CN114618904B - Device and method for measuring initial length of aluminum profile for realizing automatic stretching and straightening - Google Patents
Device and method for measuring initial length of aluminum profile for realizing automatic stretching and straightening Download PDFInfo
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- CN114618904B CN114618904B CN202210160939.9A CN202210160939A CN114618904B CN 114618904 B CN114618904 B CN 114618904B CN 202210160939 A CN202210160939 A CN 202210160939A CN 114618904 B CN114618904 B CN 114618904B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D3/00—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/028—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring lateral position of a boundary of the object
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Abstract
The invention discloses an aluminum profile initial length measuring device and method for realizing automatic stretching and straightening. Two trolleys in the device are respectively arranged at two ends of the track, and depth cameras are respectively arranged; a cooling bed is arranged at the side of the rail, and the section bar is transported on the cooling bed; detecting one end of the profile by a first moving depth camera; the second moving depth camera detects the other end of the profile along with the movement of the trolley, and the absolute encoder records the position of the second moving stretching trolley relative to the reference. The position of the end part of the section bar relative to the camera is obtained through a depth camera, and the length of the section bar is obtained through calculation of each dimension. The invention can rapidly realize the length measurement of the aluminum profile to be straightened in real time, so as to quantitatively measure the stretching degree of stretching straightening, and has high efficiency and simple realization.
Description
Technical Field
The invention relates to a length measuring device and a length measuring method in the field of stretching and straightening, in particular to a device and a method for rapidly measuring the length of a section bar during stretching and straightening of aluminum or other alloys.
Background
With the development of the industry in China towards the green, light, high-speed and modern directions, as aluminum and aluminum alloy have the advantages of small density, high strength, good corrosion resistance, good formability and the like, the tendency of replacing steel with aluminum is larger and larger, and the aluminum alloy is widely applied to the industries of aviation, aerospace, weapons, automobiles, ships, mechanical manufacturing, household appliances, electronic communication and the like.
The aluminum profile has strict requirements on the size and mechanical properties, and the related fields have very strict requirements on the planeness and straightness. An important link in the manufacturing process of the aluminum profile is extrusion molding, and the extruded aluminum profile needs to be cooled by air cooling, fog cooling or water cooling. After traction and rapid cooling by the traction machine, aluminum profiles generally bend and twist to different degrees, and stress non-uniformity is also generated in the cross section direction. Therefore, in the post-processing region of the extrusion production of aluminum profiles, the aluminum profiles need to be stretch-straightened to eliminate bending and twisting of the aluminum profiles, while eliminating stress unevenness of the aluminum profiles in the cross-sectional direction. Thus, the straightening process is also a non-negligible process.
At present, although semi-automation is realized, key procedures are still finished manually, and the stretching distance of stretching and straightening is still dependent on manual experience, namely, how much stretching is performed by feeling, and no quantitative control technology is realized. The main reason is that stretching and straightening are carried out on the profile, the length of the profile is needed to be known at first, and certain difficulty exists in obtaining the length of the profile due to complex working conditions. If the length range of the profile is relatively large (15-25 m), the precision and the measuring range of the common displacement sensor cannot be considered, and the use scene is not very suitable.
The background is complex and the image processing is troublesome when the common camera is adopted for real-time shooting measurement; and the length range of the profile is large, a plurality of cameras are needed, and the cost is greatly increased.
In addition, the aluminum profile is softer, and axial bending phenomenon exists, which also has a certain influence on the accuracy of measurement.
Disclosure of Invention
Aiming at the full automation of the aluminum profile stretching and straightening production line, the invention aims to rapidly realize the length measurement of the aluminum profile to be straightened in real time when the full automation production line for stretching and straightening is designed, so as to quantitatively guide the stretching degree of stretching and straightening. Therefore, the invention provides a section length measuring method which has high efficiency and is simple to realize when the aluminum section is stretched and straightened.
