CN115494516A - Raw material blank furnace-entering positioning detection method, device and equipment and readable storage medium - Google Patents
Raw material blank furnace-entering positioning detection method, device and equipment and readable storage medium Download PDFInfo
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Abstract
The invention relates to a raw material blank charging positioning detection method, a device, equipment and a readable storage medium, wherein the raw material blank charging positioning detection method comprises the following steps: collecting point cloud data in a preset area in a three-dimensional coordinate system, wherein the preset area comprises the point cloud data of the position of an inlet of a heating furnace; detecting point cloud data corresponding to the end face of the raw material blank in the length direction; determining whether the raw material blank moves to a predetermined position in the heating furnace. The invention solves the technical problem that whether the raw material blank runs in place after entering the heating furnace cannot be accurately detected.
Description
Technical Field
The invention relates to the technical field of rod and wire production, in particular to a raw material blank furnace entering positioning detection method, a device, equipment and a readable storage medium, and particularly relates to a raw material blank furnace entering positioning detection method, a device, equipment and a readable storage medium based on point cloud analysis.
Background
The raw material blank of stick wire rod is the square billet usually, and the length of cross-section side is about 200mm, and length is about 10 meters, and in production process, the raw material blank need first pass through one section transportation roll table and can enter into the heating furnace and heat. At the present stage, after the raw material blanks enter the furnace, due to the lack of corresponding detection means, whether the raw material blanks run in place or not is difficult to judge, and once subsequent actions are performed under the condition that the raw material blanks do not run in place, conditions such as abnormal production and the like can be caused, equipment damage can be even caused in serious cases, and huge loss is brought.
At present, the manual visual inspection is mostly carried out on a rod and wire production line by an operator through a monitoring video to judge whether a raw material blank runs in place, but the method has the following defects:
1. the working intensity is high, and time and labor are wasted;
2. the visual inspection has limited precision, larger error and lower accuracy;
3. automatic closed-loop control cannot be realized, and the production efficiency is reduced;
4. not in line with the intended goal of reducing human efficiency.
Aiming at the problem that whether the raw material blanks run in place after entering a heating furnace in the related art cannot be accurately detected, an effective solution is not provided at present.
Therefore, the inventor provides a method, a device, equipment and a readable storage medium for detecting the charging positioning of a raw material blank by experience and practice of related industries for many years, so as to overcome the defects of the prior art.
Disclosure of Invention
The invention aims to provide a method, a device and equipment for detecting the charging positioning of a raw material blank and a readable storage medium, which adopt a three-dimensional point cloud analysis technology, place a laser radar near a furnace-front conveying roller way, collect three-dimensional point cloud data of the raw material blank entering a heating furnace, automatically detect the position of the end part of the raw material blank, further judge whether the raw material blank runs in place, improve the accuracy and efficiency of the detection of the raw material blank, and form closed-loop feedback control so as to complete subsequent operation control.
The object of the invention can be achieved with the following technical solution,
the invention provides a raw material blank charging positioning detection method, which comprises the following steps:
collecting point cloud data in a preset area in a three-dimensional coordinate system, wherein the preset area comprises the point cloud data of the position of an inlet of a heating furnace;
detecting point cloud data corresponding to the end face of the raw material blank in the length direction;
determining whether the raw material blank moves to a predetermined position in the heating furnace.
In a preferred embodiment of the present invention, the acquiring of the point cloud data in the predetermined area in the three-dimensional coordinate system is a coordinate set of a plurality of position points in the three-dimensional coordinate system.
In a preferred embodiment of the present invention, the acquiring point cloud data in a preset area in a three-dimensional coordinate system, where the preset area includes a position between the point cloud data of the position where the heating furnace entrance is located and the point cloud data corresponding to the end face of the raw material blank in the length direction, further includes:
performing horizontal rotation correction on the three-dimensional coordinate system where the point cloud data in a preset area is located;
and transforming the coordinate origin of the three-dimensional coordinate system after the rotation correction.
In a preferred embodiment of the present invention, the performing horizontal rotation correction on the three-dimensional coordinate system in which the point cloud data in the preset area is located includes:
selecting point cloud data of a horizontal reference object in the point cloud data in a preset area;
and horizontally and rotationally correcting the three-dimensional coordinate system so that the point cloud data of the horizontal reference object is in an xy plane in the three-dimensional coordinate system or in a plane parallel to the xy plane in the three-dimensional coordinate system.
