CN113458157A - Synchronous shooting and transmission method suitable for hot-rolled strip steel position detection device - Google Patents
Synchronous shooting and transmission method suitable for hot-rolled strip steel position detection device Download PDFInfo
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- CN113458157A CN113458157A CN202010247229.0A CN202010247229A CN113458157A CN 113458157 A CN113458157 A CN 113458157A CN 202010247229 A CN202010247229 A CN 202010247229A CN 113458157 A CN113458157 A CN 113458157A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/04—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring thickness, width, diameter or other transverse dimensions of the product
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The invention discloses a synchronous shooting and transmission method suitable for a hot-rolled strip steel position detection device, which is characterized in that a programmable logic device is utilized to simultaneously start four digital industrial cameras to carry out image acquisition and conversion, converted digital image signals are respectively transmitted to four first-in first-out image stack caches correspondingly connected with the four digital industrial cameras through a TCP/IP network of a GigE protocol, image information of the four digital industrial cameras at the same moment all reaches the corresponding four first-in first-out image stack caches, and an image processor starts to work to complete the measurement of strip steel. The invention can accurately synchronize the door opening triggering of the four digital industrial cameras, and ensures the measurement precision and accuracy of the hot-rolled strip steel position detection device.
Description
Technical Field
The invention relates to a hot-rolled strip steel position on-line detection technology, in particular to a synchronous shooting and transmission method suitable for a hot-rolled strip steel position detection device.
Background
A hot rolling precision rolling movement strip steel position measuring system (BSPMS) is based on visual detection and moving object edge detection technologies. It mainly consists of a visual image acquisition system and an image processing and analyzing system, as shown in fig. 1.
The visual image acquisition system consists of four high-speed high-resolution industrial digital cameras, two lasers, a visual image controller and six gigabit Ethernet optical fiber repeaters.
The visual image controller is a command center of the visual image acquisition system, operates in an embedded Linux3.0 system, has a power-on self-starting function, and is designed into an unattended operation mode. It has two gigabit ethernet ports, where the first scoket1(TCP1) is connected to the scoket5(TCP5) of the IMAGE data analysis processing computer (IMAGE PC) through the gigabit fiber optic transceiver DGE872 for accepting various control parameters from the IMAGE PC and sending information to the IMAGE PC of the working status of the industrial camera and the working status of the visual IMAGE acquisition system, while the second scoket2(TCP2) serves as a backup.
The visual image controller is provided with four high-speed 12BIT AD converters, the conversion rate reaches 200KS/S, wherein AD1 can receive 4-20MA field signals and is connected to the field strip steel movement speed; the AD2 is connected to a temperature sensor in the control cabinet of the visual image acquisition system, and detects the working temperature in the control cabinet of the visual image acquisition system; AD3 and AD4 for standby.
The visual image controller has 24 digital inputs, numbered DI0-DI23, each of which is electrically and channel isolated and capable of withstanding 1MHz switching frequency and signal levels in compliance with the HTL standard. Each path of DI input is connected to the FPGA through photoelectric isolation, and a digital filter is configured for each path of DI in the FPGA to filter out interference signals, so that the EMC resistance of the system is improved. DI0-DI3 of the visual image controller is connected with the DO of the PLC, wherein DI0 is connected with the measurement START control signal of the PLC DO, DI1 is connected with the measurement STOP control signal of the PLC DO to control the work of the industrial camera, and DI2 and DI3 are standby. The DI4-DI7 of the visual image controller is connected with four switching value outputs of the 1# industrial camera, the DI8-DI11 is connected with four switching value outputs of the 2# industrial camera, the DI12-DI15 is connected with four switching value outputs of the 3# industrial camera, the DI16-DI19 is connected with four switching value outputs of the 4# industrial camera, and the working states and fault information of the four industrial cameras can be acquired through the visual image controller DI4-DI 19. DI20-DI23 may obtain operating status and fault information for both lasers. The visual image controller sends the failure information of the working state machine which acquires the four industrial cameras and the two lasers to the image analysis processing computer IMAGEPC through the Ethernet (TCP 1).