The technical scheme of the invention is as follows:
1. length measuring device of aluminium alloy when aluminium alloy tensile alignment:
the device comprises a first movable stretching trolley, a second movable stretching trolley, a stay wire displacement sensor, an absolute encoder, a cooling bed, a first movable depth camera, a second movable depth camera, a proximity switch, a track and a positioning cylinder; the second movable stretching trolley and the first movable stretching trolley are respectively arranged at two ends of the track, the second movable stretching trolley and the first movable stretching trolley can be movably arranged on the track along the track, a second movable depth camera is arranged on the second movable stretching trolley, and a first movable depth camera is fixed beside the side of the first movable stretching trolley; a cooling bed is arranged on the side of the rail, a plurality of sections to be straightened are transported on the cooling bed, the sections to be straightened are stretched and then are arranged across the cooling beds and transported by the cooling bed, each section to be straightened is parallel to the rail, and the sections to be straightened translate from being far away from the rail to being close to the rail on the cooling bed; the second moving depth camera and the first moving depth camera face to the section bar to be straightened on the cooling bed.
And a proximity switch is arranged on the side part of the cooling bed, which is close to the rail, and the proximity switch is used for detecting whether the section bar to be straightened is fed into place.
The first moving depth camera is positioned above the end part of the section to be straightened, which is close to one end of the first moving stretching trolley.
The first movable stretching trolley is connected with the stay wire displacement sensor, and the stay wire displacement sensor is used for detecting the moving distance of the first movable stretching trolley along the track;
the second movable stretching trolley is connected with the absolute encoder, and the distance of the second movable stretching trolley along the track is detected through the absolute encoder.
The cooling bed is provided with a positioning cylinder at the side part close to the rail, and the positioning cylinder is used for blocking the limiting position of the section bar to be straightened, which is transported by the cooling bed.
2. A length measurement method of aluminum profile during stretching and straightening of aluminum profile comprises the following steps:
setting two reference positions, measuring the position of the initial starting point of the second movable stretching trolley as a second reference position through an absolute encoder, measuring the position of the initial starting point of the first movable stretching trolley as a first reference position through a stay wire displacement sensor, and measuring in advance to obtain a distance X0 between the second reference position and the first reference position, a length X5 of the second movable stretching trolley, a distance X2 of the position of the first movable depth camera relative to the first reference position, and fixing the position of the first movable depth camera, thereby fixing the distance relative to the first reference position;
when the proximity switch 9 detects that the section bar to be straightened is conveyed to the position to be fed of the cooling bed, the industrial personal computer starts to control the second moving depth camera and the first moving depth camera to acquire and shoot images near two ends of the section bar to be straightened in real time; the end part of the profile on one side of the first moving depth camera always appears in the view field of the lens, the end part of the profile can be directly detected, the position of the end part on the other side of the profile needs to be detected along with the movement of the trolley on one side of the second moving depth camera, and the trolley stops moving when the end part is detected.
The second moving depth camera is arranged on one side of the second moving stretching trolley, which is close to the first moving depth camera, the second moving depth camera moves along with the second moving stretching trolley 2, the first moving depth camera is positioned right above the end part of the section bar to be straightened, in the moving process of the second moving stretching trolley, the moving distance X6 of the second moving stretching trolley from a second reference position is acquired in real time through an absolute encoder, the industrial personal computer is communicated with the PLC immediately, the data of the absolute encoder 4, namely X6, is read, the distance X1 between the end part of the section bar to be straightened, which is close to the second moving stretching trolley, and the second moving stretching trolley is obtained through the image analysis processing of the second moving depth camera, and the distance X3 between the end part of the section bar to be straightened, which is close to the first moving stretching trolley, is obtained through the image analysis processing of the first moving depth camera;
finally, the length L of the section bar to be straightened is obtained through formula processing:
L＝X0-X2-X3-X1-X5-X6。
the second moving depth camera and the first moving depth camera are used for shooting images of one end part of a plurality of sections to be straightened, which are close to the sections to be straightened, downwards, each frame of the shot images comprises a depth frame and an RGB frame, the images shot by the first moving depth camera are subjected to image analysis processing to locate the end part of the sections to be straightened, the second moving depth camera moves along with the second moving stretching trolley, and the images are shot in real time and tracked to locate the end part of the sections to be straightened while moving along the length direction parallel to the sections to be straightened on a track.
