KR20110100568A

KR20110100568A - Method and system for shroud nozzle centering guidance

Info

Publication number: KR20110100568A
Application number: KR1020100088741A
Authority: KR
Inventors: 한정국
Original assignee: (주) 카메시스
Priority date: 2010-03-04
Filing date: 2010-09-10
Publication date: 2011-09-14

Abstract

The present invention relates to a shroud nozzle verticality measurement and guidance system and method, comprising a photographing unit for photographing the shroud nozzle and the collect nozzle, and the shroud nozzle and the collect nozzle based on the image photographed by the photographing unit And shroud nozzle verticality measuring and guiding system including a verticality measuring unit for calculating the center points of the and the collect nozzles respectively and calculating the difference between the calculated center points as coordinate values, and the shroud nozzle verticality measuring and guiding method employed in the system. To provide. According to the present invention, it is possible to precisely measure and guide the verticality of the shroud nozzle so that a gap does not occur between the ladle collect nozzle and the shroud nozzle during the continuous casting operation of the steel making process. .

Description

Shroud nozzle verticality measurement and guidance system and method {METHOD AND SYSTEM FOR SHROUD NOZZLE CENTERING GUIDANCE}

The present invention relates to a shroud nozzle verticality measurement technology, and more particularly, a system capable of precisely measuring and guiding the verticality of the shroud nozzle when the ladle collect nozzle and the shroud nozzle are fastened for the continuous casting of the steel making process. And a method for measuring and guiding shroud nozzle verticality employed in this system.

In general, molten steel refined in the steelmaking process is accommodated in a ladle (laddle) is moved to a continuous casting facility, the continuous casting facility is to perform a continuous casting operation while continuously replacing the ladle containing molten steel. During such continuous casting operation, a shroud nozzle is generally used by fastening a shroud nozzle to a collect nozzle located under the ladle of high temperature and high temperature in order to supply molten steel from the ladle to the tundish. If these collect nozzles and shroud nozzles are not correctly fastened, air flows into the gaps formed at their boundary, causing molten steel reoxidation, and the straightness or verticality errors between them create an eccentricity. It will lead to degradation. Therefore, there is a demand for the development of a technology that allows the shroud nozzle and the collect nozzle to be accurately engaged.

The present invention has been made to solve the problems described above, and when the shroud nozzle is fastened to the collect nozzle of the ladle in the steelmaking process, the verticality of the shroud nozzle is precisely adjusted so that no gap is generated between them. It is an object to provide a system and method that can be measured and guided.

In addition, the present invention provides a shroud nozzle verticality measurement and guidance system and method which can improve the work quality and productivity in the steelmaking process by automatically measuring and guiding the verticality of the shroud nozzle automatically using image processing. To do it for another purpose.

According to an aspect of the present invention for solving the above problems, the photographing unit for photographing the shroud nozzle and the collector nozzle; And a shroud nozzle verticality measurement and guidance system including a verticality measuring unit for measuring and outputting the verticality of the shroud nozzle or the collector nozzle based on the image photographed by the photographing unit. Here, the verticality measuring unit obtains a threshold value using the average brightness of the image, detects the shroud nozzle using the histogram and the area of the image corresponding to the threshold value, obtains the center point of the detected shroud nozzle, and detects the detected shroud The nozzle is used to distinguish the area between the shroud nozzle and the collect nozzle, the edge is detected using the threshold value in the area of the collect nozzle, the collect nozzle is detected from the detected edge, the center point of the detected collect nozzle is obtained, and The difference between the center points of the shroud nozzle and the collect nozzle is obtained by using the reference image of the image coordinates, and the image coordinates are centered in the basic unit corresponding to the actual coordinates.

In one embodiment, the verticality measurer includes a corrector that corrects image coordinates by using a reference image or a corrected image that corrects an error of a photographing unit in advance.

The photographing unit may include first photographing means for acquiring a first image including a shroud nozzle and a collect nozzle, and second photographing means for acquiring a second image including a shroud nozzle and a collect nozzle in a side different from the first image. It is preferable to provide.

It is preferable that the first photographing means and the second photographing means are arranged such that a linear component corresponding to each main photographing direction forms a right angle vertex on the shroud nozzle.