The visual image controller has 12 digital outputs numbered DO0-DO12, each of which is electrically and channel isolated and capable of withstanding a 500KHz switching frequency. The output dry node can bear the load of DC24v0.2A. DO0 and DO1 are connected to the DI input of the industrial camera # 1, DO2 and DO3 are connected to the DI input of the industrial camera # 2, DO4 and DO5 are connected to the DI input of the industrial camera # 3, DO6 and DO7 are connected to the DI input of the industrial camera # 4, DO8-DO11 control the power supplies of the industrial cameras, DO12 and DO13 control two lasers to work, and DO14 and DO15 control two laser power supplies. The working control signals of the four industrial cameras are controlled by a high-speed synchronous periodic timer and a high-speed synchronous working timer of the visual image controller. The timing time of the high-speed synchronous period timer is the reciprocal of the repeated action frequency of the shutter of the industrial camera, and the timing time of the high-speed synchronous working timer is the action duration time of the shutter of the industrial camera. When the industrial camera is set to be in the APP mode, the high-speed synchronous working timer counts time which is less than or equal to the set exposure time/2 of the industrial camera; when the industrial camera is set to the I/O mode, the high-speed synchronous operation timer counts the exposure time set for the industrial camera.
The function of the ethernet optical fiber transceiver is to convert the ethernet cable into optical fiber transmission through the optical fiber transceiver.
Six optical fiber transceivers are needed in the visual image acquisition system, wherein 1# -4# optical fiber transceivers are used by four industrial cameras, 5# optical fiber transceivers are connected with TCP1 of the visual image controller, and 6# optical fiber transceivers are reserved.
The IMAGE analysis processing system consists of an IMAGE data analysis processing computer (IMAGE PC), a CPMC system database, a database management computer (DB PC) and a human-computer interaction computer (HMI PC). Fig. 2 shows functions and data flow of each computer of the image analysis processing system.
Wherein, the IMAGE data analysis processing computer (IMAGE PC) has the functions of the IMAGE analysis processing system: 1. the image from CAMERA TCP1-4 is calculated and analyzed according to a designated algorithm, and the result is output to the AI of the PLC through the AO of the measurement output unit; 2. performing calculation analysis on the image from CAMERA TCP1-4 according to a specified algorithm, and displaying the image on a screen; 3. displaying various measurement data subjected to analysis processing in a form of a graph; 4. displaying the measurement data from each industrial camera in real time; 5. selecting an image information analysis processing algorithm, and automatically adjusting a camera gain value according to the brightness of the coil steel; 6. setting an image processing area and scale setting; 7. setting an IP address and a working mode of a camera, and setting a gain value according to the brightness of the coil steel; 8. setting a starting distance (between two times of triggering and a steel coil running distance) of the camera, and sending the starting distance to the visual image controller by the parameter configuration unit; 9. reading the working state and the fault alarm of the camera, and outputting the working state and the fault alarm to the DI of the PLC through the alarm output unit by processing in the camera state unit; 10. setting the camera and the laser to work, and sending the work to the visual image controller by the parameter configuration unit; 11. the camera is manually operated, and the remote control unit is responsible for sending the camera to the visual image controller; 12. the IMAGE information and the measurement data obtained after the algorithm analysis processing are subjected to quantization processing through a measurement output unit, and the IMAGE data information is output through an alarm and event unit through various event information acquired by an IMAGE information unit and an IMAGE PC. Transmitted to the DB PC and the HMI PC via Ethernet.
The CPMC system database and database management computer (DB PC) function as an image analysis processing system: 1. providing a public relation database for storing various measurement data, event information and images; 2. a search engine is provided.
The human machine communication computer (HMI PC) has the functions of the image analysis processing system: 1. displaying IMAGE information, measurement data and event information sent from each IMAGE data analysis processing computer IMAGE PC through a gigabit Ethernet in real time; 2. displaying coil steel information from the SCC; 3. displaying the working and communication conditions of the IMAGE PC and the industrial camera of each IMAGE data analysis processing computer; 4. and configuring the IP address and the port number of the Ethernet of each functional computer in the image analysis processing system.
