of base tail, and described laser range finder 5 is arranged on roller-way 4 or outside roller-way 4.Videographic measurment method adopts the base head of video camera 8 continuous coverage strand 3 or the position of base tail, the image coordinate of strand 3 is obtained by edge detection algorithm, calculate the world coordinates of strand 3 according to the corresponding relation of image coordinate and world coordinates, obtain the physical location of strand 3.Relatively the respective measurement result of laser optical method and videographic measurment method, obtains the final measurement of the position of strand 3 by ruling algorithm.With the measurement result of videographic measurment method for benchmark, first set effective fluctuation range of a measurement result; If the measurement result of laser optical method is within effective fluctuation range, then assert that the measurement result of laser optical method is effective, and the measurement result of videographic measurment method is invalid, final measurement result is the measurement result of laser optical method; If the measurement result of laser optical method is in outside effective fluctuation range, then assert that the measurement result of laser optical method is invalid, and the measurement result of videographic measurment method is effective, final measurement result is the measurement result of videographic measurment method.Utilize this measuring method, measuring accuracy is high, antijamming capability is strong.
Wherein, the measurement of described laser optical method specifically comprises the steps:
S1, as depicted in figs. 1 and 2, be arranged on by strand 3 on roller-way 4, the moving direction 7 of strand is identical with the direction of motion of roller-way 4, and the base end surface of strand 3 or base breech face are end face to be measured, and the position of described end face to be measured is the position of strand 3;
S2, as shown in Figure 3 and Figure 4, the flame cutting machine 1 be arranged on roller-way 3 is provided with two and cuts rifle 2, described flame cutting machine is made to be parked in original position, to cut the initial point O of mid point as coordinate system of the line of the central point of rifle 2 muzzle described in two, using the moving direction 7 of strand as the positive dirction of coordinate;
S3, as shown in Figure 4, laser range finder 5 is arranged on strand 3 along on the direction of roller-way 4 movement, and the laser beam 6 making described laser range finder 5 send is parallel with the moving direction 7 of strand or in an included angle A, preferably, described laser beam 6 is made to be an included angle A with the moving direction 7 of described strand, preferably, the angle of described included angle A is less than or equal to 30 degree, make described laser beam 6 can direct irradiation at the end face described to be measured of described strand 3; The described angle of described laser range finder 5 and coordinate position thereof are the external parameters of described laser range finder 5, can be calculated obtain by calibration algorithm;
S4, as shown in Figure 3, described flame cutting machine 1 is made to be parked in original position, calibration device is placed on roller-way 4, described calibration device is made to be between flame cutting machine 1 and laser range finder 5, measure the distance L1 between the first scaling board 9 of described calibration device and the second scaling board 10, and measure the distance L2 of the first scaling board 9 to initial point, then read laser range finder 5 and send laser and irradiate the laser length D2 that the laser length D1 of the first scaling board 9 and laser irradiate the second scaling board 10;
S5, as shown in Figure 4, utilize described laser range finder 5 to send end face described to be measured that laser irradiates described strand 3, reads the laser length of described laser range finder 5 to the end face described to be measured of strand 3;
S6, due to the angle A of described angle be changeless, so its cosine value cos (A) is also constant, get coefficient of angularity E to make it to equal cos (A), according to formula: E=L1/ (D1 – D2) calculates described coefficient of angularity; Wherein: E is coefficient of angularity; L1 is the distance between the first scaling board 9 and the second scaling board 10; D1 is the laser length that laser is irradiated on the first scaling board 9; D2 is the laser length that laser is irradiated on the second scaling board 10;
S7, according to formula: L=L2+D1*E calculates the coordinate of laser range finder 5; Wherein: L is the coordinate of described laser range finder, L2 is the coordinate of the first scaling board 9, and D1 is the laser length that laser is irradiated on the first scaling board 9, and E is coefficient of angularity;
S8, according to formula: L4=L-L3=L-D*E calculates the position of strand; Wherein: L4 is the position of strand, D be from laser range finder 5 to strand 3 distance, L3 is the projection of D in coordinate axis, and E is coefficient of angularity.