In a preferred embodiment of the present invention, the performing horizontal rotation correction on the three-dimensional coordinate system includes:
detecting a plane where the horizontal reference object is located in the point cloud data in the preset area through a plane detection algorithm;
obtaining a plane equation of a plane where the horizontal reference object is located;
obtaining a rotation matrix for performing horizontal rotation correction on the three-dimensional coordinate system according to a plane equation of a plane where the horizontal reference object is located and a rotation matrix solving algorithm, wherein the rotation matrix is a correction parameter;
and multiplying the point cloud data in the preset area by the correction parameter to obtain the point cloud data in the preset area after horizontal rotation correction.
In a preferred embodiment of the present invention, the transformation rotation-corrected coordinate origin of the three-dimensional coordinate system includes: and taking the vertical projection of the initial coordinate origin on the plane of the horizontal reference object as the changed coordinate origin.
In a preferred embodiment of the present invention, the transforming the origin of coordinates of the three-dimensional coordinate system after rotation correction includes:
when an initial coordinate origin is obtained, the height difference h between the acquisition position of the point cloud data and the plane of the horizontal reference object is obtained;
and transforming the coordinates (x, y, z) of each point cloud data in the three-dimensional coordinate system after rotation correction into (x, y, h-z).
In a preferred embodiment of the present invention, the detecting point cloud data corresponding to the end surface of the raw material blank in the length direction in the three-dimensional coordinate system after the origin point is calibrated includes:
deleting the adopted preset area, and reserving a screening area, wherein the raw material blanks are positioned in the screening area;
dividing the point cloud data in the screening area to realize the separation of the point cloud data representing different objects in the screening area and form a plurality of sub-point cloud sets;
traversing the set of sub-point clouds;
and if the number of the point cloud data in the set of the sub point clouds is larger than or equal to a preset first number threshold, determining that the point cloud data in the set of the sub point clouds is the point cloud data corresponding to the raw material blank.
In a preferred embodiment of the present invention, the segmenting the point cloud data in the screening area includes:
presetting a distance threshold;
and dividing points corresponding to the two point cloud data with the distance smaller than the distance threshold value into the same set of the sub-point clouds.
In a preferred embodiment of the present invention, the determining whether the raw material ingot is moved to the predetermined position inside the heating furnace includes:
acquiring an x coordinate set of all point cloud data corresponding to the raw material blank;
presetting a region division value;
performing region division on the region division value in the x coordinate set, and obtaining a plurality of sub-regions;
counting the number of x coordinate values in each sub-region;
if the number of the x coordinate values is larger than a second number threshold, determining that the sub-area is located on the end face of the raw material blank in the length direction;
setting a positioning value in the region division value;
and if the positioning value is greater than or equal to the standard value, the raw material blank moves to a preset position in the heating furnace.
The invention provides a raw material blank charging positioning detection device, which comprises:
the system comprises a point cloud data acquisition unit, a data acquisition unit and a data processing unit, wherein the point cloud data acquisition unit is used for acquiring point cloud data in a preset area in a three-dimensional coordinate system, and the preset area comprises the point cloud data of the position of an inlet of a heating furnace;
the raw material blank position detection unit is used for detecting point cloud data corresponding to the end face of the raw material blank in the length direction;
and the position determining unit is used for determining whether the raw material blank moves to a preset position in the heating furnace.
In a preferred embodiment of the present invention, the raw material blank charging positioning and detecting apparatus further includes:
the rotation correction unit is used for performing horizontal rotation correction on the three-dimensional coordinate system where the point cloud data in a preset area are located;
and the origin transformation unit is used for transforming the coordinate origin of the three-dimensional coordinate system after the rotation correction.
In a preferred embodiment of the invention, the point cloud data acquisition unit is a laser radar, the laser radar is arranged above the side of a transportation roller way for transporting the raw material blank, and the laser radar is aligned with the inlet of the heating furnace so as to acquire the point cloud data of the position of the inlet of the heating furnace.
