CN117405038A - Three-dimensional detection device and method for hot rolled strip steel edge wave - Google Patents
Three-dimensional detection device and method for hot rolled strip steel edge wave Download PDFInfo
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- CN117405038A CN117405038A CN202210815311.8A CN202210815311A CN117405038A CN 117405038 A CN117405038 A CN 117405038A CN 202210815311 A CN202210815311 A CN 202210815311A CN 117405038 A CN117405038 A CN 117405038A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 86
- 239000010959 steel Substances 0.000 title claims abstract description 86
- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 32
- 238000003860 storage Methods 0.000 claims abstract description 24
- 230000003287 optical effect Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000007689 inspection Methods 0.000 claims description 15
- 238000004519 manufacturing process Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 4
- 238000005098 hot rolling Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000004148 unit process Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 4
- 238000003384 imaging method Methods 0.000 description 9
- 230000007547 defect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000277275 Oncorhynchus mykiss Species 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000007730 finishing process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- Engineering & Computer Science (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a three-dimensional detection device and method for hot rolled strip steel edge waves, comprising a detection triggering unit, a laser structure light irradiator, a high-speed camera, an optical system view field adjusting unit, an image acquisition/transmission unit, an image processing/identification unit and an image storage/display unit. The invention realizes the calculation of the wave distance and the wave height of the side waves of the strip steel, thereby realizing the accurate detection of the side waves of the strip steel.
Description
Technical Field
The invention relates to a strip steel surface visual detection technology, in particular to a three-dimensional detection device and method for hot rolled strip steel edge waves.
Background
When certain specific varieties are produced by hot rolling, the outstanding quality problems are that the head and tail of the strip steel are deviated and single-side waves are defective, the stability of the welding and rolling in the subsequent working procedures is affected, and abnormal shutdown treatment is caused. Factors that produce and affect the shape of hot rolled strip are: the thickness and width of the slab itself, the slab temperature, the roll levelness, etc. They often appear as side waves and camber.
At present, a flatness meter is arranged at the outlet of part of the hot rolling production line, and the flatness meter can be used for detecting flatness conditions of a finish rolling frame of strip steel according to temperature, stress and other graphs. Because the running states of the strip steel head frame and the strip steel tail frame are unstable, phenomena such as swimming, floating and the like of different degrees exist, and after the strip steel passes through a laminar cooling area, the actual plate shape and the high temperature condition have larger changes, so that the detection precision of the flatness meter is low, and the abnormal plate shape influencing the production of the subsequent process cannot be effectively identified. The downstream quality problem caused by the side wave problem in the prior hot rolling mill is quite large.
In the prior patent application, as in patent CN103486995a, three sets of distance meters are used to realize the detection of the plate shape of the plate. Patent CN104833317A discloses a medium plate morphology detection system and method based on controllable symmetrical double-line laser angles. Chinese patent CN104833317A adopts double-line laser and two cameras to realize plate shape detection, uses a Vision module of Labview to directly read obtained picture information, processes and splices the pictures, and finally extracts coordinates at two ends of a bright line, thereby obtaining longitudinal coordinates, and finally obtaining the whole contour information of the detected steel plate in a curve fitting mode. The method principle of the prior art is relatively close to the invention, and is a method of combining machine vision with laser lines, but the specific implementation mode is different.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a three-dimensional detection device and method for hot rolled strip steel edge waves, which can be used for calculating the wave distance and wave height of the strip steel edge waves, so as to realize accurate detection of the strip steel edge waves.
In order to achieve the above purpose, the invention adopts the following technical scheme:
on the one hand, the three-dimensional detection device for the edge waves of the hot rolled strip steel comprises a detection triggering unit, a laser structure light irradiator, a high-speed camera, an optical system view field adjusting unit, an image acquisition/transmission unit, an image processing/recognition unit and an image storage/display unit;
the detection triggering unit is used for capturing the signal of the strip steel on the roller way and triggering the starting of the laser structure light irradiator and the high-speed camera;
the laser structure light irradiator is arranged above the strip steel and emits N parallel equidistant structure light beams which are perpendicular to the strip steel along the width direction of the strip steel;
the high-speed camera is also arranged above the strip steel, and a theta angle is formed between the view field of the high-speed camera and the structural light beam;
the optical system view field adjusting unit adjusts the theta angle by adjusting the high-speed camera;
the image acquisition/transmission unit is used for acquiring the image of the high-speed camera and transmitting the image to the image processing/recognition unit;
the image processing/identifying unit processes the image, acquires the wave distance and the height of the upper edge wave of the strip steel through laser line extraction, laser line correction, three-dimensional morphology reconstruction and three-dimensional defect identification calculation, and transmits the wave distance and the height to the image storage/display unit;
the image storage/display unit is used for realizing storage and alarm of the images.