The shroud nozzle verticality measuring and guiding system may further include a display unit for outputting verticality related data including a coordinate value result calculated by the verticality measuring unit.

According to another aspect of the present invention, as a method of measuring and guiding the shroud nozzle verticality in the shroud nozzle verticality measurement and guidance system, storing an image including the shroud nozzle and the collect nozzle obtained through the imaging unit in the image processing buffer A first step of doing; A second step of detecting a shroud nozzle based on the image by a verticality measurer and calculating a center point of the shroud nozzle; A third step of detecting, by the verticality measurer, the collect nozzle based on the image and calculating a center point of the collect nozzle; And a fourth step of calculating, as a coordinate value, a difference between the center point of the shroud nozzle and the center point of the collect nozzle by the verticality measuring unit.

The shroud nozzle verticality measuring and guiding method may further include a fifth step of outputting verticality related data including a result of the calculated coordinate values in the display unit.

In an embodiment, the second step may include: obtaining a threshold value using a brightness average of an image; Detecting the shroud nozzle using the histogram and the area of the image; And obtaining a center point of the shroud nozzle using the detected area ratio of the shroud nozzle.

The shroud nozzle verticality measuring and guiding method may further comprise the step of distinguishing the region of the shroud nozzle and the collect nozzle using the shroud nozzle detected before the third step.

In one embodiment, the third step comprises: detecting an edge using the threshold in an area of a collect nozzle; Detecting a collect nozzle from the detected edge; And obtaining a center point of the collect nozzle using the detected area ratio of the collect nozzle.

The shroud nozzle perpendicularity measuring and guiding method preferably further includes correcting the previously obtained image coordinates after the fourth step. Correcting the image coordinates may be performed using a reference image or a corrected image in which an error of the photographing unit is corrected.

In addition, the shroud nozzle perpendicularity measuring and guiding method preferably further includes, after the step, centering the corrected image coordinates in basic units corresponding to the actual coordinates.

In an embodiment, the first step may include storing the first image acquired through the first photographing means of the photographing unit and the second image obtained through the second photographing means of the photographing unit, respectively, in the image processing buffer. In the first step, the first image and the second image are obtained from the first photographing means and the second photographing means arranged such that a linear component corresponding to each main photographing direction forms a right angle vertex on the shroud nozzle. It may include doing.

According to the present invention, the vertical degree of the ladle collect nozzle and the shroud nozzle during the continuous casting operation of the steel making process can be precisely measured and guided automatically using image processing so that a gap does not occur between them. Can be.

In addition, by measuring and guiding the verticality of the shroud nozzle with precision, it is possible to improve the work productivity and stability of the steelmaking process.

1 is a block diagram showing the overall configuration of the shroud nozzle verticality measurement and guidance system according to an embodiment of the present invention.
FIG. 2 is a flow diagram illustrating one embodiment of a shroud nozzle verticality measurement and guidance method employed in the system of FIG. 1.
3A and 3B are flowcharts showing a specific example of the shroud nozzle perpendicularity measurement and guidance method employable in the method of FIG.
4 is a screen illustrating an image output through the process of FIGS. 3A and 3B in the display unit of the shroud nozzle verticality measurement and guidance system according to an exemplary embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the overall configuration of the shroud nozzle verticality measurement and guidance system according to an embodiment of the present invention.

Referring to FIG. 1, the shroud nozzle verticality measuring and guiding system 100 (hereinafter, simply referred to as the system) according to the present exemplary embodiment includes a photographing unit 10, a verticality measuring unit 20, and a display unit 30. ).

The photographing unit 10 is a means for photographing the shroud nozzle (not shown) and the collect nozzle (not shown). The photographing unit 10 photographs an image by an optical and electronic device, and transmits the photographed image to the verticality measuring unit 20. . The image may be taken continuously in real time or may be taken as a still image at a predetermined time.

The photographing unit 10 is disposed to be spaced apart from the fastening portion of the shroud nozzle and the collect nozzle at a predetermined interval so as to obtain an image by photographing the portion where the shroud nozzle and the collect nozzle are fastened.

The photographing unit 10 may be implemented using a known means, and at least two are preferably disposed at different positions.