Traversing the depth frame pixels after removing the background and the interference of the image shot by the first moving depth camera, finding out the pixel coordinates of the end part of the profile to be straightened, and converting the pixel coordinates into camera coordinates to finish positioning by using the distortion parameters and the conversion parameters of the RGB lens.
The image analysis processing process specifically comprises the following steps:
firstly, carrying out coordinate alignment on a depth frame and an RGB frame;
secondly, identifying and positioning the section bar to be straightened extruded firstly on the cooling bed, and intercepting the section bar to be straightened and the areas parallel to the direction of the section bar to be straightened on the two sides of the section bar to be straightened contained in the depth frame to obtain the detection area corresponding to the section bar to be straightened to avoid the interference of other section bars to be straightened;
then, background removal is carried out by utilizing depth frame information, and interference is removed;
and finally, identifying and positioning the end part of the section to be straightened, and converting the pixel coordinates of the end part of the section to be straightened in the image into camera coordinates taking the camera as a space origin by utilizing distortion parameters and coordinate conversion parameters corresponding to RGB inside the camera.
When the background of the image shot by the second mobile depth camera is removed, the method specifically comprises the following steps:
in the depth frame of the second moving depth camera, only the pixels with the pixel values in the range of (D-delta, D+beta) are reserved, wherein D represents the distance between a camera lens and a cooling bed surface, delta is a parameter value larger than the maximum thickness of the section to be straightened, beta is a sagging reference threshold of the section to be straightened, and the threshold set by taking the hanging sagging of the end of the section to be straightened into consideration can ensure that the end of the section to be straightened can be detected; the depth frame is binarized accordingly, and the result of the binarization is dot-multiplied with the RGB frame to remove most of the background.
When the background of the image shot by the first moving depth camera is removed, the method specifically comprises the following steps:
firstly, invalid pixels in a detection area of the depth frame are removed, namely, a multiple N is preset, and all pixel values of pixels with original pixel values of 0 are changed into a value which is larger than N times of the distance D between a camera lens and a cooling bed surface by traversing pixels, so that the minimum value in the valid pixel values is highlighted.
Traversing the pixels again to find out the minimum value S of the effective pixel values;
traversing pixels again, screening and reserving pixels with pixel values (S, S+delta+beta), changing the pixel values of the other pixels into 0, wherein delta is a parameter value larger than the maximum thickness of the section to be straightened, and beta is a sagging reference threshold of the section to be straightened, which is a threshold set by considering the hanging sagging of the end of the section to be straightened, so that the end of the section to be straightened can be ensured to be detected; the depth frame is binarized accordingly, and the result of the binarization is multiplied by RGB frame points (pixels corresponding to coordinate positions) to remove most of the background.
The interference removal is to remove the interference and noise interference of the disordered object by a method for removing the smaller connected domain, a Gaussian filter method, a mean filter method and the like when the interference removal is continuously carried out on the depth frame.
The second moving depth camera removing interference specifically comprises:
firstly, removing a small-area communication area, namely firstly, dividing an image, then removing a part of the small-area communication area in the image by utilizing geometric features (areas), and simultaneously obtaining the circumscribed rectangle of each residual communication area to obtain the pixel width of the y-direction communication area parallel to the length direction of the profile to be straightened;
and converting the pixel width into a camera coordinate through the distortion parameters and the coordinate conversion parameters of the RGB frame to obtain the actual width of the communication area, and removing the communication area of which the actual width is less than epsilon times of the cooling bed width, wherein epsilon is a safety coefficient so as to ensure that the interference can be thoroughly removed, and epsilon can be between (1.5 and 2).
In this way, the interference caused by the cooling bed can be removed for the second moving depth camera when the profile is not in the view of the second moving depth camera.
If a communication area remains after the above operation is completed, that is, it is indicated that the profile 6 is in view, it is highly possible that the cooling bed 5 and the profile 6 form a large communication area, which is disadvantageous for the pixel coordinate reading of the end position of the profile 6. Therefore, the pixel width of the connected region in the x direction is detected first, and only the profile in the visual field can be illustrated by calculating the side length of the circumscribed rectangle in the x direction if the side length is smaller than the width of the A region in the x direction. If the result is equal to the specification that the section bar 6 and the cooling bed 5 are in the visual field at the same time, the interference of the cooling bed 5 needs to be removed, and the aluminum section bar 6 is silvery white and the cooling bed surface is dark gray, so that the final RGB image is converted into a gray image and the histogram is balanced, and the maximum inter-class variance method is adopted for binarization, and at the moment, the interference of the cooling bed 5 can be removed according to the brightness characteristic.