Preferably, the detection triggering unit comprises a photoelectric correlation switch and an encoder which are arranged on the roller way.
Preferably, the number N of the structural beams is more than or equal to 2.
Preferably, the minimum exposure time t=h/v of the high-speed camera;
wherein h is the resolution of the image along the strip steel moving direction, and v is the production speed of the strip steel.
Preferably, the angle range of the theta angle is 30 degrees or more and 60 degrees or less.
Preferably, the image acquisition/transmission unit is an image acquisition card.
Preferably, the image processing/recognition unit is an image processing computer.
Preferably, the image storage/display unit includes a data server and a terminal computer in communication therewith.
Preferably, the laser structure light irradiator, the high-speed camera and the optical system view field adjusting unit are all arranged in the protective box.
On the other hand, the three-dimensional detection method of the hot rolled strip steel side waves is characterized in that the three-dimensional detection device of the hot rolled strip steel side waves is adopted, the detection triggering unit captures the strip steel passing signals and triggers the laser structure light irradiator to start the high-speed camera, the laser structure light irradiator emits N parallel equidistant and perpendicular structural light beams of the strip steel, the high-speed camera shoots images of the strip steel surface, the image acquisition/transmission unit is used for acquiring the images and transmitting the images to the image processing/recognition unit, the image processing/recognition unit is used for processing the images, calculating and recognizing the wave distance and the wave height of the side waves on the strip steel and transmitting the images to the image storage/display unit, and the image storage/display unit is used for realizing the storage and the alarm of the images.
According to the three-dimensional detection device and method for the hot rolled strip steel side waves, in the field use process, the laser structure light source is made into parallel light beams with different laser lines according to the field detection area and field requirement. The parallel light beam is precisely calibrated and adjusted to form the laser linear array light source with higher parallel precision. The optical system view field adjusting unit is used for accurately adjusting and setting the included angle theta between the view field of the high-speed camera and the light rays of the laser structure. The laser structure light source irradiates on the surface of the edge of the strip steel, if the strip steel has edge waves, the laser line on the surface of the strip steel can deviate, a plurality of stripes with wave troughs or wave crests can be continuously shot by the high-speed camera, the collected edge images of the strip steel are sent to the image processing and identifying unit by the image collecting and transmitting unit, and the images are continuously spliced, processed and analyzed by the image processing and identifying unit, so that the calculation of the wave distance and the wave height of the edge waves of the strip steel can be realized, and the accurate detection of the edge waves of the strip steel is realized.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional inspection apparatus of the present invention;
FIG. 2 is a schematic diagram of the optical principle of the three-dimensional inspection device of the present invention;
FIG. 3 is a schematic view of the imaging effect of the three-dimensional inspection device of the present invention;
FIG. 4 is a schematic diagram of an embodiment of the three-dimensional inspection device of the present invention.
Detailed Description
In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1 and 2, the three-dimensional detection device for the edge wave of the hot rolled strip provided by the invention comprises a detection triggering unit 1, a laser structure light irradiator 2, a high-speed camera 3, an optical system view field adjusting unit 4, an image acquisition/transmission unit 5, an image processing/recognition unit 6 and an image storage/display unit 7.
The detection triggering unit 1 is used for capturing signals of the strip steel 100 on the roller way and triggering the starting and starting work of the laser structure light irradiator 2 and the high-speed camera 3.
The laser structured light irradiator 2 is installed above the strip steel 100 at a position of about 3 meters from the strip steel 100, and emits N structured light beams 201 parallel and equidistant in the width direction of the strip steel 100 and perpendicular to the strip steel 100.
The high-speed camera 3 is also mounted above the strip steel 100, on the same horizontal line as the laser structured light illuminator 2, with its field of view 301 forming an angle θ with the structured light beam 201.
According to the actual imaging brightness requirement of field detection, the angle theta is accurately adjusted by the optical system view field adjusting unit 4, and the imaging quality is ensured.
The laser structure light irradiator 2, the high-speed camera 3 and the optical system view field adjusting unit 4 are arranged in a protective box, so that clear imaging of the surface of the strip steel 100 is realized.
The image acquisition/transmission unit 5 is used for acquiring an image of the high-speed camera 3 and transmitting the image to the image processing/recognition unit 6. The image acquisition/transmission unit 5 is an image acquisition card.
The image processing/recognizing unit 6 processes the image, calculates and recognizes the pitch and height of the upper edge wave of the strip steel 100, and sends the image to the image storing/displaying unit 7. The image processing/identifying unit 6 is an image processing computer, and the image acquisition/transmission unit 5 establishes communication connection with the image processing/identifying unit 6 through an optical fiber line.
The image storage/display unit 7 is used to realize storage of images and alarm. The image storage/display unit 7 includes a data server and a terminal computer with which communication is established.