The invention provides computer equipment which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the raw material blank charging positioning detection method.
The invention provides a computer-readable storage medium which stores a computer program for executing the raw material blank furnace-entering positioning detection method.
From the above, the raw material blank charging positioning detection method, device, equipment and readable storage medium of the invention have the characteristics and advantages that: in the process of conveying the raw material blank to the heating furnace, the point cloud data in the preset area in the three-dimensional coordinate system is collected, and the point cloud data corresponding to the end face of the raw material blank in the length direction is detected, so that whether the raw material blank runs to the preset position after entering the heating furnace can be accurately detected.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.
Wherein:
FIG. 1: is one of the flow charts of the raw material blank charging positioning detection method.
FIG. 2: is the second flow chart of the raw material blank charging positioning detection method of the invention.
FIG. 3: the invention is a schematic layout position diagram of the equipment in the raw material blank charging positioning detection method.
FIG. 4 is a schematic view of: the method is a schematic diagram of point cloud data acquired in the method for detecting the furnace charging positioning of the raw material blank.
FIG. 5: is a third flow chart of the raw material blank charging positioning detection method.
FIG. 6: is the fourth flow chart of the raw material blank charging positioning detection method of the invention.
FIG. 7: is the fifth flow chart of the raw material blank charging positioning detection method.
FIG. 8: is the sixth flow chart of the raw material blank charging positioning detection method of the invention.
FIG. 9: is the seventh flow chart of the raw material blank charging positioning detection method of the invention.
FIG. 10: is a schematic diagram for positioning the raw material blank in the raw material blank charging positioning detection method.
FIG. 11: is an eighth flow chart of the raw material blank charging positioning detection method of the invention.
FIG. 12: is one of the structural block diagrams of the raw material blank charging positioning detection device.
FIG. 13: the second structural block diagram of the raw material blank charging positioning detection device is shown in the invention.
FIG. 14: the third structural block diagram of the raw material blank charging positioning detection device is shown.
The reference numbers in the invention are;
1. raw material blanks; 2. A conveying roller way;
3. an inlet of a heating furnace; 4. A laser radar.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
Implementation mode one
As shown in fig. 1 and 2, the present invention provides a raw material blank charging positioning detection method, which includes the following steps:
step S1: collecting point cloud data in a preset area in a three-dimensional coordinate system, wherein the preset area comprises the point cloud data of the position of the heating furnace inlet 3;
further, the collected point cloud data is a coordinate set of a plurality of position points in a three-dimensional coordinate system.
Specifically, as shown in fig. 3, in the process of collecting point cloud data in a preset area, a laser radar 4 is arranged above the side of the transportation roller table 2, and a scanning port of the laser radar 4 is aligned to the heating furnace inlet 3 to collect the point cloud data. The point cloud data scanned by the laser radar 4 is a set of a series of (x, y, z) coordinates in a three-dimensional coordinate system (the (x, y, z) coordinates are only used for describing the format of the point cloud data returned by the laser radar 4, and are not particularly specified to a specific detection position, and certainly, in actual measurement, the point cloud data at a position near the entrance 4 of the heating furnace needs to be scanned). The point cloud data obtained by scanning is shown in fig. 4, wherein the point cloud data in the preset region is collected in a rectangular white frame, and the point cloud data comprises point cloud data of the position of the heating furnace inlet and point cloud data of the end face of the raw material blank 1 in the length direction.
Step S2: carrying out horizontal rotation correction on a three-dimensional coordinate system where point cloud data in a preset area are located;
in an actual operation scene, because the installation of the laser radar 4 is difficult to ensure complete horizontality, and meanwhile, a certain inclination angle possibly exists on the ground, in order to facilitate point cloud analysis, under the condition that the installation part angle of the laser radar 4 and/or the inclination angle exists on the ground, the three-dimensional coordinate system where the point cloud data is located needs to be subjected to rotation correction.
In an alternative embodiment of the present invention, as shown in fig. 5, step S2 comprises:
step S201: selecting point cloud data of a horizontal reference object in the point cloud data in a preset area;
step S202: the three-dimensional coordinate system is subjected to horizontal rotation correction so that the point cloud data of the horizontal reference object is within an xy plane in the three-dimensional coordinate system or within a plane parallel to the xy plane in the three-dimensional coordinate system.