And the image shot by the second moving depth camera is subjected to image analysis, processing, tracking and positioning in the end part of the profile to be straightened:
if the section bar to be straightened does not exist in the detection area of the image at first, namely the pixels are all 0, the second movable stretching trolley is controlled to move on the track along the direction (the-y direction in the figure 2) which is parallel to the section bar to be straightened and is close to the rear end of the first movable depth camera until the pixel point of the section bar to be straightened appears in the detection area, then the second movable stretching trolley is controlled to stop moving, the pixels in the image shot by the second movable depth camera are traversed, the pixel coordinates of the end part of the section bar to be straightened are obtained, and the pixel coordinates are converted into camera coordinates, so that the position of the end part of the section bar to be straightened relative to the depth camera is obtained;
if there is a section to be straightened in the detection area of the image at the beginning, but the end of the section to be straightened coincides with the detection area boundary of the depth frame (fig. 3), this means that the section to be straightened has been spread over the whole monitoring area in the y-direction,
and controlling the second movable stretching trolley to move on the track along the direction parallel to the section to be straightened and the rear end direction (the +y direction in fig. 2) of the first movable depth camera until the section end to be straightened is positioned in the boundary of the detection area, wherein the section end to be straightened is positioned in the detection area, controlling the second movable stretching trolley to stop moving, starting traversing pixels in an image shot by the second movable depth camera, obtaining pixel coordinates of the section end to be straightened, converting the pixel coordinates into camera coordinates, and positioning the section end to be straightened relative to the depth camera.
The two depth cameras can detect pixel coordinates of the two side ends in the field of view of the cameras, and convert the pixel coordinates into the camera coordinates through distortion parameters and coordinate conversion parameters of the cameras, so that the position of the section bar end relative to the cameras is obtained. Each dimension forms a closed loop so that the length of the profile can be obtained by distance calculation.
The beneficial effects of the invention are as follows:
the invention can primarily measure the original length of the profile, is a key step of the design of an automatic production line for stretching and straightening the profile, can quickly realize the length measurement of the aluminum profile to be straightened in real time, and realizes the quantitative measurement of the stretching degree of stretching and straightening.
Drawings
FIG. 1 is a layout of a length measuring section of a stretch straightening line;
FIG. 2 is a schematic diagram of a method measurement relationship for the structure of FIG. 1;
fig. 3 is a system composition diagram of a measurement structure.
In the figure: the device comprises a first movable stretching trolley, a second movable stretching trolley, a 3-stay wire displacement sensor, a 4 absolute encoder, a 5-cooling bed, a 6-section bar, a 7 first movable depth camera, an 8 second movable depth camera, a 9 proximity switch, a 10-track and an 11-positioning cylinder.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
As shown in fig. 1, the device comprises a first movable stretching trolley 1, a second movable stretching trolley 2, a stay wire displacement sensor 3, an absolute encoder 4, a cooling bed 5, a first movable depth camera 7, a second movable depth camera 8, a proximity switch 9, a track 10 and a positioning cylinder 11; the second movable stretching trolley 2 and the first movable stretching trolley 1 are respectively arranged at two ends of the track 10, the second movable stretching trolley 2 and the first movable stretching trolley 1 are movably arranged on the track 10 along the track 10, a second movable depth camera 8 is arranged on the second movable stretching trolley 2, and a first movable depth camera 7 is fixed beside the side of the first movable stretching trolley 1; a plurality of cooling beds 5 are arranged on the side of the track 10, the cooling beds 5 are provided with conveyor belts, a plurality of sections 6 to be straightened are transported on the cooling beds 5, the plurality of sections 6 to be straightened are stretched and then are arranged across the plurality of cooling beds 5 and transported by the cooling beds 5, each section 6 to be straightened is arranged parallel to the track 10, and the sections 6 to be straightened are translated on the cooling beds 5 from being far away from the track 10 to being close to the track 10; the second moving depth camera 8 and the first moving depth camera 7 are both oriented towards the section bar 6 to be straightened on the cooling bed 5, and the two camera lenses are vertically downward and positioned at a certain height above the cooling bed.