At present, four digital industrial cameras are generally adopted in a visual image acquisition system, wherein the 1# and 2# digital industrial cameras are used for detecting the edge position of strip steel on the working side of a rolling mill, and the 3# and 4# digital industrial cameras are used for detecting the edge position of strip steel on the transmission side of the rolling mill. In order to accurately calculate the instantaneous width and the instantaneous center deviation of the strip steel in the moving process, four digital industrial cameras are required to detect the same horizontal position of the strip steel instantaneously. At present, because the steel strip movement position side detection system is not technically innovated abroad, a common method is still adopted, and the four digital industrial cameras cannot realize true synchronization in the shooting and image transmission processes, so that the measurement error is caused.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a synchronous shooting and transmission method suitable for a hot-rolled strip steel position detection device, which can accurately synchronize the four digital industrial cameras to trigger the door opening and ensure the measurement precision and accuracy of the hot-rolled strip steel position detection device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a synchronous shooting and transmission method suitable for a hot-rolled strip steel position detection device is characterized in that a programmable logic device is used for simultaneously starting four digital industrial cameras to acquire and convert images, converted digital image signals are respectively transmitted to four first-in first-out image stack caches correspondingly connected with the four digital industrial cameras through a TCP/IP network of a GigE protocol, all image information of the four digital industrial cameras at the same moment reaches the corresponding four first-in first-out image stack caches, and an image processor starts to work to complete the measurement of strip steel.
The method comprises the following specific steps:
1) starting four industrial digital cameras after the strip steel enters a finishing mill area;
2) the programmable logic device sends shutter synchronization instructions of four industrial digital cameras;
3) the four industrial digital cameras continuously shoot images at the same time and convert the images into digital signals;
4) the digital signals are transmitted to four first-in first-out image stack caches through a TCP/IP network of a GigE protocol;
5) when the image information of the four industrial digital cameras reaches the corresponding four first-in first-out image stack caches, the image processor starts to work;
6) the image processor processes the image to form a qualified image;
7) and carrying out photo height measurement, width measurement and center distance measurement on the qualified image, and outputting strip steel position data.
In the step 6), when the image processor processes the image more than 2MS, the image information from the industrial digital camera is automatically and temporarily stored in a first-in first-out image stack cache for queuing; when the image processor completes the current image processing, the image information arranged in the first-in first-out image stack buffer queue automatically moves to the image processor.
The image processor processes the image, including image gray scale adjustment and image enhancement processing.
In the technical scheme, the synchronous shooting and transmission method applicable to the hot-rolled strip steel position detection device provided by the invention has the following beneficial effects:
1) the CPLD can be used for accurately and synchronously sending out the door opening trigger of the four cameras, so that the four cameras can be simultaneously triggered and shot at the same moment;
2) the image FIFO register queue is adopted to ensure that the four image information acquired by the image processing program are actually at the same instantaneous position, thereby ensuring the measurement precision and accuracy and ensuring that the error of the width and the center deviation of the steel strip is less than 1mm in practical use.
Drawings
FIG. 1 is a schematic view showing the configuration of a hot rolling finishing movement strip position measuring system;
FIG. 2 is a schematic diagram of the functions and data flow of the computers of the image analysis processing system of FIG. 1;
FIG. 3 is a schematic flow diagram of the process of the present invention;
FIG. 4 is a schematic diagram of the method of the present invention;
FIG. 5 is a schematic interface diagram of an image processing application in the method of the present invention;
FIG. 6 is a schematic interface diagram of an image processing workstation communications application in the method of the present invention;
FIG. 7 is a schematic interface diagram of a human machine interface communication HMI application in the method of the present invention;
FIG. 8 is a schematic diagram of an interface of a database browsing query application program according to the method of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
As shown in fig. 3 and 4, the synchronous shooting and transmission method for the hot-rolled strip steel position detection device provided by the invention simultaneously starts four digital industrial cameras to acquire and convert images by using a programmable logic device (CPLD), the converted digital image signals are respectively transmitted to four first-in first-out image stack caches (FIFO) correspondingly connected with the four digital industrial cameras through a TCP/IP network of a GigE protocol, all the image information of the four digital industrial cameras at the same time reaches the corresponding four first-in first-out image stack caches (FIFO), and the image processor starts to work to complete the measurement of the strip steel.