The horizontal reference object can be the ground (the ground needs to be horizontal, and no inclination angle exists), and the horizontal plane correction mainly utilizes point cloud data of the ground to carry out rotation correction on the three-dimensional coordinate system; when the ground has an inclination angle or the ground cannot acquire point cloud data of the ground due to shielding and the like, a horizontal marking plate can be placed in the field of view as a horizontal reference object, and the three-dimensional coordinate system is subjected to rotation correction through the point cloud data of the marking plate.
Further, as shown in fig. 6, step S202 includes:
step S2021: detecting a plane P (corresponding to a horizontal ground or a horizontal marking plate) where a horizontal reference object is located in the point cloud data in the preset area through a plane detection algorithm;
step S2022: in the three-dimensional coordinate system, obtaining a plane equation of a plane P where the horizontal reference object is located:
ax+by+cz+d＝0；
the specific numerical value of d is automatically calculated by a plane detection algorithm, and the normal vectors (a, b and c) of the plane P can be obtained in the invention, and are irrelevant to the value of d. Since (a, b, c) is a normal vector of the plane P and a vertical vector in a conventional three-dimensional coordinate system should be (0, 1), it is necessary to calculate a rotation matrix R rotated from the normal vector (a, b, c) of the plane P to the vertical vector (0, 1).
Step S2023: obtaining a rotation matrix of a three-dimensional coordinate system for horizontal rotation correction according to a plane equation of a plane where the horizontal reference object is located and a rotation matrix solving algorithm, wherein the rotation matrix is a correction parameter;
the plane detection algorithm and the rotation matrix solving algorithm used in the horizontal correction are both existing calculation methods, and can be directly called through Point Cloud data processing libraries such as Halcon and PCL (Point Cloud Library), so details on how to calculate are not described herein.
Step S2024: and multiplying the point cloud data in the preset area by the correction parameters to obtain the point cloud data in the preset area after horizontal rotation correction.
After the installation position of the laser radar 4 is determined, the rotation correction operation is only needed to be executed once, the obtained rotation matrix R is the correction parameter, in the subsequent working process, only the original point cloud data Pori in the preset area measured by the laser radar 4 is needed to be multiplied by the rotation matrix R, and the point cloud data Padjust in the preset area after the rotation correction can be obtained, wherein: padjust = Pori × R within a preset region
And step S3: transforming the coordinate origin of the three-dimensional coordinate system after the rotation correction;
further, step S3 includes: and taking the vertical projection of the initial coordinate origin on the plane of the horizontal reference object as the changed coordinate origin.
Specifically, the point cloud data acquired by the laser radar 4 usually uses the position of the laser radar 4 itself as the origin of the three-dimensional coordinate system, so that the origin of the three-dimensional coordinate system needs to be transformed, and the vertical projection point of the laser radar 4 on the horizontal ground (or a horizontal marking plate) is used as the 0 point of the Z-axis coordinate in the three-dimensional coordinate system, so that data processing can be performed more conveniently.
In an alternative embodiment of the present invention, as shown in fig. 7, step S3 comprises:
step S301: when the initial coordinate origin is obtained, the height difference h between the acquisition position of the point cloud data (namely the position set by the laser radar 4) and the plane of a horizontal reference object (namely the horizontal ground or a horizontal marking plate); where h can be obtained by field measurements.
Step S302: and (3) transforming the coordinates (x, y, z) of each point cloud data in the three-dimensional coordinate system after rotation correction into (x, y, h-z).
