CN112365531B - Reliability evaluation method for ellipse detection result of automatic scrolling system - Google Patents
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Abstract
The invention discloses an automatic coiling system ellipse detection result reliability evaluation method, wherein a steel coil has ellipse shape characteristics, the change rules of a long axis, a short axis and an inclination angle of the ellipse at each motion stage are counted by analyzing a large amount of normal coiling data, a theoretical motion trail equation is fitted to be used as a motion model of the steel coil, the deviation between an actual detection result and a model quantity is calculated during each detection, and the system detection reliability is calculated according to the deviation. The invention is expressed by 0 percent (unreliable) to 99 percent (highly reliable), and the processor determines whether to execute the automatic control instruction according to the degree of reliability, thereby further ensuring the safety of the system.
Description
Technical Field
The invention belongs to the technical field of image processing and industrial detection, and relates to an ellipse detection result reliability evaluation method of an automatic scrolling system.
Background
Along with the development of modern processing industry, the demand of industrial production line to automated control system is bigger and bigger to cold rolling production line decoiler is rolled up as an example, and the operator controls fixed track's hydraulic trolley through controlling the button and removes, lifts the coil of strip from the saddle, makes the coil of strip move near decoiler reel from the saddle through translation and decline to make coil of strip core and decoiler reel center align and dock again, accomplish the control of rolling up of decoiler. When aligning the steel coil, the operator often can not directly observe the state of target alignment due to the position limitation on the site, and the steel coil position needs to be repeatedly patrolled and corrected, so that the coiling step becomes very complicated, the output rate of an industrial production line is influenced, meanwhile, along with the increase of the workload of the operator, the fatigue degree is increased, the control error is very easy to occur, industrial accidents can be caused when the operation is serious, and potential safety hazards exist. The development and the demand of the society enable the research and the development and the use of an automatic coil-feeding system to be a necessary demand, the automatic coil-feeding means that the position of a steel coil is detected and positioned through a specific sensor, and after the accurate position information of the steel coil is obtained, the hydraulic trolley lifts the steel coil and automatically moves the steel coil to a target place to finish the automatic coil-feeding.
The use of the automatic coiling system greatly improves the production efficiency of the industrial production line, the currently commonly used automatic coiling system has a laser positioning type, and a laser sensor is arranged at a key point to judge whether a steel coil moves to the point or not, so that the automatic control is realized; the encoder type is used for measuring the displacement of the trolley through an encoder arranged on the trolley and indirectly calculating the position of the steel coil, and the method can ensure high precision only by ensuring that the steel coil is located at the same position on the trolley every time and the coil diameters are the same; and in the diameter measuring mode, the coil diameter of the steel coil is detected through an image sensor, so that the steel coil moves by a distance equal to the coil diameter in a descending stage, and then the steel coil is aligned with the winding drum by default. Most of the traditional methods can only realize semi-automatic control of the reeling process, full automation cannot be realized, the number of sensors in the system is large, the failure rate is high, and the difficulty of later maintenance is increased.
The automatic coil-feeding system based on image processing has the core that an industrial camera installed at a specific position is used for shooting the movable range area of a steel coil, when the steel coil is automatically fed, the identification problem of the steel coil is converted into ellipse detection through the image processing technology, the real-time position coordinate of the steel coil is calculated, the whole-process positioning and tracking of the coil-feeding process are completed, the full-automatic control of the coil-feeding process is realized, and the system has strong controllability and real-time performance. However, by using the image processing technology, more interference sources are inevitably introduced, such as changes in light intensity, camera shake and shading, which frequently cause image detection errors, and the system does not know the accuracy of the detection result when detecting the errors.
Disclosure of Invention
The invention aims to provide a reliability evaluation method for an ellipse detection result of an automatic scrolling system, which is expressed by 0 percent (unreliable) to 99 percent (highly reliable), and a processor determines whether to execute an automatic control instruction according to the reliability so as to further ensure the safety of the system.