A proximity switch 9 is arranged on the cooling bed 5 at the side part close to the track 10, the proximity switch 9 is used for detecting whether the section bar 6 to be straightened is fed into position, namely, whether the section bar reaches the position of the cooling bed 5 at the side close to the track 10, and when the feeding is detected, the two cameras start to collect data simultaneously. The first moving depth camera 7 is positioned above the end part of the section bar 6 to be straightened, which is close to one end of the first moving stretching trolley 1.
The first movable stretching trolley 1 is used for small movement and is connected with the stay wire displacement sensor 3, and the distance of the first movable stretching trolley 1 along the track 10 is detected by the stay wire displacement sensor 3; the second moving stretching trolley 2 is used for large-amplitude movement, is connected with the absolute encoder 4, and detects the moving distance of the second moving stretching trolley 2 along the track 10 through the absolute encoder 4.
A positioning cylinder 11 is arranged on the cooling bed 5 at the side part close to the rail 10, and the limiting position of the section bar 6 to be straightened, which is transported by the cooling bed 5, is blocked by the positioning cylinder 11.
The absolute encoder adopts an encoder with a roller structure, and can specifically adopt a meter wheel which rolls and detects on the track 10.
The first movable stretching trolley 1 provides stretching force and stretching displacement, and the second movable stretching trolley 2 is used for clamping one end of a profile for fixing. The first moving depth camera 7 is fixed on the ground for detecting the end position of the end of this side profile. Second moving depth camera 8 years the second moving stretching trolley 2 moves for identifying and locating the profile end position of this side.
One side of the rail 10 is provided with a cooling bed 5 for carrying and placing the profile, and the proximity switch 9 is used for detecting whether the profile 6 to be straightened is carried to a position to be loaded by the cooling bed 5. A positioning cylinder 11 (for positioning but not limited to a cylinder) is mounted on one side of each conveyor of the cooling beds 5 and is arranged in a straight line for positioning the profile 6 to be aligned, the profile 6 being blocked by the positioning cylinder 11 on each cooling bed 5 when transported by each cooling bed 5 to the end closest to the track 10 so that the profile 6 remains in a straight line for length measurement.
As shown in fig. 3, in the implementation, the device further comprises an industrial personal computer, a PLC and a relay, wherein the first movable depth camera, the industrial personal computer, the PLC, the relay, the proximity switch and the pull wire displacement sensor are positioned on one side of the first movable stretching trolley, the positions of the first movable depth camera and the second movable depth camera are relatively fixed, and positioning cylinders under the control of the relay are uniformly distributed on the cooling bed. The first movable depth camera is directly connected with the industrial personal computer, the proximity switch and the stay wire displacement sensor are connected to the PLC, and the PLC and the industrial personal computer can communicate with each other. The second removes depth camera, long-range I/O module and encoder and is located the second and removes tensile dolly, and the second removes depth camera and links to each other with the industrial computer through wireless transceiver, and long-range I/O module links to each other with PLC through wireless module to avoid the trouble of wiring. The absolute encoder is connected to the remote I/O module.
The length measurement process of the profile according to the invention is as follows, as shown in fig. 2:
two reference positions are established, the distance between the reference positions being X0. The distance X6 of the second moving stretch trolley 2 from the second reference position is recorded by the absolute encoder 4, the trolley length being X5. The first moving depth camera 7 is fixed in position, and its distance from the first reference position is fixed, which is X2.
When the proximity switch 9 detects that the profile 6 is carried to the position to be loaded, the industrial personal computer starts to collect data of the two depth cameras. The first moving depth camera 7 directly detects the pixel coordinates of the profile end, and then converts the pixel coordinates into camera coordinates through the distortion parameters and the coordinate conversion parameters of the camera, so as to obtain the distance between the profile end of the side and the camera, namely X3.
The second moving depth camera 8 on the other side moves along with the second moving stretching trolley 2 until the appearance of the profile 6 in the field of view of the camera is detected, at this time, the trolley stops moving, and the industrial personal computer immediately communicates with the PLC to read the data of the absolute encoder 4, namely X6.
