CN115265372A - Real-time detection system for medium plate head for assisting segmented shearing - Google Patents
Real-time detection system for medium plate head for assisting segmented shearing Download PDFInfo
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- CN115265372A CN115265372A CN202210731258.3A CN202210731258A CN115265372A CN 115265372 A CN115265372 A CN 115265372A CN 202210731258 A CN202210731258 A CN 202210731258A CN 115265372 A CN115265372 A CN 115265372A
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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
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Abstract
The invention discloses a real-time detection system for a plate head of a medium plate for assisting segmented shearing, which comprises a large shearing machine, a roller way control system, a width measurement system and a length measurement system; the invention detects the laser line end point of the medium plate through the width measuring system, carries out continuous sampling judgment, completes the identification of the irregular part of the head of the medium plate, and the length measuring system and the width measuring system carry out coordinate conversion on the pixel point of the laser line distortion position at the end part of the medium plate and the actual position, and completes the length measurement of the irregular part of the head of the medium plate; and (3) transmitting the irregular head information detected by the width measuring system to the length measuring system, transmitting the accurate length information after the irregular head is removed and the fixed length to a roller way control system by the length measuring system, stopping the rotation of the roller way when the medium and thick plate reaches a specified position, starting the large shearing machine, and performing accurate segmented shearing operation. The invention can improve the precision of the sectional shearing, improve the yield of steel products and realize the automation and the intellectualization of production lines.
Description
Technical Field
The invention belongs to the field of irregular surface length measurement, and particularly relates to a real-time detection system for a medium plate head for assisting segmented shearing.
Background
In the actual rolling production process of the medium and heavy plates, due to the limitation of the length of a cooling bed and the requirements of customers on medium and heavy plates with different specifications, the rolling length of the medium and heavy plates needs to be limited, so that hot continuous rolling cannot be realized, and the productivity is low. In order to improve the automation of a continuous rolling production line and realize continuous production of hot rolling, straightening, length measurement and segmental shearing, the accurate segmental shearing of the hot-rolled medium plate is very important.
However, the irregular shape of the head part of the billet is caused by uneven stress in the rolling process, and the precision of the fixed-length shearing is seriously influenced, so that the detection of the irregular head is necessary. The traditional measurement mostly adopts a manual mode, namely, a worker visually inspects the medium plate to reach a proper position in the conveying process and starts a large-scale shearing machine to shear the medium plate. At present, the measurement method of the medium plate has huge disadvantages, for example, a laser measuring instrument is often adopted as an auxiliary means in the more advanced non-contact measurement method, and the measurement method has the disadvantages of high equipment price, poor measurement precision, higher maintenance cost and difficulty in popularization in the actual industry. Therefore, the invention provides a real-time detection system for the slab head of the medium plate for assisting the segmented shearing, which is beneficial to improving the yield of the segmented shearing and realizing automation and intellectualization of production lines.
Disclosure of Invention
Aiming at the practical problems faced by the existing production, the invention aims to provide a real-time detection system for a medium plate head for assisting segmented shearing. The large-scale shearing machine comprises a large-scale shearing machine 1, a roller way control system 2, a width measuring system 3, a length measuring system 4 and a medium-thickness plate 9; the width measuring system 3 is provided with a width measuring laser 8 and a width measuring industrial camera 7, the width measuring laser 8 is arranged on the side of a cooling bed, a laser line irradiates between two adjacent rollers of a roller way, the width measuring industrial camera 7 is erected right above the roller way through a support, sampling is vertically carried out, and an image processing area of the width measuring industrial camera 7 is 4096 multiplied by 130 pixels.
In this embodiment, before the width measuring system 3 works, the width measuring industrial camera 7 is calibrated to complete the conversion between the pixel coordinate and the world coordinate of the width measuring industrial camera 7, and the calibration principle is as follows:
in the actual calibration process, only the value of Yw axis direction in the world coordinate system 0-XwYwZw where the laser line is located needs to be known, and the other directions can be 0 values; the value on the v-axis of the pixel coordinate system o-uv where the laser line is located only needs to be known, and the value on the u-axis is processed by 0.
Wherein, the rotation matrix between the camera coordinate system and the world coordinate system is as follows:
selecting coordinates of n points (n is more than or equal to 3) in the world coordinate system and the camera coordinate system in the space, and obtaining the conversion relation between the world coordinate system and the pixel coordinate system of the point A
Completing camera calibration in practical application;
knowing the pixel coordinates of the target laser spot, the coordinates of the target laser spot in the world coordinate system can be obtained from the derived coordinate conversion relation.