The invention adopts the technical scheme that the method for evaluating the reliability of the ellipse detection result of the automatic scrolling system specifically comprises the following steps:
step 1, extracting manual scrolling video data, and solving a parameter change equation of the ellipse major axis relative to the abscissa of the ellipse center and a parameter change equation of the ellipse major axis relative to the ordinate of the ellipse center according to the change rule of the ellipse major axis relative to the ellipse center in the scrolling process;
step 2, extracting manual scrolling video data, and solving a parameter change equation of the minor axis of the ellipse relative to the abscissa of the center of the ellipse and a parameter change equation of the minor axis of the ellipse relative to the ordinate of the center of the ellipse according to a change rule of the minor axis of the ellipse relative to the center of the ellipse in the scrolling process;
step 3, extracting manual scrolling video data, and solving a parameter change equation of the elliptical inclination angle relative to the abscissa of the center of the ellipse and a parameter change equation of the elliptical minor axis relative to the ordinate of the center of the ellipse according to the change rule of the elliptical inclination angle relative to the center of the ellipse in the scrolling process;
and 4, respectively calculating deviation amounts of the short axis, the long axis and the inclination angle of the ellipse, and calculating the reliability according to the deviation amounts.
The present invention is also characterized in that,
in step 1, a parameter change equation of the ellipse major axis about the abscissa of the ellipse center is shown as formula (1):
in the formula, h 1 (x) The length of the long axis h corresponding to the steel coil in the translation stage when the central abscissa is positioned at x 2 (x) Represents a falling phase, h 3 (x) Indicating the alignment phase:
the parameter change equation of the ellipse major axis about the ellipse center ordinate is shown in formula (2):
wherein h is 1 (y) represents the length of the long axis corresponding to the longitudinal coordinate of the center of the ellipse when the steel coil is in the translation stage, h 2 (y) represents the descent phase, h 3 (y) represents the alignment phase.
In step 2, the equation of the parameter change of the minor axis of the ellipse with respect to the abscissa of the center of the ellipse is shown as formula (3):
wherein, w 1 (x) The length of the short axis, w, corresponding to the steel coil in the translation stage when the abscissa of the center of the ellipse is positioned at x 2 (x) Indicates a falling phase, w 3 (x) Indicating an alignment phase;
the parameter change equation of the ellipse minor axis with respect to the ellipse center ordinate is shown in formula (4):
wherein, w 1 (y) represents the length of the short axis when the longitudinal coordinate of the center of the ellipse is positioned at y, w 2 (y) denotes the descent phase, w 3 (y) represents the alignment phase.
In step 3, a parameter change equation of the ellipse inclination angle with respect to the abscissa of the ellipse center is shown as formula (5):
wherein, g 1 (x) The corresponding inclination angle g when the horizontal coordinate of the center of the ellipse is positioned at x is shown when the steel coil is in the translation stage 2 (x) Denotes the falling phase, g 3 (x) Indicating an alignment phase;
the parameter variation equation of the ellipse inclination angle with respect to the ellipse center ordinate is shown in equation (6):
wherein, g 1 (y) represents the corresponding inclination angle when the longitudinal coordinate of the center of the ellipse is positioned at y, g 2 (y) represents the descent phase, g 3 (y) represents the alignment phase.
In step 4, the calculation formula of the minor axis deviation of the ellipse is shown as formula (7):
σ w (x,y)＝|w r (x,y)-w t (x,y)| (7)；
in the formula, w r (x, y) is the actual detected ellipse minor axis length with the ellipse center at point (x, y), w t (x, y) is the theoretical ellipse minor axis length calculated according to equation (3) with the ellipse center at point (x, y), σ w (x, y) represents the deviation of the minor axis;
the ellipse major axis deviation calculation formula is shown in formula (8):
σ h (x,y)＝|h r (x,y)-h t (x,y)| (8)；
in the formula, h r (x, y) is the length of the major axis of the ellipse actually detected when the center of the ellipse is at point (x, y), h t (x, y) is the theoretical ellipse major axis length calculated according to equation (2) with the ellipse center at point (x, y), σ h (x, y) represents the amount of deviation of the major axis;
the ellipse inclination angle deviation amount calculation formula is shown in formula (9):
σ a (x,y)＝|a r (x,y)-a t (x,y)| (9)；
in the formula, a r (x, y) is the actually detected inclination angle of the ellipse with the center of the ellipse at point (x, y), a t (x, y) is the theoretical ellipse tilt angle, σ, calculated according to equation (5) with the ellipse center at point (x, y) a (x, y) represents the amount of deviation of the tilt angle;
confidence is calculated according to equation (10):
in the formula, k w Scale factor, k, for elliptical minor axis error amplification h Scale factor, k, for error amplification of major axis of ellipse a And mu (x, y) is the ellipse detection reliability when the ellipse center of the steel coil center is positioned at the point (x, y), and the value range is 0-99%.