The verticality measurer 20 detects the shroud nozzle and the collect nozzle based on the image photographed by the photographing unit 10, calculates the center points of the detected shroud nozzle and the collect nozzle, and coordinates the difference between the calculated center points. Convert to a value.

For example, the verticality measurer 20 may separately detect the shroud nozzle and the collect nozzle area from the image photographed by the photographing unit 10. When the areas of the shroud nozzle and the collect nozzle are respectively detected, the verticality measuring unit 20 obtains the center point of the shroud nozzle and the center point of the collect nozzle based on the detected area of each nozzle. When the center points of the shroud nozzle and the collect nozzle are obtained, the verticality measuring unit 20 obtains the difference between the center points between the nozzles as image coordinates and obtains actual coordinates from the obtained image coordinates.

When the actual coordinates are obtained, the verticality measurement unit 20 analyzes the actual coordinates, and generates vertical data related result data in units of millimeters (mm), for example, based on the analyzed actual coordinates. Data is transmitted to the display unit 30 to be output from the display unit 30.

In addition, the verticality measuring unit 20 may include a correcting unit (not shown) for correcting an error of the photographing unit 10 itself. The correction unit can be implemented using known means.

The display unit 30 performs a function of outputting verticality related data including a result of coordinate values calculated by the verticality measuring unit 20. The verticality-related result data output to the display unit 30 may not only be output in the form of numbers, sounds, or lights, but also may be displayed as vector components or coordinate values having a predetermined distance and a predetermined direction from a predetermined center point on the screen. . Based on the coordinate values or other verticality related information output from the display unit 30, the operator can determine the accuracy or verticality of the coupling between the shroud nozzle and the collect nozzle, and adjust the position or posture of the shroud nozzle. have.

2 is a flow chart illustrating one embodiment of a shroud nozzle verticality measurement and guidance method employed in the system of FIG.

Referring to FIG. 2, first, the photographing unit 10 captures an image when the shroud nozzle and the collect nozzle are fastened (S100).

The image photographed by the photographing unit 10 may be transmitted to the verticality measuring unit 20 continuously or at predetermined time intervals.

The verticality measurer 20 detects the shroud nozzle based on the image received from the photographing unit 10 and calculates a center point of the shroud nozzle (S110).

In addition, the verticality measurer 20 detects the collect nozzle based on the captured image and calculates the center point of the collect nozzle (S120).

Next, when the center points of the shroud nozzle and the collect nozzle are calculated in the processes (S110 and S120), the verticality measurer 20 calculates coordinate values for the difference between the calculated center point of the shroud nozzle and the center point of the collect nozzle. (S130).

The coordinate value may be obtained by obtaining the difference between the center points of the detected two regions as image coordinates and using the difference between the scale of the detected image and the scale of the detected image as actual coordinates. This compares the scale of the object (eg, nozzle) of the acquired image with the scale of the corresponding portion of the pre-calibrated image to determine which direction the object has been moved in front / back / left / right, eg, in size change. The coordinates of the actual shroud nozzle and the collect nozzle can be obtained by determining whether the image is changed to the left / right and the case where the image is not moved or moved to the left / right with the size change.

When the coordinate value is calculated, the verticality measurer 20 transmits the verticality related data together with the coordinate value to the display unit 30, and the display unit 30 includes the verticality related value including the result of the received coordinate value. Data is output (S140).

By repeating the above-described process by a predetermined time unit, it is possible to output through the display unit how much gaps and inclinations are present when the shroud nozzle and the collect nozzle are fastened, and the operator outputs the nozzle to the display unit. The status screens and associated data can be viewed together to ensure that the shroud and collect nozzles are correctly engaged or maintained. Therefore, it is possible to increase work efficiency and improve product quality in a continuous casting facility.

The above-described shroud nozzle perpendicularity measurement and guidance method is more specifically illustrated in FIGS. 3A and 3B. 3A and 3B are flowcharts showing a specific example of the shroud nozzle perpendicularity measurement and guidance method employable in the method of FIG.