After calibration is completed, before the width measuring system 3 works, the laser line of the length measuring system 4 on the medium plate 9 is subjected to background filtering, the sampling influence of the laser line of the length measuring system 4 on the width measuring system 3 on the width measuring industrial camera 7 is eliminated, before the length measuring system 4 works, the laser line of the width measuring system 3 on the medium plate 9 is subjected to background filtering, the sampling influence of the laser line of the width measuring system 3 on the length measuring system 4 on the length measuring industrial camera 5 is eliminated, the width measuring industrial camera 7 is provided with an optical filter to eliminate stray light such as sunlight and roller table reflection, in the real-time detection process, the extracted picture is subjected to binarization processing, the width measuring laser line is extracted, and the width measuring laser line is extracted by a threshold segmentation method.
In the width measuring system 3, a width measuring laser line irradiates between two adjacent rollers of a roller way, the initial moment when the width measuring laser line appears on the plate head of the medium and thick plate 9 under the visual field of the width measuring camera 4 is recorded, and the length information d1 of the medium and thick plate 9 in the length measuring system 4 at the first moment is read; when the width information of the medium plate 9 detected in the continuously sampled image of the industrial camera for measuring width in the system 3 reaches a certain stable range, the length information d2 of the medium plate 9 in the length measuring system 4 at the most initial moment when the width information reaches a stable state is recorded, and the length of the irregular shape of the head of the medium plate 9 in the length measuring system is d = d2-d1.
The invention has the following beneficial effects:
(1) The invention applies the visual detection technology to the plate head detection, overcomes the artificial influence factors and improves the automation level of the production line;
(2) The width measuring system 3 provided by the invention is combined with the large-scale shearing machine 1, the roller way control system 2 and the length measuring system 4, so that the accurate fixed-length shearing of a continuously rolled medium plate 9 can be realized, and the product yield is improved;
(3) The invention uses the combination of the industrial camera and the laser, and has the characteristics of low cost, high working efficiency and the like.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
Further objects, features and advantages of the present invention will become apparent from the following description of embodiments of the invention with reference to the accompanying drawings
The description is set forth herein.
FIG. 1 is a schematic layout of a real-time detection system for a slab head of a medium plate for assisting segmental shearing according to the invention.
FIG. 2 is a flow chart of the real-time detecting system for the plate head of the medium plate for assisting the sectional shearing according to the present invention.
FIG. 3 is a block diagram of a real-time detecting system for a plate head of a medium plate for assisting in segmented shearing according to the present invention.
FIG. 4 is a schematic diagram of a calibration system for real-time detection of a slab head of a medium plate for assisting in segmented shearing according to the present invention.
The large-scale shearing machine comprises a large-scale shearing machine 1, a roller way control system 2, a width measuring system 3, a length measuring system 4, a length measuring industrial camera 5, a length measuring laser 6, a width measuring industrial camera 7, a width measuring laser 8 and a medium plate 9.
Detailed Description
The objects and functions of the present invention and methods for accomplishing the same will be apparent by reference to the exemplary embodiments; however, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms; the description is only for the purpose of giving full cognizance to those skilled in the relevant art; hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
In order to clearly explain the present invention, a real-time detecting system for a heavy and medium plate head for assisting segmental shearing according to the present invention is first explained, as shown in fig. 1, a schematic layout of the real-time detecting system for a heavy and medium plate head for assisting segmental shearing according to the present invention, as shown in fig. 2, a working flow chart of the real-time detecting system for a heavy and medium plate head for assisting segmental shearing according to the present invention, fig. 3, a block diagram of the real-time detecting system for a heavy and medium plate head for assisting segmental shearing according to the present invention, and fig. 4, a calibration schematic diagram of the real-time detecting system for a heavy and medium plate head for assisting segmental shearing according to the present invention.
1. Actual installation requirements
As shown in fig. 1, a real-time detection system for a plate head of a medium plate for assisting in segmented shearing comprises a width measurement system 3, a length measurement system 4, a large shearing machine 1, a roller way control system 2 and a medium plate 9, wherein the width measurement system 3 comprises a width measurement industrial camera 7 and a width measurement laser 8, the width measurement industrial camera 7 is arranged right above a roller way, a visual field extends over the length of the roller way, and the width measurement laser 8 obliquely irradiates a laser line to enable the laser line to irradiate between two roller gaps along a direction parallel to the central line of the roller way; the length measuring system 4 comprises 11 length measuring industrial cameras 5 which are arranged on the transmission side of the roller way at equal intervals, and 2 length measuring lasers 6 which are arranged on the cooling bed side.