The detection triggering unit 1 comprises a photoelectric correlation switch and an encoder which are arranged on the roller way. The photoelectric opposite-shooting switch is arranged at a certain distance from the high-speed camera 3 along the roller way direction, and when the strip steel 100 passes through, the signal of the photoelectric opposite-shooting switch triggers the detection triggering unit 1 to start working, the laser structure light irradiator 2 is lightened, and the high-speed camera 3 starts photographing.
In order to meet the three-dimensional detection requirement, the angle design between the structural beam 201 and the field of view 301 formed by the laser structural light irradiator 2 and the high-speed camera 3 is as follows: the structural light beams 201 are vertically incident, the structural light beams 201 are distributed in parallel along the width direction of the strip steel 100, the included angle theta between the view field 301 and the structural light beams 201 is more than or equal to 30 degrees and less than or equal to 60 degrees, and the view field adjusting unit 4 of the optical system can accurately adjust and set the angle theta.
The invention fully considers the requirements of the strip steel production speed and the image resolution on the exposure time of the high-speed camera 3, which is a precondition of clear imaging. Assuming that the strip production speed is v (unit mm/s), the image imaging resolution single-pixel design accuracy is h (unit mm, strip movement direction) ×w (unit mm, strip width direction), the camera minimum exposure time is t=h/v.
The laser structure light irradiator 2 emits N (N is more than or equal to 2) structured light beams 201, so that jitter interference in the production process can be effectively avoided. In the actual production process on site, if only 1 structural beam 201 is adopted, if the shaking phenomenon exists in the production process, the strip steel at the same position may be photographed for multiple times, the image photographed by the single structural beam 201 lacks reference lines, the shaking lines cannot be removed during image processing, the strip steel image distortion is easily caused, and the problems of strip steel length calculation error increase, edge wave defect misjudgment and the like may be caused. The method adopts N (N is more than or equal to 2) parallel structural beams 201 to irradiate, the interval of the structural beams 201 is d (unit mm), the imaging maximum view field of the camera along the strip steel moving direction is d (N-1) (unit mm), and the minimum frame rate of the camera isIn practical imaging design, because the strip steel jitter object is fully considered, the front image and the rear image need to be properly overlapped in the strip steel moving direction so as to facilitate the subsequent jitter filtering. Assuming that the effective field of view of the camera along the strip steel moving direction is designed to be d (M-1) (unit mm,2 is more than or equal to M is less than or equal to N-1), the overlapping area of the front image and the rear image is that the front image and the rear image have (N-M) contour lines which are repeated. At this time, the frame rate of the high-speed camera 3 is increased to +.>The detection requirement can be met.
The invention also provides a three-dimensional detection method of the hot-rolled strip steel side waves, when a roll of strip steel enters a roller way, a detection triggering unit 1 captures a strip steel 100 to pass through signals, a laser structure light irradiator 2 is triggered, starting operation of a high-speed camera 3 is started, the laser structure light irradiator 2 emits N parallel equidistant structure light beams 201 which are perpendicular to the strip steel 100, the surface of the strip steel 100 is illuminated, an optical system view field adjusting unit 4 accurately adjusts the angle theta in advance, the high-speed camera 3 shoots images of the side surfaces of the strip steel 100, an image acquisition/transmission unit 5 is used for acquiring the images shot by the high-speed camera 3 and transmitting the images to an image processing/identification unit 6, the image processing/identification unit 6 processes the images, calculates and identifies the wave distance and the height of the side waves on the strip steel and transmits the wave distance to an image storage/display unit 7, and the image storage/display unit 7 is used for realizing image storage and alarm.
Examples
Referring to fig. 4, the three-dimensional inspection apparatus of the present embodiment is installed in on-site on-line inspection, and the number of the structural beams 201 to be emitted by the laser structural light irradiator 2 is set according to the inspection requirement, the structural beams 201 are irradiated on the surface of the strip steel 100 in parallel along the width direction of the strip steel 100, and the coverage of the area to be inspected of the strip steel 100 along the width direction of the strip steel 100 is ensured. Referring to fig. 2, in the hot rolled strip production site, a laser structured light irradiator 2 is installed at a position 3 m above the strip 100, the laser structured light irradiator 2 emits 6 parallel structured light beams 201,6 having an irradiation width of 100mm, and irradiates in parallel along the width direction of the strip 100, the coverage length being 1010mm. The optical system field adjusting unit 4 realizes precise adjustment and setting of the angle θ between the field 301 of the high-speed camera 3 and the structured light beam 201, in this embodiment θ=45°. In the strip production process, the high-speed camera 3 clearly images the area irradiated by the structural beam 201, and the schematic diagram of the edge wave detection imaging effect of the strip 100 is shown in fig. 3.