Meanwhile, the industrial personal computer also determines the pixel coordinates of the profile end part at the side in the second moving depth camera 8, and then converts the pixel coordinates into camera coordinates through the distortion parameters and the coordinate conversion parameters of the camera, so as to obtain the distance between the profile end part at the side and the camera, namely X1. At this time, the relevant data are obtained, and the length L of the profile can be obtained by a formula:
L＝X0-X2-X3-X1-X5-X6
in a specific implementation, the distance between the first moving stretching trolley and the second reference position is X4, and the X4 can be used for further guiding a carrying tool on the first moving stretching trolley to grasp the end part of the profile.
Claims (8)
1. Length measurement device of aluminium alloy when aluminium alloy tensile alignment, its characterized in that:
the device comprises a first movable stretching trolley (1), a second movable stretching trolley (2), a stay wire displacement sensor (3), an absolute encoder (4), a cooling bed (5), a first movable depth camera (7), a second movable depth camera (8), a proximity switch (9), a track (10) and a positioning cylinder (11); the second movable stretching trolley (2) and the first movable stretching trolley (1) are respectively arranged at two ends of the track (10), the second movable stretching trolley (2) and the first movable stretching trolley (1) can be movably arranged on the track (10) along the track (10), the second movable stretching trolley (2) is provided with a second movable depth camera (8), and a first movable depth camera (7) is fixed beside the side of the first movable stretching trolley (1); a cooling bed (5) is arranged on the side of the rail (10), a plurality of profiles (6) to be straightened are transported on the cooling bed (5), the profiles (6) to be straightened are stretched and then are arranged across the cooling beds (5) and transported by the cooling bed (5), each profile (6) to be straightened is parallel to the rail (10), and the profiles (6) to be straightened are translated on the cooling bed (5) from being far away from the rail (10) to being close to the rail (10); the second moving depth camera (8) and the first moving depth camera (7) face to the section bar (6) to be straightened on the cooling bed (5);
the first moving depth camera (7) is positioned above the end part of the section bar (6) to be straightened, which is close to one end of the first moving stretching trolley (1);
the length measuring device completes measurement according to the following length measuring process:
measuring the initial starting point position of the second movable stretching trolley (2) as a second reference position through an absolute encoder (4), measuring the initial starting point position of the first movable stretching trolley (1) as a first reference position through a stay wire displacement sensor (3), and measuring and obtaining a distance X0 between the second reference position and the first reference position, a length X5 of the second movable stretching trolley (2) and a distance X2 of the position of the first movable depth camera (7) relative to the first reference position in advance;
when the proximity switch (9) detects that the section bar (6) to be straightened is conveyed to a position to be fed of the cooling bed (5), the second moving depth camera (8) and the first moving depth camera (7) acquire and shoot images near two ends of the section bar (6) to be straightened in real time;
the second moving depth camera (8) moves along with the second moving stretching trolley (2), in the moving process of the second moving stretching trolley (2), the moving distance X6 of the second moving stretching trolley (2) from a second reference position is acquired in real time through the absolute encoder (4), the distance X1 between the end part of the section bar (6) to be straightened, which is close to the second moving stretching trolley (2), and the second moving stretching trolley (2) is obtained through the image analysis processing of the second moving depth camera (8), and the distance X3 between the end part of the section bar (6) to be straightened, which is close to the first moving stretching trolley (1), and the first moving depth camera (7) is obtained through the image analysis processing of the first moving depth camera (7) which is acquired in real time;
finally, the length L of the section bar (6) to be straightened is obtained through formula processing:
L=X0-X2-X3-X1-X5-X6。
2. the length measurement device for aluminum profiles during stretching and straightening of aluminum profiles according to claim 1, wherein: the cooling bed (5) is provided with a proximity switch (9) at the side part close to the rail (10), and the proximity switch (9) is used for detecting whether the section bar (6) to be straightened is fed into place.