And the programmable logic device (CPLD) adopts programming technologies such as CMOS EPROM, EEPROM, flash memory, SRAM and the like, thereby forming a programmable logic device with high density, high speed and low power consumption.
The image transmission rate of the hot rolled strip position detection device reaches 1920 x 1080 x 50/second/camera. The exposure time of the industrial digital camera is 10MS (min), the four images need 8-9MS for transmission, and the time of the image processor is only 2MS with short time. Meanwhile, the image acquisition time of the four industrial digital cameras and the inconsistency of the GigE network transmission are also considered. In fact, the image signals of the four industrial digital cameras cannot reach the image processing and strip steel edge detection and deviation measurement processor at the same time. In addition, it is also considered that when the image quality is poor, image preprocessing such as gray scale adjustment and image enhancement (fog removal) is required, and the total image time exceeds 2 MS. In this case, frame loss will occur without using a first-in-first-out image stack buffer (FIFO).
The method comprises the following specific steps:
1) starting four industrial digital cameras after the strip steel enters a finishing mill area;
2) a programmable logic device (CPLD) sends shutter synchronization instructions of four industrial digital cameras;
3) the four industrial digital cameras continuously shoot images at the same time and convert the images into digital signals;
4) the digital signals are transmitted to four first-in first-out image stack buffers (FIFO) through a TCP/IP network of a GigE protocol;
5) when the image information of the four industrial digital cameras all reaches the corresponding four first-in first-out image stack caches (FIFO), the image processor starts to work;
6) the image processor processes the image, and performs image gray adjustment and image enhancement processing (water mist removal) on the unqualified image to form a qualified image;
7) and carrying out photo height measurement, width measurement and center distance measurement on the qualified image, and outputting strip steel position data.
When the image processor processes the image more than 2MS, the image information from the industrial digital camera is automatically and temporarily stored in a first-in first-out image stack buffer (FIFO) for queuing; when the image processor completes the current image processing, the image information arranged in a first-in first-out image stack buffer (FIFO) queue is automatically moved to the image processor. By adopting the FIFO technology, the frame loss phenomenon can not occur, the image processing quality is ensured, and the real-time performance and the accuracy of the deviation of the strip steel are ensured.
The mechanical conditions of the detection method of the invention include that all industrial digital cameras have been subjected to position calibration. The electrical condition includes an IMAGE analysis system consisting of an IMAGE data analysis processing computer (IMAGE PC), a CPMC system database, a database management computer (DB PC) and a human-machine interaction computer (HMI PC).
Three applications are running on an IMAGE data analysis processing computer (IMAGE PC): 1. a camera control application; 2. an image processing application; 3. an image processing workstation communication application.
The camera control application program mainly comprises a working mode (four-camera synchronous control, single-camera control and the like) for controlling the camera, a camera trigger mode (network trigger, level trigger or pulse trigger), camera working parameter setting, working operation, cooler operation, continuous trigger, stop trigger, exposure time updating, data operation, channel parameter setting, measured value display, server working information and the like.
The image processing application, as shown in fig. 5, has four windows displaying live images in the upper left of the interface, and in the live image display windows, the upper left is the live image of the work side # 1 camera, the lower left is the live image of the work side # 2 camera, the upper right is the live image of the drive side # 4 camera, and the lower right is the live image of the drive side # 3 camera. And displaying the position of the edge of the current graph, the background gray level and the working temperature of the camera in real time in each image display sub-window.