As shown in Figure 5, the measuring process of described videographic measurment method is included in the side of strand 3 or installs video camera 8 above, makes video camera 8 can shine directly into the end face to be measured of strand 3; Video camera 8 pairs of strands 3 are utilized to take pictures continuously, thus a series of images (as shown in Figure 5) of strand 3 can be obtained, after video camera 8 collects the image of strand 3, the image coordinate of the end face to be measured of strand is found by edge detection algorithm, gone out the world coordinates of the end face to be measured of strand again by calibration algorithm backwards calculation, described world coordinates is exactly the physical location of strand 3.
Wherein, described ruling algorithm comprises the steps:
S1, for same tested strand 3, the measurement result of laser optical method is set to X1, and the measurement result of videographic measurment method is set to X2, and carry out ruling to two measurement result X1 and X2, final measurement result is set to X3;
S2, using the measurement result X2 of videographic measurment method as benchmark, a given error range allowed is set to E1 and E2, and make E1 be less than E2, preferably, get E1 and be-20 millimeters, get E2 and be+20 millimeters, specialized range is the allowable fluctuation range of X1 from (X2+E1) to (X2+E2), relation relatively between X1 and scope (X2+E1) to (X2+E2), if X1 is among this scope, assert that final measurement X3 equals X1, the measurement result X1 namely assert laser optical method effectively and the measurement result X2 of videographic measurment method is invalid; Otherwise assert that final measurement X3 equals X2, namely assert that the measurement result X1 of laser optical method is invalid and measurement result X2 that is videographic measurment method is effective.
As shown in Figure 7, described video camera 8 and laser range finder 5 are connected with data processing unit 11 such as computing machine respectively, data, image acquisition and process is carried out by described data processing unit 11, described data processing unit 11 can realize auto Image Collection and process, processing procedure is quick, and result accurately, reliably.
Laser optical method and videographic measurment method combine by the present invention, and two kinds of methods are complemented each other collaborative work, such that measuring accuracy is high, antijamming capability strong, can meet the demand of current steel industry.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a strand location measurement method, is characterized in that, utilizes laser optical method and videographic measurment method first to measure the position of strand independently of one another, obtains respective measurement result respectively; Laser optical method adopts laser range finder to measure the position of strand, and videographic measurment method adopts video camera to measure the position of strand, compares the respective measurement result of laser optical method and videographic measurment method, is obtained the final measurement of the position of strand by ruling algorithm; First set effective fluctuation range of a measurement result, if the measurement result of laser optical method is within effective fluctuation range, then assert that the measurement result of laser optical method is effective, and the measurement result of videographic measurment method is invalid, final measurement result is the measurement result of laser optical method; If the measurement result of laser optical method is in outside effective fluctuation range, then assert that the measurement result of laser optical method is invalid, and the measurement result of videographic measurment method is effective, final measurement result is the measurement result of videographic measurment method.