The method has the advantages that the method is designed for evaluating the reliability of the elliptic detection result of the automatic reeling system aiming at the problem that the automatic reeling system cannot measure the accuracy of the detection result, the system calculates a group of theoretical target shape change rule equations according to the statistical analysis of a large amount of data, the detection result at each moment is compared with the theoretical target shape change rule equations, the detection reliability is calculated through a specific formula, and the automatic reeling controller determines whether to execute an automatic control instruction according to the reliability, so that the safety and the reliability of the system are ensured.
Drawings
FIG. 1 is a scatter diagram of results of analysis of the change law of the major axis of an ellipse in the method for evaluating the reliability of an ellipse test result of an automatic scrolling system according to the present invention;
FIGS. 2(a) and (b) are schematic diagrams of a theoretical trajectory of the ellipse long axis change rule in the reliability evaluation method of the ellipse detection result of the automatic scrolling system according to the present invention;
FIG. 3 is a scatter diagram of results of ellipse minor axis change law analysis in the method for evaluating reliability of ellipse detection results of an automatic scrolling system according to the present invention;
FIGS. 4(a) and (b) are schematic diagrams of the fitting theory trajectory of the ellipse minor axis change rule in the reliability evaluation method of the ellipse detection result of the automatic scrolling system;
FIG. 5 is a scatter diagram of results of analysis of the law of change of the inclination angle of an ellipse in the method for evaluating the reliability of the result of an ellipse test of an automatic scrolling system according to the present invention;
fig. 6(a) and (b) are theoretical trajectory graphs of fitting to the change rule of the inclination angle of the ellipse in the reliability evaluation method of the ellipse detection result of the automatic scrolling system.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a reliability evaluation method for an ellipse detection result of an automatic coiling system, wherein a steel coil has the shape characteristic of an ellipse, the change rule of a long axis, a short axis and an inclination angle of the ellipse at each motion stage is counted by analyzing a large amount of data of normal coiling, a theoretical motion trail equation is fitted to be used as a motion model of the steel coil, the deviation between an actual detection result and a model quantity is calculated during each detection, and the reliability of system detection is calculated according to the deviation.
The invention relates to a reliability evaluation method for an ellipse detection result of an automatic scrolling system, which comprises the following specific processes:
step 1, extracting a large amount of normal manual scrolling video data, performing statistical analysis on a change rule of a long axis of a target ellipse by adopting a target detection method in an automatic scrolling system, and drawing a scatter diagram, wherein the change rule of the long axis of the ellipse relative to the center of the ellipse in the scrolling process is shown in figure 1, and theoretical change diagrams of the long axis relative to an abscissa x of the center of the ellipse and an ordinate y of the center of the ellipse are respectively fitted at the same time and are shown in figures 2(a) and 2(b), wherein (a) in figure 2 represents an ellipse long axis-central axis coordinate fitting image, and (b) in figure 2 represents an ellipse long axis-central axis coordinate fitting image), and an ellipse parameter change equation of the steel coil at different stages is calculated according to the fitted theoretical change rules, the parameter change equation of the long axis relative to the central abscissa is shown in formula (1), and h in the formula 1 (x) Showing the horizontal coordinate of the center of the steel coil in the translation stageThe length of the long axis corresponding to the position x (the length is expressed as the number of pixel points of the image in the image), and the same holds for h 2 (x) Represents a falling phase, h 3 (x) Indicating the alignment phase.
The equation of the parameter change of the long axis about the central ordinate is shown in formula (2), h 1 (y) represents the length of the long axis (namely the number of pixel points occupied in the image) corresponding to the steel coil when the central vertical coordinate is positioned at y in the translation stage, and the same principle is that h 2 (y) represents the descent phase, h 3 (y) represents the alignment phase.
Step 2, extracting a large amount of normal manual coiling video data, performing statistical analysis on a short axis change rule of a target ellipse by adopting a target detection method in an automatic coiling system, drawing a scatter diagram, wherein the change of the short axis of the ellipse relative to the center of the ellipse in the coiling process is shown in fig. 3, simultaneously, respectively fitting a theoretical change diagram of the short axis relative to the abscissa x of the center of the ellipse and the theoretical change diagram of the ordinate y of the center of the ellipse, as shown in fig. 4, (fig. 4(a) shows an ellipse short axis-center abscissa fitting image, and fig. 4(b) shows an ellipse short axis-center ordinate fitting image), calculating an ellipse parameter change equation of the steel coil at different stages according to the fitted theoretical change rule, wherein the parameter change equation of the short axis relative to the center abscissa is shown in formula (3), and w is shown in formula (3) 1 (x) The length of the short axis (namely the number of pixel points occupied in the image) corresponding to the steel coil when the central abscissa is positioned at x in the translation stage is represented, and the w is the same 2 (x) Indicates a falling phase, w 3 (x) Indicating the alignment phase.