The real-time measurement curve display is arranged at the lower left of the interface, and the curve is represented by four different colors and respectively represents the center deviation, the width deviation, the working side height deviation and the transmission side height deviation. The X-axis of the curve represents the number of length acquisitions and the Y-axis represents the number of measurements. The coordinate values of the X axis and the Y axis are automatically refreshed along with the measured values and the recording length.
And displaying the program running state at the upper right part of the interface. Display "device exception" when the camera is not attached; when the camera is connected and the 'run' button is not pressed, displaying 'equipment idle'; when the 'operation' button is pressed, the program enters a real-time measurement state, and the 'measurement is in' at the moment; pressing the 'stop' button in the measurement state, and returning the program to the 'idle' state; when an exit button is pressed, the program is normally and safely exited; when a 'setting' button is pressed, a setting sub-window pops up on the interface; setting a sub-window, wherein only one image storage interval is provided with a dialog box, the image storage interval can be set to be 5 by default, and the minimum is 3; a 'parameter updating' button, when the correction and storage of the steel plate offset parameters are carried out by the Execl, the parameter is updated by pressing the button; the middle of the right side of the interface is an information bar, and various conditions occurring in the running process of the program can be displayed in the information bar, such as disconnection and reconnection of a camera, disconnection and reconnection of a network, failure in disk storage and the like.
The real-time data display column is arranged on the lower right of the interface, and the total number of the real-time data display column is six:
1) the steel plate number is displayed and sent by the PLC;
2) width, which represents the width of the steel plate being measured, sent by the PLC;
3) center deviation, real-time measurement results;
4) width deviation, real-time measurement results;
5) working side deviation, real-time measurement result;
6) transmission side deviation, real-time measurement results;
and the colors of the measured display values correspond to the colors of the curves displayed by the real-time curves one by one.
As shown in fig. 6, the image processing workstation communication application program is used for completing the transmission of the IMGPC image processing program and network data and performing dimension conversion on the measurement data result, and performing digital-to-analog conversion on the dimension-converted data to obtain a corresponding 4-20ma current to be transmitted to the PLC. Each output channel can be configured through the minimum current, the maximum current, the minimum measuring range and the maximum measuring range, and the configured parameters are stored by pressing an update button.
Two applications run on a human machine interaction computer (HMI PC): 1. a communication management program HMICWS; 2. the human-machine interface communicates with the HMI application.
The communication management program HMICWS is a management center for data communication of the image analysis system, and has the following functions:
1) managing various data and information flows;
2) monitoring the network connection state, finding problems, namely adopting reconnection, and sending information to the HMI for display;
3) accurately transmitting new board information sent by the PLC;
4) and packaging and transmitting the real-time measurement data of the strip steel to the PLC and the DB PC.
Human machine interface communication HMI application interface As shown in FIG. 7, on the left side of the interface is the display of steel plate information and equipment status, the steel plate information is sent by the PLC. The F4 status column shows the working status of the F4 IMGPC equipment, and the corresponding equipment frame is hooked when the equipment is normal. And the network status bar displays the connection state of the network and hooks the network normally.
And the middle of the interface is a curve for displaying the center deviation and the width deviation of the steel plate in real time, and the coordinates of the X axis and the Y axis can be automatically refreshed along with the recorded amplitude and length.
The right side of the interface is the real-time condition of deviation of the working side and the transmission side, and the coordinates of the X axis and the Y axis can be automatically refreshed along with the recorded deviation amplitude and the plate width.
Two applications run on the CPMC system database and database management computer (DB PC): 1. a database communication application; 2. and browsing and querying the application program by the database.
The database communication application has several functions:
1) receiving a new plate name sent by HNICWS;
2) receiving a packed new plate measurement data result sent by HNICWS;
3) and storing the new board measurement data result by taking the new board name as a file name for browsing and querying by the DB PC.