And step S4: detecting point cloud data corresponding to the end face of the raw material blank 1 in the length direction in a three-dimensional coordinate system after the origin point is calibrated (namely, the x coordinate of the end face of the raw material blank 1 in the length direction in the three-dimensional coordinate system);
in an alternative embodiment of the present invention, as shown in fig. 8 and 10, step S4 includes:
step S401: deleting the adopted preset area, and reserving a screening area, wherein the raw material blank is positioned in the screening area;
in the invention, because the scanning range of the laser radar 4 is large, points outside the area of the raw material blank 1 need to be removed, and the area where the raw material blank 1 appears is selected according to the value range of the acquired point cloud data in a three-dimensional coordinate system, namely, x is reserved 1 <x<x 2 ，y 1 <y<y 2 ，z 1 <z<z 2 Point cloud data within a region, where x 1 、x 2 、y 1 、y 2 、z 1 、z 2 The selection can be obtained according to field measurement, the principle of the selection is to ensure that the raw material blank 1 appears in the selected area A, the smaller the area A is, the better the area A is, the filtering of the area can ensure that most background noise data (namely, point cloud data without the raw material blank 1) is filtered out, the main part in the selected area A can also ensure to be the raw material blank 1, and the set P of the point cloud data can be obtained after the filtering A 。
Step S402: dividing the point cloud data in the screening area to realize the separation of the point cloud data representing different objects in the screening area and form a plurality of sub-point cloud sets;
further, as shown in fig. 9, step S402 includes:
step S4021: presetting a distance threshold;
step S4022: and dividing points corresponding to the two point cloud data with the distance smaller than the distance threshold value into the same sub-point cloud set.
The method specifically comprises the following steps: in the selected area A, the main part of the point cloud data is the raw material blank 1 itself, and a point cloud data set P A And performing point cloud segmentation operation (which can be realized by operators in point cloud analysis libraries such as PCL (PCL) and Halcon), dividing two point cloud data with a distance smaller than a preset distance threshold (which can be 1 cm) into the same sub-point cloud set to realize segmentation of different objects in the point cloud data, and forming a plurality of sub-point cloud sets Ps after segmentation.
Step S403: screening the sets Ps of the plurality of sub-point clouds, and traversing the sets Ps of the sub-point clouds;
step S404: if the number of the point cloud data in the set Ps of the sub-point clouds is larger than or equal to a preset first number threshold (1000 can be taken), determining that the point cloud data in the set Ps of the sub-point clouds is point cloud data Pt corresponding to the raw material blank 1, and determining that other screened point cloud data are noise; if the number of the point cloud data in the set Ps of the sub point clouds is smaller than a preset first number threshold, it can be determined that the current point cloud data is not on the raw material blank 1, and the raw material blank 1 is not detected.
Step S5: and determining whether the raw material blank moves to a preset position in the heating furnace.
In an alternative embodiment of the present invention, as shown in fig. 11, step S5 includes:
step S501: acquiring an x coordinate set (namely a coordinate set in the length direction of the raw material blank 1) of all point cloud data Pt corresponding to the raw material blank 1;
step S502: a preset zone division value (which may be 5 cm);
step S503: performing region division in the x coordinate set according to the region division values, and obtaining a plurality of sub-regions An;
step S504: counting the number n of x coordinate values in each subregion An;
step S505: if the number n of the x coordinate values is larger than a second number threshold theta (the value of theta can be determined according to the actual situation and can be 200), determining that the sub-region An is positioned on the end surface of the raw material blank 1 in the length direction (because the points on the raw material blank 1 are the densest);
step S506: setting a positioning value in the region division value;
specifically, a value within a preset region division value (for example, a middle position d in a range of 5 cm) may be selected as the positioning value.
Step S507: if the positioning value is greater than or equal to the standard value, the raw material blank 1 moves to a preset position in the heating furnace.
Specifically, when d > d after the raw material ingot 1 is moved into the heating furnace 0 (d 0 Actual measurement), the raw material blank 1 can be judged to be put into the furnace in place; if d is less than d 0 In the process, the raw material blank 1 can be judged not to enter the preset position of the heating furnace, and the raw material blank 1 needs to be adjusted.
The method for detecting the charging positioning of the raw material blank has the characteristics and advantages that:
1. according to the method for positioning and detecting the raw material blank entering the furnace, whether the raw material blank 1 runs to the preset position after entering the heating furnace can be accurately detected by acquiring point cloud data in the preset area in a three-dimensional coordinate system and detecting the point cloud data corresponding to the end face of the raw material blank 1 in the length direction.
2. According to the raw material blank furnace-entering positioning detection method, after point cloud data in a preset area in a three-dimensional coordinate system are collected, the position of the three-dimensional coordinate system can be adjusted through horizontal rotation correction and coordinate origin transformation, the detection accuracy is improved, and calculation is facilitated.