Parameter change method of short axis relative to central ordinateEquation (4) shows, w 1 (y) represents the length of the short axis (namely the number of pixel points occupied by the short axis in the image) corresponding to the steel coil when the central vertical coordinate is positioned at y in the translation stage, and the same principle is that w 2 (y) denotes the falling phase, w 3 (y) represents the alignment phase.
And 3, extracting a large amount of normal manual scrolling video data, performing statistical analysis on the inclination angle change rule of the target ellipse by adopting a target detection method in an automatic scrolling system, and drawing a scatter diagram, wherein the change of the ellipse inclination angle relative to the ellipse center in the scrolling process is shown in fig. 5, and simultaneously, theoretical change diagrams of the inclination angle relative to the ellipse center abscissa x and the ellipse center ordinate y are respectively fitted, as shown in fig. 6(a) shows an ellipse inclination angle-center abscissa fitting image, and fig. 6(b) shows an ellipse inclination angle-center ordinate fitting image). Calculating an ellipse parameter change equation when the steel coil is positioned at different stages according to the fitted theoretical change rule, wherein the parameter change equation of the inclination angle relative to the central abscissa is shown as the equation (5), and g 1 (x) The corresponding inclination angle of the steel coil in the translation stage when the central abscissa is positioned at x is shown, and the same principle is g 2 (x) Denotes the falling phase, g 3 (x) Indicating the alignment phase.
The equation of variation of the tilt angle with respect to the vertical axis of the center is shown in formula (6), g 1 (y) represents the corresponding inclination angle of the steel coil in the translation stage when the central ordinate is positioned at y, and the same principle is g 2 (y) represents the descent phase, g 3 (y) represents the alignment phase.
And 4, calculating the reliability of the system,when the system works normally, the data detected in real time are compared with the change equations obtained in the step 1, the step 2 and the step 3, and the deviation amounts of the short axis, the long axis and the inclination angle are calculated according to the formulas (7) to (9). Deviations of the major axis, the minor axis and the inclination angle are respectively obtained, and reliability is calculated according to the deviations. The minor axis deviation calculation formula is shown in formula (7), wherein w r (x, y) is the actual detected ellipse minor axis length (length is represented as the number of occupied pixel points in the image information) when the ellipse center is at point (x, y), w t (x, y) is the theoretical ellipse minor axis length calculated according to equation (3) with the ellipse center at point (x, y), σ w (x, y) represents the deviation of the minor axis.
σ w (x,y)＝|w r (x,y)-w t (x,y)| (8)
The long axis deviation calculation formula is shown as formula (9), wherein h r (x, y) is the length of the ellipse major axis (the length is represented as the number of occupied pixel points in the image information) actually detected when the ellipse center is at the point (x, y), h t (x, y) is the theoretical ellipse major axis length calculated according to equation (2) with the ellipse center at point (x, y), σ h (x, y) represents the amount of deviation of the major axis.
σ h (x,y)＝|h r (x,y)-h t (x,y)| (9)；
The tilt angle deviation amount calculation formula is shown in formula (10), wherein a r (x, y) is the actually detected inclination angle (i.e. the angle between the major axis and the horizontal direction) of the ellipse when the center of the ellipse is at point (x, y), a t (x, y) is the theoretical ellipse tilt angle, σ, calculated according to equation (5) with the ellipse center at point (x, y) a (x, y) represents the deviation amount of the tilt angle.
σ a (x,y)＝|a r (x,y)-a t (x,y)| (10)；
The reliability is calculated according to the formula (11), wherein k w Scale factor, k, for elliptical minor axis error amplification h Scale factor, k, for error amplification of major axis of ellipse a The specific value of the proportionality coefficient for the ellipse inclination angle error amplification is different at different industrial sitesThe movement stages may be different, and are selected according to the actual situation of the field and an empirical method, wherein mu (x, y) is the ellipse detection reliability when the ellipse center of the coil center of the steel coil is located at the point (x, y), and the value range is 0% to 99%.