An interface of a database browsing, browsing and querying application program is shown in fig. 8, a "database operation" column is arranged above the left side of the interface, database file names which are being accessed are displayed above the operation column, a time display system time is displayed under the condition of the "display file names", a dialog box is used for lazy input of data file names to be searched, and a date and time selection control is used for setting the time for searching the data files.
There are four database data load buttons on the interface, which are "load data", "search for steel plate number", "last 2 hours" and "designated time", respectively, and the specific functions are as follows:
1) when the button is pressed, the program opens the database folder, and the user can select the data file to be inquired in the opened data folder, open and present the data on the interface;
2) pressing this button for the "last 2 hours" causes the program to present the data files for the last 2 hours in the search results bar, and the user can select the data files to be queried and open. Presenting the data on an interface;
3) the steel plate number search inputs a data file name (steel plate number) to be opened in a file name dialog box, and when the button is pressed, if the file name exists, the program automatically opens the data file and presents the data on an interface; if no file name is input or no file name (steel plate number) is input, the program can report an error;
4) the "time specified" enters the time of the data file to be opened in the above date and time control, the program presents the top 20 data files that match the date and time in the lower search result field, the user can select the data file to be opened, and the data will be presented on the interface.
There are 7 data browse operation buttons on the interface:
1) pressing this button "auto" automatically navigates, moving one data per 0.25 s;
2) pressing the button program of the first item automatically displays the first 20 recorded data;
3) pressing the button program of "last bar" automatically displays the last 20 recorded data;
4) "previous page" moves forward 20 records;
5) the "next page" moves 20 records backward;
6) the "previous strip" moves forward 1 record;
7) the "next strip" is moved back by 1 record.
There are four curve display windows in the middle of the interface, which are respectively center offset, width offset, working side offset and transmission side offset, the curves in the four windows move forward or backward along with the operation of 7 data browsing buttons, and 20 data are displayed on one interface.
And the numerical value display of four measured data is arranged below the middle part of the interface, and the displayed data and the curve are refreshed synchronously.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (4)
1. A synchronous shooting and transmission method suitable for a hot-rolled strip steel position detection device is characterized by comprising the following steps: the programmable logic device is used for simultaneously starting the four digital industrial cameras to acquire and convert images, the converted digital image signals are respectively transmitted to four first-in first-out image stack caches correspondingly connected with the four digital industrial cameras through a TCP/IP network of a GigE protocol, all the image information of the four digital industrial cameras at the same moment reaches the corresponding four first-in first-out image stack caches, and the image processor starts to work to complete the measurement of the strip steel.
2. The synchronous photographing and transmitting method of the hot rolled strip position detecting apparatus as claimed in claim 1, wherein: the method comprises the following specific steps:
1) starting four industrial digital cameras after the strip steel enters a finishing mill area;
2) the programmable logic device sends shutter synchronization instructions of four industrial digital cameras;
3) the four industrial digital cameras continuously shoot images at the same time and convert the images into digital signals;
4) the digital signals are transmitted to four first-in first-out image stack caches through a TCP/IP network of a GigE protocol;
5) when the image information of the four industrial digital cameras reaches the corresponding four first-in first-out image stack caches, the image processor starts to work;
6) the image processor processes the image to form a qualified image;
7) and carrying out photo height measurement, width measurement and center distance measurement on the qualified image, and outputting strip steel position data.
3. The synchronous photographing and transmitting method of the position detecting apparatus for hot rolled strip as claimed in claim 2, wherein: in the step 6), when the image processor processes the image more than 2MS, the image information from the industrial digital camera is automatically and temporarily stored in a first-in first-out image stack cache for queuing; when the image processor completes the current image processing, the image information arranged in the first-in first-out image stack buffer queue automatically moves to the image processor.
4. The synchronous photographing and transmitting method of the position detecting apparatus for hot rolled strip as claimed in claim 3, wherein: the image processor processes the image, including image gray scale adjustment and image enhancement processing.
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| CN117115167A (en) * | 2023-10-24 | 2023-11-24 | 诺比侃人工智能科技(成都)股份有限公司 | Coiled steel displacement judging method and system based on feature detection |
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