Second embodiment
As shown in fig. 12, the present invention provides a raw material blank in-furnace positioning detection apparatus, which includes a point cloud data acquisition unit 100, a rotation correction unit 200, an origin transformation unit 300, a raw material blank position detection unit 400, and a position determination unit 500, wherein:
a point cloud data acquisition unit 100, configured to acquire point cloud data in a preset area in a three-dimensional coordinate system, where the preset area includes point cloud data of a position where the heating furnace inlet 3 is located;
in an alternative embodiment of the present invention, as shown in fig. 3, the point cloud data collecting unit 100 is a laser radar 4, the laser radar 4 is fixedly disposed above the side of the transportation roller way 2 for transporting the raw material blank 1, and the laser radar 4 is aligned with the heating furnace entrance 3, so that the laser radar 4 can collect the point cloud data of the position of the heating furnace entrance 3.
Specifically, as shown in fig. 3, in the process of collecting point cloud data in a preset area, a laser radar 4 is arranged laterally above the transportation roller table 2, and a scanning port of the laser radar 4 is aligned with the heating furnace inlet 3 to collect the point cloud data. The point cloud data scanned by the laser radar 4 is a set of a series of (x, y, z) coordinates in a three-dimensional coordinate system (the (x, y, z) coordinates are only used for describing the format of the point cloud data returned by the laser radar 4, and are not particularly specified to a specific detection position, and certainly, in actual measurement, the point cloud data at a position near the entrance 4 of the heating furnace needs to be scanned). According to the point cloud data (the coordinate precision of the point cloud data can be accurate to millimeters) with different precisions which can be acquired according to the scanning precision of the selected laser radar 4, the point cloud data acquired by scanning is as shown in fig. 4, wherein the point cloud data in the preset area is acquired in the rectangular white frame, and the point cloud data comprises the point cloud data of the position where the heating furnace inlet is located and the point cloud data of the end face of the raw material blank 1 in the length direction.
A rotation correction unit 200, configured to perform horizontal rotation correction on a three-dimensional coordinate system in which point cloud data in a preset region is located; in an actual operation scene, because the installation of the laser radar 4 is difficult to ensure complete horizontality, and meanwhile, a certain inclination angle possibly exists on the ground, in order to facilitate point cloud analysis, under the condition that the inclination angle exists on the installation piece angle and/or the ground of the laser radar 4, the three-dimensional coordinate system where the point cloud data is located needs to be subjected to rotation correction.
And an origin transformation unit 300, configured to transform the origin of coordinates of the three-dimensional coordinate system after the rotation correction, with a vertical projection of the initial origin of coordinates on the plane of the horizontal reference object as the changed origin of coordinates.
Specifically, the point cloud data acquired by the laser radar 4 usually uses the position of the laser radar 4 itself as the origin of the three-dimensional coordinate system, so that the origin of the three-dimensional coordinate system needs to be transformed, and the vertical projection point of the laser radar 4 on the horizontal ground (or a horizontal marking plate) is used as the 0 point of the Z-axis coordinate in the three-dimensional coordinate system, so that data processing can be performed more conveniently.
A raw material blank position detection unit 400 for detecting point cloud data corresponding to an end face of the raw material blank 1 in the length direction;
further, as shown in fig. 13, the raw material billet position detecting unit 400 includes:
the area deleting module 4001 is used for deleting the adopted preset area and reserving a screening area, wherein the raw material blanks are positioned in the screening area;
the region segmentation module 4002: the point cloud data acquisition device is used for segmenting point cloud data in the screening area so as to realize the separation of the point cloud data representing different objects in the screening area and form a plurality of sub-point cloud sets;
the screening module 4003 is configured to further screen a plurality of sets of sub-point clouds and traverse the sets of the sub-point clouds;
the first judging module 4004 is configured to determine that the point cloud data in the set of sub-point clouds is the point cloud data corresponding to the raw material blank 1 if the number of the point cloud data in the set of sub-point clouds is greater than or equal to a preset first number threshold; if the number of the point cloud data in the set of the sub point clouds is smaller than a preset first number threshold, it can be determined that the current point cloud data is not on the raw material blank 1 and the raw material blank 1 is not detected.