2. Carrying out the process
Step s101: calibrating width measuring industrial camera 7
Starting 0 position by the position dimension close to the edge of the cold bed measuring roller way, fixing 0m position of two long steel rulers at the starting position, laying along the direction of the central line of the roller way, ensuring the straightness of the steel rulers, and ensuring that a laser line is positioned between the two steel rulers; finding out the center line position of a piece of A4 paper, marking the center line position to be used as a calibration object, placing the A4 paper on the surfaces of two steel rulers in the visual field range corresponding to the width measuring industrial camera 7 to enable laser lines to irradiate the white paper, aligning the center line of the white paper with one of the steel ruler scales, recording the actual scale value of the point in a software system, and carrying out three point taking operations at certain intervals in the same way.
And then, laser lines are shot on the white paper in a pixel coordinate system, position coordinates of two ends of the white paper are obtained at two sides of the A4 paper in a sudden change mode, a software system calculates the average value of the two ends to obtain a middle position coordinate, the conversion between the pixel coordinate system and world coordinates in the width measuring industrial camera 7 is completed through three point taking operations, and the calibration of the length measuring industrial camera 7 is completed.
The calibration method comprises the following steps:
(1) As shown in fig. 4, point a has the following relationship between coordinates (Xw, yw, zw) in the world coordinate system and coordinates (u, v) in the pixel coordinate system:
in the formula: s is the value of the point in the z direction under the camera coordinate system, mm;
,
f is the focal length of the camera, mm, dx, dy are the physical size of a single pixel, mm; u0, v0 is the image plane center, pixel;
is a rotation matrix of the world coordinate system to the camera coordinate system,
is a translation matrix from the world coordinate system to the camera coordinate system.
(2) In the actual calibration process, only the value of the Yw axis direction needs to be known in the world coordinate system 0-XwYwZw where the laser line is located, and the other directions are all 0 values; in the pixel coordinate system o-uv where the laser line is located, it is only necessary to know the value on the v axis, and the value on the u axis is processed by 0, then the above formula can be changed as:
in the formula:
,
;
converting the contents on both sides of equation (2) can obtain the following equation:
in the formula:
,
,
;
converting equation (3) into a matrix form can be obtained:
(3) Selecting coordinates of n points (n is more than or equal to 3) in the world coordinate system and the camera coordinate system in the space, and obtaining the conversion relation between the world coordinate system and the pixel coordinate system of the point A
And finishing the camera calibration in practical application.
Converting equation (3) to obtain:
(4) After the camera calibration is completed, knowing the pixel coordinates of the target laser point, the coordinates of the target laser point in the world coordinate system can be obtained by equation (5).
Step s102: respectively carrying out background sampling on the width measuring system 3 and the length measuring system 4
According to the embodiment of the 4300mm medium and thick plate 9 production line, before the width measuring system 3 is started, the medium and thick plates 9 are placed in the visual field of the width measuring system 3, the width measuring laser 8 of the width measuring system 3 is closed, the length measuring laser 6 of the length measuring system 4 is started, at the moment, the width measuring industrial camera 7 in the width measuring system 3 is started, and the working background of the width measuring system 3 is sampled at the moment; and then, starting a width measuring laser 8 in the width measuring system 3, closing a length measuring laser 6 in the length measuring system 4, starting a length measuring industrial camera 5 at the moment, and sampling the working background of the length measuring system 4 at the moment.
Step s103: starting the width measuring system 3 and the length measuring system 4 to filter the background
Starting a width measuring system 3, a width measuring industrial camera 7 and a width measuring laser 8, and starting a length measuring system 4, a length measuring industrial camera 5 and a length measuring laser 6; according to the sampling of the background in the width measuring system 3 and the length measuring system 4 in the step s101, the working background of the width measuring system 3 is filtered out from the width measuring industrial camera 7 in the real-time detection process, and the influence of the laser line of the length measuring system 4 on the measurement of the width measuring system 3 is eliminated; the working background of the length measuring system 4 is filtered and removed from the industrial length measuring camera 5 to eliminate the influence of the laser beam of the width measuring system 3 on the measurement of the width measuring system 3; the cut-to-length D is then entered in the cut-to-length operating system.
Step s104: recording the length measurement length d1 of the width measurement laser line when the laser line contacts the plate head for the first time
When the width measuring system 3 works, when the head of the medium and thick plate 9 passes through the width measuring laser line in the visual field of the width measuring industrial camera 7, the length information of the medium and thick plate 9 detected in the length measuring system 4 at the moment is recorded at the first moment and is recorded as d1.