3. The length measurement device for aluminum profiles during stretching and straightening of aluminum profiles according to claim 1, wherein: the first movable stretching trolley (1) is connected with the stay wire displacement sensor (3), and the distance of the first movable stretching trolley (1) along the track (10) is detected by the stay wire displacement sensor (3);
the second movable stretching trolley (2) is connected with the absolute encoder (4), and the distance of the second movable stretching trolley (2) along the track (10) is detected through the absolute encoder (4).
4. The length measurement device for aluminum profiles during stretching and straightening of aluminum profiles according to claim 1, wherein: the cooling bed (5) is provided with a positioning cylinder (11) at the side part close to the rail (10), and the positioning cylinder (11) is used for blocking the limiting position of the section bar (6) to be straightened, which is transported by the cooling bed (5).
5. The length measuring device for aluminum profiles during stretching and straightening of aluminum profiles according to claim 1, wherein: the second moving depth camera (8) and the first moving depth camera (7) shoot images of one end of the plurality of sections to be straightened (6) close to the sections, the images shot by the first moving depth camera (7) are subjected to image analysis processing to locate the end of the sections to be straightened (6), the second moving depth camera (8) moves along with the second moving stretching trolley (2), and images are shot in real time and real-time image analysis processing tracking locating is performed on the end of the sections to be straightened (6) while moving along the length direction parallel to the sections to be straightened (6) on the track (10).
6. The length measuring device for aluminum profiles during stretching and straightening of aluminum profiles according to claim 5, wherein: the image analysis processing process specifically comprises the following steps:
firstly, carrying out coordinate alignment on a depth frame and an RGB frame;
secondly, intercepting the region which contains the section bar (6) to be straightened and the two sides of the section bar (6) to be straightened in the depth frame and is parallel to the direction of the section bar (6) to be straightened, and obtaining a detection region corresponding to the section bar to be straightened;
then, background removal is carried out by utilizing depth frame information, and interference is removed;
and finally, identifying and positioning the end part of the section to be straightened, and converting the pixel coordinates of the end part of the section to be straightened in the image into camera coordinates taking the camera as a space origin by utilizing distortion parameters and coordinate conversion parameters corresponding to RGB inside the camera.
7. The length measuring device for aluminum profiles during stretching and straightening of aluminum profiles according to claim 6, wherein: the image shot by the second moving depth camera (8) is specifically:
in the depth frame of the second moving depth camera (8), only pixels with pixel values in the range of (D-delta, D+beta) are reserved, wherein D represents the distance between a camera lens and a cooling bed surface, delta is a parameter value larger than the maximum thickness of the profile (6) to be straightened, beta is a sagging reference threshold value of the profile to be straightened, the depth frame is binarized according to the parameter value, and the binary result is multiplied by RGB frame points to remove the background.
8. The length measuring device for aluminum profiles during stretching and straightening of aluminum profiles according to claim 6, wherein: the image shot by the first moving depth camera (7) is specifically:
firstly, removing invalid pixels in a detection area of a depth frame, namely presetting multiple N, traversing pixels and changing all pixel values of pixels with original pixel values of 0 into a value which is larger than N times of the distance D between a camera lens and a cooling bed surface;
traversing the pixels again to find out the minimum value S of the effective pixel values;
and traversing the pixels again, screening and reserving the pixels with pixel values (S, S+delta+beta), changing the pixel values of the rest pixels into 0, wherein delta is a parameter value larger than the maximum thickness of the section bar (6) to be straightened, beta is a sagging reference threshold value of the section bar to be straightened, binarizing the depth frame according to the sagging reference threshold value, and multiplying the binarized result with RGB frame points to remove the background.
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| US4913551A (en) * | 1987-07-28 | 1990-04-03 | Davis Richard B | Log measuring method and apparatus |
| JPH08101017A (en) * | 1994-09-30 | 1996-04-16 | Nippon Steel Corp | Dimension measuring instrument |
| JP3312564B2 (en) * | 1996-09-06 | 2002-08-12 | 住友金属工業株式会社 | Measuring device for long objects |
| CN104942049A (en) * | 2015-06-11 | 2015-09-30 | 辽宁忠旺机械设备制造有限公司 | Automatic scaling tension straightening machine and method |
| CN105783718B (en) * | 2016-03-31 | 2018-08-31 | 浙江工业大学 | A kind of device carrying out guard frame rail length detection automatically using industrial camera |
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