A position determination unit 500 for determining whether the raw material block 1 is moved to a predetermined position within the heating furnace.
Further, as shown in fig. 14, the position determination unit 500 includes:
an x coordinate set obtaining module 5001, configured to obtain an x coordinate set of all point cloud data corresponding to the raw material block 1;
a first preset module 5002 for presetting a zone division value;
a sub-region dividing module 5003, configured to perform region division in the x-coordinate set according to the region division value, and obtain a plurality of sub-regions;
a number counting module 5004, configured to count the number of x coordinate values in each sub-area a;
second determination module 5005: the method is used for determining that the sub-area is positioned on the end face of the raw material blank 1 in the length direction if the number of the x coordinate values is larger than a second number threshold;
a second preset module 5006 for setting a positioning value within the region division value;
and a third judging module 5007, configured to move the blank 1 to a predetermined position in the heating furnace if the positioning value is greater than or equal to the standard value.
The raw material blank charging positioning detection device has the characteristics and advantages that:
the raw material blank in-furnace positioning detection device can accurately detect whether the raw material blank 1 runs to a preset position after entering a heating furnace, the method can replace manual detection, unmanned production is realized, detection and production efficiency are greatly improved, and the purposes of reducing personnel and improving efficiency are achieved.
Third embodiment
The invention provides computer equipment which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the raw material blank charging positioning detection method.
In particular, the computer device may be a computer terminal, a server or a similar computing device.
Embodiment IV
The invention provides a computer-readable storage medium which stores a computer program for executing the raw material blank furnace-entering positioning detection method.
In particular, computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable storage medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the invention should fall within the protection scope of the invention.
Claims (15)
1. A raw material blank charging positioning detection method is characterized by comprising the following steps:
collecting point cloud data in a preset area in a three-dimensional coordinate system, wherein the preset area comprises the point cloud data of the position of an inlet of a heating furnace;
detecting point cloud data corresponding to the end face of the raw material blank in the length direction;
determining whether the raw material blank moves to a predetermined position in the heating furnace.
2. The method for detecting the charging position of the raw material blank according to claim 1, wherein the point cloud data in a preset area in the three-dimensional coordinate system is collected as a coordinate set of a plurality of position points in the three-dimensional coordinate system.
3. The method for positioning and detecting the charging of raw material blanks into a furnace according to claim 1, wherein the step of collecting point cloud data in a preset area in a three-dimensional coordinate system, the preset area comprising a position between the point cloud data of the position of the inlet of the heating furnace and the point cloud data corresponding to the end face of the raw material blank in the length direction, further comprises the step of:
performing horizontal rotation correction on the three-dimensional coordinate system where the point cloud data in a preset area is located;
and transforming the coordinate origin of the three-dimensional coordinate system after the rotation correction.
4. The raw material blank furnace entering positioning detection method according to claim 3, wherein the horizontal rotation correction of the three-dimensional coordinate system in which the point cloud data in the preset area is located comprises:
selecting point cloud data of a horizontal reference object in the point cloud data in a preset area;
and horizontally and rotationally correcting the three-dimensional coordinate system so that the point cloud data of the horizontal reference object is in an xy plane in the three-dimensional coordinate system or in a plane parallel to the xy plane in the three-dimensional coordinate system.
5. The method for detecting the position of the raw material blank entering the furnace according to claim 4, wherein the performing the horizontal rotation correction on the coordinate system comprises:
detecting a plane where the horizontal reference object is located in the point cloud data in the preset area through a plane detection algorithm;
obtaining a plane equation of a plane where the horizontal reference object is located;
obtaining a rotation matrix for performing horizontal rotation correction on the three-dimensional coordinate system according to a plane equation of a plane where the horizontal reference object is located and a rotation matrix solving algorithm, wherein the rotation matrix is a correction parameter;
and multiplying the point cloud data in the preset area by the correction parameter to obtain the point cloud data in the preset area after horizontal rotation correction.
6. The method for detecting the position of the raw material blank entering the furnace according to claim 4, wherein the converting the origin of coordinates of the three-dimensional coordinate system after the rotation correction includes: and taking the vertical projection of the initial coordinate origin on the plane of the horizontal reference object as the changed coordinate origin.