Claims (1)
1. A reliability evaluation method for an ellipse detection result of an automatic scrolling system is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, extracting manual scrolling video data, and solving a parameter change equation of the ellipse major axis relative to the abscissa of the ellipse center and a parameter change equation of the ellipse major axis relative to the ordinate of the ellipse center according to the change rule of the ellipse major axis relative to the ellipse center in the scrolling process;
in the step 1, the parameter change equation of the ellipse major axis relative to the ellipse center abscissa is shown as the formula (1),
in the formula, h 1 (x) The length of the long axis h corresponding to the steel coil in the translation stage when the central abscissa is positioned at x 2 (x) Represents a falling phase, h 3 (x) Indicating the alignment phase:
the parameter change equation of the ellipse major axis about the ellipse center ordinate is shown in formula (2):
wherein h is 1 (y) represents the length of the long axis corresponding to the longitudinal coordinate of the center of the ellipse when the steel coil is in the translation stage, h 2 (y) represents the descent phase, h 3 (y) represents an alignment phase;
step 2, extracting manual scroll video data, and obtaining a parameter change equation of the elliptical minor axis relative to the abscissa of the center of the ellipse and a parameter change equation of the elliptical minor axis relative to the ordinate of the center of the ellipse according to a change rule of the elliptical minor axis relative to the center of the ellipse in the scroll process;
in the step 2, a parameter change equation of the minor axis of the ellipse with respect to the abscissa of the center of the ellipse is shown as formula (3):
wherein, w 1 (x) The length of the short axis, w, corresponding to the steel coil in the translation stage when the abscissa of the center of the ellipse is positioned at x 2 (x) Indicates a falling phase, w 3 (x) Indicating an alignment phase;
the parameter change equation of the ellipse minor axis with respect to the ellipse center ordinate is shown in formula (4):
wherein, w 1 (y) represents the length of the short axis corresponding to the longitudinal coordinate of the center of the ellipse when the steel coil is in the translation stage, w 2 (y) denotes the descent phase, w 3 (y) represents an alignment phase;
step 3, extracting manual scrolling video data, and solving a parameter change equation of the elliptical inclination angle relative to the abscissa of the center of the ellipse and a parameter change equation of the elliptical minor axis relative to the ordinate of the center of the ellipse according to the change rule of the elliptical inclination angle relative to the center of the ellipse in the scrolling process;
in the step 3, a parameter change equation of the inclination angle of the ellipse with respect to the abscissa of the center of the ellipse is shown as formula (5):
wherein, g 1 (x) When the steel coil is in the translation stage, the center of the ellipse is transversely seatedAngle of inclination, g, corresponding to the index at x 2 (x) Denotes the falling phase, g 3 (x) Indicating an alignment phase;
the parameter change equation of the ellipse inclination angle with respect to the ellipse center ordinate is shown in equation (6):
wherein, g 1 (y) represents the corresponding inclination angle when the longitudinal coordinate of the center of the ellipse is positioned at y, g 2 (y) represents the descent phase, g 3 (y) represents an alignment phase;
step 4, respectively calculating deviation amounts of the short axis, the long axis and the inclination angle of the ellipse, and calculating reliability according to the deviation amounts;
in the step 4, the calculation formula of the minor axis deviation of the ellipse is shown as a formula (7):
σ w (x,y)＝|w r (x,y)-w t (x,y)| (7)；
in the formula, w r (x, y) is the actual detected ellipse minor axis length with the ellipse center at point (x, y), w t (x, y) is the theoretical ellipse minor axis length calculated according to equation (3) with the ellipse center at point (x, y), σ w (x, y) represents the deviation of the minor axis;
the ellipse major axis deviation calculation formula is shown in formula (8):
σ h (x,y)＝|h r (x,y)-h t (x,y)| (8)；
in the formula, h r (x, y) is the length of the major axis of the ellipse actually detected when the center of the ellipse is at point (x, y), h t (x, y) is the theoretical ellipse major axis length calculated according to equation (2) with the ellipse center at point (x, y), σ h (x, y) represents the amount of deviation of the major axis;
the ellipse inclination angle deviation amount calculation formula is shown in formula (9):
σ a (x,y)＝|a r (x,y)-a t (x,y)| (9)；
in the formula, a r (x,y) Is the actual detected ellipse tilt angle, a, when the ellipse center is at point (x, y) t (x, y) is the theoretical ellipse tilt angle, σ, calculated according to equation (5) with the ellipse center at point (x, y) a (x, y) represents the amount of deviation of the tilt angle;
the confidence level is calculated according to equation (10):
in the formula, k w Scale factor, k, for elliptical minor axis error amplification h Scale factor, k, for error amplification of major axis of ellipse a And mu (x, y) is the ellipse detection reliability when the ellipse center of the steel coil center is positioned at the point (x, y), and the value range is 0-99%.
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