That is, referring to FIGS. 3A and 3B, when the image including the shroud nozzle and the collect nozzle is photographed by the photographing unit (S100), first, the verticality measurer images the image including the shroud nozzle and the collect nozzle obtained through the photographing unit. Stored in the processing buffer (S102; hereinafter referred to as first step). The image stored in the image processing buffer may be stored in an RGB color format.

In a first step (S102), the verticality measurer may store the first image acquired through the first photographing means of the photographing unit and the second image acquired through the second photographing means of the photographing unit, respectively, in the image processing buffer. Here, the first photographing means and the second photographing means are preferably arranged such that two linear components corresponding to the respective main photographing directions form a right vertex on the shroud nozzle. The first image and the second image acquired by the first and second photographing means extend in the north-west, north-west direction or cross shape with respect to the shroud nozzle, whereby the verticality of the shroud nozzle can be calculated easily and accurately. Because. In addition, the first image and the second image may be processed first by any one of the two and then processed simultaneously through the two image processing system in the following image processing. In the present embodiment, a case in which the first image and the second image are sequentially processed using one image processing system will be described as an example.

Next, the verticality measurer detects the shroud nozzles from the stored image (eg, the first image) and calculates the center point of the shroud nozzles (S110; hereinafter referred to as a second step).

In the second step, the verticality measurer may obtain a threshold or threshold value using the brightness average of the image (S112).

For example, the sum of all pixels of the first image is obtained and then an average pixel value is obtained. Here, the collector nozzle area may be set in advance. The average gray level of the average pixel value is then obtained. For example, the equation for obtaining the average gray level of the current first image is shown in Equation 1 below. Then, the verticality measurer may tune according to the average gray level to obtain an appropriate threshold for each level.

In Equation 1, GL2 represents an average gray level of the current first image, GL1 represents an average gray level of the at least one first image up to the past, and P2 represents an average pixel value of the current first image, respectively. In addition, Equation 1 indicates that GL2 is taken as a value increased by 0.5 level in addition to the value obtained by the predetermined ratio of GL1 and P2.

In the present embodiment, the luminance of the first image is set by setting the average gray level of the first image up to 95%, the average pixel value of the current first image to 5%, and adding 0.5 to the sum thereof. You can filter the case of rapidly changing. That is, according to this embodiment, even if the illuminance of the current first image changes instantaneously, the threshold value of the first image is easily calculated by calculating the average gray level of the current first image in combination with the average gray level. Can be obtained.

In operation S114, the verticality measurer may detect the shroud nozzle using the histogram and the area of the image.

For example, in operation S114, the verticality measurer may blob an image using a histogram and detect a blob within a designated range with a shroud nozzle.

Also, in the second step, the verticality measurer may obtain a center point of the shroud nozzle using the detected area ratio of the shroud nozzle (S116).

For example, in this step S116, the verticality measurer divides the shroud nozzle into two parts based on 1/2 points in the width direction to obtain the sum of the respective white pixels. If the sum of the respective white pixels is the same, the current half point is selected as the center point. On the other hand, if the sum of white pixels is not the same, the reference point at the time of minimum difference after repeating the process of comparing the sum of the white pixels on both sides by moving 1 pixel from the current reference point to the area where the sum of the white pixels is larger. Can be selected as the center point of the shroud nozzle.

Next, the verticality measurer separates the regions of the shroud nozzle and the collect nozzle by using the detected shroud nozzle (S118).

Next, the verticality measurer detects the collect nozzle based on the stored image and calculates the center point of the collect nozzle (S120; hereinafter referred to as a third step).

In an embodiment of the third step, the verticality measurer detects an edge in the area of the collect nozzle using the previously obtained threshold value (S122). Then, the collect nozzle is recognized through the edge extracted from the binarized image (S124). For example, in steps S122 and S124, the verticality measurer may detect a blob within a specified range by using the threshold value by binarizing the image using the threshold and then blob. Then, the verticality measurer calculates the center point of the collect nozzle using the detected area ratio of the collect nozzle (S126).

Next, the verticality measurement unit calculates the difference between the center point of the shroud nozzle and the center point of the collect nozzle as a coordinate value (hereinafter, referred to as a fourth step). That is, the verticality measuring unit obtains the difference between the center points as image coordinates using the center point of the shroud nozzle and the center point of the collect nozzle in the fourth step (S132).