7. The method for detecting the position of the raw material blank entering the furnace according to claim 4, wherein the converting the origin of coordinates of the three-dimensional coordinate system after the rotation correction includes:
when an initial coordinate origin is obtained, the height difference h between the collection position of the point cloud data and the plane of the horizontal reference object is obtained;
and transforming the coordinates (x, y, z) of each point cloud data in the three-dimensional coordinate system after rotation correction into (x, y, h-z).
8. The method for positioning and detecting the charging of the raw material blank into the furnace as claimed in claim 3, wherein the step of detecting the point cloud data corresponding to the end surface of the raw material blank in the length direction in the three-dimensional coordinate system after the origin point is calibrated comprises the steps of:
deleting the adopted preset area, and reserving a screening area, wherein the raw material blank is positioned in the screening area;
dividing the point cloud data in the screening area to realize the separation of the point cloud data representing different objects in the screening area and form a plurality of sub-point cloud sets;
traversing the set of sub-point clouds;
and if the number of the point cloud data in the set of the sub point clouds is larger than or equal to a preset first number threshold, determining that the point cloud data in the set of the sub point clouds is the point cloud data corresponding to the raw material blank.
9. The method for detecting the position of the raw material blank entering the furnace according to claim 8, wherein the step of segmenting the point cloud data in the screening area comprises the following steps:
presetting a distance threshold;
and dividing points corresponding to the two point cloud data with the distance smaller than the distance threshold value into the same sub-point cloud set.
10. The method for detecting the position of the charge blank in the furnace according to claim 8 or 9, wherein the determining whether the charge blank moves to the predetermined position in the heating furnace comprises:
acquiring an x coordinate set of all point cloud data corresponding to the raw material blank;
presetting a region division value;
performing region division on the region division value in the x coordinate set, and obtaining a plurality of sub-regions;
counting the number of x coordinate values in each sub-region;
if the number of the x coordinate values is larger than a second number threshold, determining that the sub-area is located on the end face of the raw material blank in the length direction;
setting a positioning value in the region division value;
and if the positioning value is greater than or equal to the standard value, the raw material blank moves to a preset position in the heating furnace.
11. The utility model provides a raw materials base goes into stove location detection device which characterized in that includes:
the system comprises a point cloud data acquisition unit, a data acquisition unit and a data processing unit, wherein the point cloud data acquisition unit is used for acquiring point cloud data in a preset area in a three-dimensional coordinate system, and the preset area comprises the point cloud data of the position of an inlet of a heating furnace;
the raw material blank position detection unit is used for detecting point cloud data corresponding to the end face of the raw material blank in the length direction;
and the position determining unit is used for determining whether the raw material blank moves to a preset position in the heating furnace.
12. The apparatus for detecting the charge positioning of a charge as set forth in claim 11, wherein the apparatus for detecting the charge positioning further comprises:
the rotation correction unit is used for carrying out horizontal rotation correction on the three-dimensional coordinate system where the point cloud data in a preset area are located;
and the origin transformation unit is used for transforming the coordinate origin of the three-dimensional coordinate system after the rotation correction.
13. The apparatus according to claim 11, wherein the point cloud data collecting unit is a lidar disposed above a side of a transportation roller table for transporting the raw material blank, and the lidar is aligned with an entrance of a heating furnace to collect point cloud data of a position where the entrance of the heating furnace is located.
14. A computer apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the raw material blank furnace-entering positioning detection method according to any one of claims 1 to 10 when executing the computer program.
15. A computer-readable storage medium storing a computer program for executing the raw material charge positioning detection method according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211138939.5A CN115494516A (en) | 2022-09-19 | 2022-09-19 | Raw material blank furnace-entering positioning detection method, device and equipment and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211138939.5A CN115494516A (en) | 2022-09-19 | 2022-09-19 | Raw material blank furnace-entering positioning detection method, device and equipment and readable storage medium |
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| CN115494516A true CN115494516A (en) | 2022-12-20 |
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| CN202211138939.5A Pending CN115494516A (en) | 2022-09-19 | 2022-09-19 | Raw material blank furnace-entering positioning detection method, device and equipment and readable storage medium |
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| CN (1) | CN115494516A (en) |
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