The three-dimensional detection method realized by the three-dimensional detection device of the embodiment is as follows: in the production process, before the strip steel to be measured reaches the position to be measured, the detection triggering unit 1 triggers the laser structure light irradiator 2 to irradiate the green structure light beam 201, and at the same time, the high-speed camera 3 starts photographing. The edge image of the strip steel 100 is collected by the image collecting/transmitting unit 5 and sent to the image processing/identifying unit 6, after the image processing/identifying unit 6 performs image processing and identification, the relevant image and data information are stored in a data server of the image storing/displaying unit 7, and the strip steel with problems detected is subjected to alarm and sealing processing by a field operator through a terminal computer.
In summary, the three-dimensional detection device and the three-dimensional detection method for the edge waves of the hot rolled strip steel can realize three-dimensional accurate detection of the edge waves of the hot rolled strip steel, discover edge wave defects which possibly affect subsequent production in time, reduce the next finishing process, greatly reduce the generation of quality objections, improve the production efficiency and have great economic and social benefits.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
Claims (10)
1. A three-dimensional detection device of hot rolling belted steel limit unrestrained, its characterized in that: the device comprises a detection triggering unit, a laser structure light irradiator, a high-speed camera, an optical system view field adjusting unit, an image acquisition/transmission unit, an image processing/recognition unit and an image storage/display unit;
the detection triggering unit is used for capturing the signal of the strip steel on the roller way and triggering the starting of the laser structure light irradiator and the high-speed camera;
the laser structure light irradiator is arranged above the strip steel and emits N parallel equidistant structure light beams which are perpendicular to the strip steel along the width direction of the strip steel;
the high-speed camera is also arranged above the strip steel, and a theta angle is formed between the view field of the high-speed camera and the structural light beam;
the optical system view field adjusting unit adjusts the theta angle;
the image acquisition/transmission unit is used for acquiring the image of the high-speed camera and transmitting the image to the image processing/recognition unit;
the image processing/identifying unit processes the image, calculates and identifies the wave distance and the height of the upper edge wave of the strip steel, and transmits the image to the image storage/display unit;
the image storage/display unit is used for realizing storage and alarm of the images.
2. The three-dimensional inspection device for the edge wave of hot rolled strip according to claim 1, wherein: the detection triggering unit comprises a photoelectric correlation switch and an encoder which are arranged on the roller way.
3. The three-dimensional inspection device for the edge wave of hot rolled strip according to claim 1, wherein: the number N of the structural light beams is more than or equal to 2.
4. The three-dimensional inspection device for the edge wave of hot rolled strip according to claim 3, wherein: minimum exposure time t=h/v of the high-speed camera;
wherein h is the resolution of the image along the strip steel moving direction, and v is the production speed of the strip steel.
5. The three-dimensional inspection device for the edge wave of hot rolled strip according to claim 1, wherein: the angle range of the theta angle is more than or equal to 30 degrees and less than or equal to 60 degrees.
6. The three-dimensional inspection device for the edge wave of hot rolled strip according to claim 1, wherein: the image acquisition/transmission unit is an image acquisition card.
7. The three-dimensional inspection device for the edge wave of hot rolled strip according to claim 1, wherein: the image processing/recognition unit is an image processing computer.
8. The three-dimensional inspection device for the edge wave of hot rolled strip according to claim 1, wherein: the image storage/display unit includes a data server and a terminal computer in communication therewith.
9. The three-dimensional inspection device for the edge wave of hot rolled strip according to claim 1, wherein: the laser structure light irradiator, the high-speed camera and the optical system view field adjusting unit are all arranged in the protective box.
10. A three-dimensional detection method of hot rolled strip steel edge wave is characterized in that: the three-dimensional detection device for the edge wave of the hot rolled strip steel is adopted, the strip steel passing signal is captured through the detection triggering unit, the laser structure light irradiator and the high-speed camera are triggered to start, the laser structure light irradiator emits N parallel and equidistant structure light beams which are perpendicular to the strip steel, the angle theta is firstly adjusted by the optical system view field adjusting unit, the image of the surface of the strip steel is shot by the high-speed camera, the image acquisition/transmission unit is used for acquiring the image and transmitting the image to the image processing/identifying unit, the image processing/identifying unit is used for processing the image, calculating and identifying the wave distance and the height of the edge wave on the strip steel and transmitting the image to the image storage/displaying unit, and the image storage/displaying unit is used for realizing the storage and the alarm of the image.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210815311.8A CN117405038A (en) | 2022-07-08 | 2022-07-08 | Three-dimensional detection device and method for hot rolled strip steel edge wave |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210815311.8A CN117405038A (en) | 2022-07-08 | 2022-07-08 | Three-dimensional detection device and method for hot rolled strip steel edge wave |
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| CN117405038A true CN117405038A (en) | 2024-01-16 |
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| CN202210815311.8A Pending CN117405038A (en) | 2022-07-08 | 2022-07-08 | Three-dimensional detection device and method for hot rolled strip steel edge wave |
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