For example, the verticality measurer may prepare a corrected image in which the self-error of the photographing unit is corrected in advance in step 4, and correct the image coordinates by using the prepared corrected image. The corrected image may be a reference image for determining an inclination of the linear component connecting the center points of the nozzles acquired from the first image or the second image or the inclination of the center line of each nozzle. In particular, the verticality measurer compares the scale of the corresponding portion in the pre-corrected image with the scale of the shroud nozzle and the collector nozzle on the image acquired through the first or second image to determine in which direction the shroud nozzle is moved in the front, rear, left, and right directions. Can be determined. According to this process, for example, it is possible to determine both the case where the image is changed left and right without changing the size in the image and when the image is shifted or not moved left and right with the size change. Can be measured.

The above-described corrected image is for correcting that the position in the image photographed by the photographing means has a difference or distortion from the actual position. Such a corrected image may be prepared by comparing a measurement point with an actual point in a state where an object has a perfect verticality and reflecting the comparison result.

Next, the verticality measurer centers the difference between the center points of the shroud nozzle and the collect nozzle, that is, the image coordinates, based on the actual coordinates (S134). This step (S136) is to provide the numerical control information suitable for the operation of the shroud device to the operator from the perspective of the operator moving the shroud nozzle through the shroud device. The default unit can be millimeters.

Next, the verticality measurer measures the verticality of one side of the shroud nozzle based on one of the first image and the second image (eg, the first image), and measures the other image (eg, the second image). Based on this, the perpendicularity to another side of the shroud nozzle can be measured. That is, the verticality measurer determines whether the image processing process for the first image and the second image has been completed (S136), and as a result of the determination, if both images are not processed, the steps S112 to S134 are performed. Can be repeated.

In calculating the verticality, the verticality measurement unit grasps the position coordinates of the uppermost part and the lowermost part of the edge of the extracted object by binarizing the image including the detected cylindrical shroud nozzle or the collect nozzle, By comparing the with the coordinates of the corrected image, the inclination in the left and right (or east and west) directions of the shroud nozzle or the collect nozzle can be measured, and the inclination in the front and rear (or north and south) directions can be measured through the width.

Next, as a result of the determination in step S136, when the vertical measurement of the shroud nozzle based on the first image and the second image is completed, the verticality measurer calculates coordinates based on the first image and the second image, respectively. The combination of the values generates a result for the shroud perpendicularity, and outputs the verticality related data including the result of the calculated coordinate value through the display unit (S140).

Here, the result generated by combining the calculated coordinate values (hereinafter referred to as the result of the coordinate values) is a vertical degree in the vertical, vertical, left, right, east, south, north, or south directions of the shroud nozzle based on the coordinate values obtained from the first image and the second image, respectively. Is the value determined. For example, the first image may be used as data for determining the vertical degree of the shroud nozzle in the east-west direction, and the second image may be used as data for determining the vertical degree of the shroud nozzle in the north-south direction. In addition, the vertical data related data includes a measurement result of verticality of the shroud nozzles in up, down, left, right, east, west, north, and north directions in letters, numbers, and graphs. Such verticality-related data may be output to the display unit at least a part of which is, for example, a screen as shown in FIG. 4. The verticality related data may be transmitted from the verticality measurer to the display through wireless communication.

4 is a screen illustrating an image output through the process of FIGS. 3A and 3B in the display unit of the shroud nozzle verticality measurement and guide system according to an embodiment of the present invention.

Referring to FIG. 4, the screen 333 of the display unit displays the result of each coordinate value acquired by the first image and the second image, the signal data of the inclinometer obtained based on the result, and the actual coordinate value. have.

As described above, according to the present embodiment, when the shroud nozzle and the collect nozzle are fastened, various data related to the vertical angle such as the inclination angle, direction, distance, depth, etc. of each nozzle can be grasped together with the image. Errors can be identified, thereby facilitating job control in continuous casting operations and improving overall work quality.

In the above, the present invention has been described with reference to preferred embodiments, but the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains may make various modifications and variations from such descriptions. will be. Therefore, the present invention should be construed with reference to the overall description of the appended claims and drawings, and all equivalent or equivalent modifications thereof will belong to the scope of the present invention.