2. strand location measurement method as claimed in claim 1, it is characterized in that, described laser optical method comprises the steps:
S1, be arranged on roller-way by strand, the direction of motion of strand is identical with the direction of motion of roller-way, and the base end surface of strand or base breech face are end face to be measured, and the position of described end face to be measured is the position of strand;
S2, the flame cutting machine be arranged on roller-way are provided with two and cut rifle, make described flame cutting machine be parked in original position, to cut the initial point of mid point as coordinate system of the line of the central point of rifle muzzle described in two, using the moving direction of strand as the positive dirction of coordinate;
S3, laser range finder is arranged on strand along on the direction of roller-way movement, and the laser beam making described laser range finder send is parallel with the moving direction of strand or in an angle, enable described laser beam direct irradiation at the end face described to be measured of described strand;
S4, described flame cutting machine is made to be parked in original position, calibration device is placed on roller-way, described calibration device is made to be between described flame cutting machine and described laser range finder, measure the distance between the first scaling board of described calibration device and the second scaling board, and measure the distance of described first scaling board to initial point, then read described laser range finder and send laser and irradiate the laser length that the laser length of the first scaling board and laser irradiate the second scaling board;
S5, utilize described laser range finder to send end face described to be measured that laser irradiates described strand, read the laser length of described laser range finder to the end face described to be measured of strand;
S6, according to formula: E=L1/ (D1 – D2) calculates the cosine value of described angle; Wherein: E is the cosine value of angle; L1 is the distance between the first scaling board and the second scaling board; D1 is the laser length that laser is irradiated on the first scaling board; D2 is the laser length that laser is irradiated on the second scaling board;
S7, according to formula: L=L2+D1*E calculates the coordinate of laser range finder; Wherein: L is the coordinate of described laser range finder, L2 is the coordinate of the first scaling board;
S8, according to formula: L4=L-L3=L-D*E calculates the position of strand; Wherein: L4 is the position of strand, D is the laser length that laser range finder is irradiated to described strand, and L3 is the projection of D in coordinate axis.
3. strand location measurement method as claimed in claim 1, is characterized in that, the measurement of described videographic measurment method is included in side or the top installation video camera of strand, enables video camera shine directly into the end face described to be measured of strand; After camera acquisition to the image of strand, the image coordinate of the end face described to be measured of strand is found by edge detection algorithm, gone out the world coordinates of the end face described to be measured of strand again by calibration algorithm backwards calculation, described world coordinates is exactly the physical location of strand end face to be measured.
4. strand location measurement method as claimed in claim 1, it is characterized in that, described ruling algorithm comprises the steps:
S1, for same tested strand, the measurement result of laser optical method is set to X1, and the measurement result of videographic measurment method is set to X2, and carry out ruling to two measurement result X1 and X2, final measurement result is set to X3;
S2, using the measurement result X2 of videographic measurment method as benchmark, a given error range allowed is set to E1 and E2, and make E1 be less than E2, specialized range is the allowable fluctuation range of X1 from (X2+E1) to (X2+E2), relation relatively between X1 and scope (X2+E1) to (X2+E2), if X1 is among this scope, assert that final measurement X3 equals X1, the measurement result X1 namely assert laser optical method effectively and the measurement result X2 of videographic measurment method is invalid; Otherwise assert that final measurement X3 equals X2, namely assert that the measurement result X1 of laser optical method is invalid and measurement result X2 that is videographic measurment method is effective.
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| CN109425329A (en) * | 2017-08-30 | 2019-03-05 | 宝山钢铁股份有限公司 | The detection method of slab sideslip offset in heating furnace |
| CN109425329B (en) * | 2017-08-30 | 2021-08-17 | 宝山钢铁股份有限公司 | Method for detecting deviation offset of plate blank in heating furnace |
| CN110193645A (en) * | 2018-02-24 | 2019-09-03 | 宝山钢铁股份有限公司 | The accurate positioning method that continuous casting steel billet two is cut |
| CN110193645B (en) * | 2018-02-24 | 2021-04-13 | 宝山钢铁股份有限公司 | Accurate positioning method for continuous casting slab secondary cutting |
| CN109238154A (en) * | 2018-09-27 | 2019-01-18 | 东华理工大学 | A kind of Con casting ladle wall thickness measurement method based on laser scaling ranging |
| CN111795632A (en) * | 2020-07-02 | 2020-10-20 | 北京科技大学设计研究院有限公司 | On-line automatic measurement method for length of stokehole plate blank |
| CN113780646A (en) * | 2021-09-01 | 2021-12-10 | 中冶南方工程技术有限公司 | Intelligent cutting and sizing method for continuous casting billet |
| CN113607094A (en) * | 2021-10-11 | 2021-11-05 | 中国铁建电气化局集团第二工程有限公司 | Contact net slope laser measuring device and method |
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