Step s105: computing header information
In the process that the medium and thick plates 9 continue to move forward, the width measuring system 3 continuously samples the width of the medium and thick plates 9, the width measuring industrial camera 7 identifies laser lines on the medium and thick plates 9, when the width of the laser lines on the medium and thick plates 9 detected in the images shot by the width measuring industrial camera 7 is stable, the width of the medium and thick plates 9 is judged to be stable, at the moment, the irregular heads of the medium and thick plates 9 completely pass through, and the length information detected in the length measuring system 4 at the most initial moment when the width information in the width measuring system 3 reaches the stable state is recorded and recorded as d2; according to the length information obtained in step s104, the irregular length of the head of the medium plate 9 under the length measuring system 4 can be obtained as follows: d = d2-d1.
Step s106: the length measuring system 4 communicates with the roller way control system 2 and transmits the length information of the plate head
And (4) transmitting the length of the irregular plank head in the step s105 to the length measuring system 4, communicating the medium plank 9 with the length measuring system 4 and transmitting the accurate information calculated by the length measuring system 4 to the superior system.
Step s107: the roller way control system transmits the medium plate 9 to the designated position, and controls the large-scale shearing machine to shear the plate head.
According to the step s106, the length information is transmitted to the roller way control system 2, the roller way control system 2 controls the roller way to transmit the medium plate 9 to the target position, and the large shearing machine 1 is started to perform irregular plate head shearing removal operation and accurate segmented shearing operation on the medium plate 9.
The above are preferred embodiments of the present invention, and all the technical solutions and the inventive concepts according to the present invention should be replaced or changed by equivalents and shall be covered within the protection scope of the present invention.
Claims (4)
1. A real-time detection system for a plate head of a medium plate for assisting segmental shearing is characterized by comprising a large shearing machine, a roller way control system, a width measuring system and a length measuring system; the width measuring system is provided with a width measuring laser and a width measuring industrial camera, the width measuring laser is arranged on the side of the cooling bed, laser rays irradiate between two adjacent rollers of the roller way, and the width measuring industrial camera is erected right above the roller way through a support and vertically samples; recording length information of a laser line irradiated by a width measuring laser at the foremost end of the plate head of the medium-thickness plate and length information of a length measuring system at the moment when the width of the plate head of the medium-thickness plate is stable respectively, subtracting the two length information to obtain the length information of the irregular plate head under the length measuring system, transmitting the length information to the length measuring system, transmitting the length information after the irregular plate head is removed to a roller way control system by the length measuring system, stopping rotation of the roller way when the medium-thickness plate reaches an appointed position, and starting a large-scale shearing machine to perform fixed-size shearing operation.
2. The system according to claim 1, wherein the width measuring system comprises a width measuring laser line irradiating between two adjacent rollers of the roller bed, and in the image taken by the width measuring industrial camera, when the width measuring laser line appears on the head of the medium plate, the moment is recorded as an initial moment when the width measuring laser line appears on the head of the medium plate, and the length information d1 of the medium plate in the length measuring system at the initial moment is recorded; and then, the medium and thick plate is conveyed forwards, when the width of the laser line on the medium and thick plate detected in the image shot by the width measuring camera in the width measuring system is stable, the length information d2 of the medium and thick plate in the length measuring system at the most initial moment when the width information reaches a stable state is recorded, and the length information is different from the length information d1 in the claim 2, namely the length d of the irregular head of the medium and thick plate.
3. The system for detecting the slab head of the medium plate for assisting the segmental shearing according to claim 1, wherein before the width measuring system works, a laser line of the length measuring system on the medium plate is subjected to background filtering; and then, before the length measuring system works, the laser line of the width measuring system on the medium plate is subjected to background filtering.
4. The system for detecting the slab head of the medium plate for assisting the segmental shearing according to claim 1, wherein in the actual calibration process, only the value of Yw axis direction in a world coordinate system 0-XwYwZw where the laser line is located needs to be known, and the rest directions can be 0; the numerical value on the v axis of the pixel coordinate system o-uv where the laser line is located only needs to be known, and the numerical value on the u axis is processed according to 0;
wherein, the rotation matrix between the camera coordinate system and the world coordinate system is as follows:
selecting coordinates of n points (n is more than or equal to 3) in the world coordinate system and the camera coordinate system in the space, and obtaining the conversion relation between the world coordinate system and the pixel coordinate system of the point A
To complete camera calibration in practical application
Knowing the pixel coordinates of the target laser spot, the coordinates of the target laser spot in the world coordinate system can be obtained from the derived coordinate conversion relation.
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| CN202210731258.3A CN115265372A (en) | 2022-06-26 | 2022-06-26 | Real-time detection system for medium plate head for assisting segmented shearing |
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