10 ...
20 ... vertical measurement unit,
30 ...
100 ... shroud nozzle verticality measurement and guidance system.

Claims

An imaging unit for photographing the shroud nozzle and the collect nozzle; And
A verticality measuring unit configured to measure and output a verticality of the shroud nozzle or the collect nozzle based on the image photographed by the photographing unit;
The verticality measurement unit obtains a threshold value using the brightness average of the image, detects the shroud nozzle using the histogram and the area of the image corresponding to the threshold value, obtains a center point of the detected shroud nozzle, Distinguish the area of the shroud nozzle and the collect nozzle using the detected shroud nozzle, detect an edge using the threshold value in the area of the collect nozzle, and detect the collect nozzle from the detected edge. Obtaining a center point of the detected collect nozzle, obtaining a difference between the shroud nozzle and the center points of the collect nozzle by using a predetermined reference image as image coordinates, and centering the image coordinates in basic units corresponding to actual coordinates. Shroud nozzle verticality measurement and guidance system .

The method of claim 1,
The shroud nozzle perpendicularity measurement and guidance system, wherein the verticality measurer includes a corrector configured to correct the image coordinates by using the reference image or the corrected image in which the error of the photographing unit is corrected in advance.

The method of claim 1,
The photographing unit may include first photographing means for obtaining a first image including the shroud nozzle and the collect nozzle, and a second image including the shroud nozzle and the collect nozzle from a side different from the first image. Shroud nozzle verticality measurement and guidance system having a second photographing means.

The method of claim 3,
And the first photographing means and the second photographing means are arranged such that a linear component corresponding to each main photographing direction forms a right vertex on the shroud nozzle.

The method of claim 1,
The shroud nozzle verticality measurement and guidance system further comprising a display unit for outputting the verticality-related data including the calculated coordinate value result by the verticality measuring unit.

A method of measuring and guiding shroud nozzle verticality in a shroud nozzle verticality measuring and guiding system,
A first step of storing an image including the shroud nozzle and the collect nozzle acquired through the photographing unit in an image processing buffer;
A second step of detecting, by the verticality measurer, the shroud nozzle based on the image and calculating a center point of the shroud nozzle;
A third step of detecting, by the verticality measurer, the collect nozzle based on the image and calculating a center point of the collect nozzle; And
A fourth step of calculating a difference between the center point of the shroud nozzle and the center point of the collect nozzle as a coordinate value by the verticality measuring unit;
Shroud nozzle verticality measurement and guidance method comprising a.

The method of claim 6,
And a fifth step of outputting verticality-related data including a result of the calculated coordinate values on the display unit.

The method of claim 6,
The second step comprises:
Obtaining a threshold value using the average brightness of the image;
Detecting the shroud nozzle using the histogram and the area of the image; And
And calculating a center point of the shroud nozzle using the detected area ratio of the shroud nozzle.

The method of claim 8,
And separating the shroud nozzle and the area of the collect nozzle using the detected shroud nozzles before the third step.

10. The method of claim 9,
In the third step,
Detecting an edge using the threshold in an area of the collect nozzle;
Detecting the collect nozzle from the detected edge; And
And obtaining a center point of the collect nozzle using the detected area ratio of the collect nozzle.

The method of claim 10,
And after the fourth step, correcting the obtained image coordinates.

The method of claim 11,
Shroud nozzle verticality measurement and guidance method further comprising the step of centering the corrected image coordinates in basic units corresponding to actual coordinates.

The method of claim 11,
The correcting of the image coordinates may include performing the shroud nozzle verticality measurement and guidance method by using the reference image or the corrected image in which the self-error of the photographing unit is corrected.

The method of claim 6,
The first step may include storing the first image acquired through the first photographing means of the photographing unit and the second image obtained through the second photographing means of the photographing unit, respectively in the image processing buffer. How to measure and guide.

The method of claim 14,
In the first step, the first image and the second image from the first photographing means and the second photographing means are arranged such that a linear component corresponding to each main photographing direction forms a right angle vertex on the shroud nozzle. Shroud nozzle verticality measurement and guidance method further comprising the step of obtaining.