CN100529653C - CCD based strip automatic centering CPC detecting system and detecting method - Google Patents
CCD based strip automatic centering CPC detecting system and detecting method Download PDFInfo
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- CN100529653C CN100529653C CNB2007100174075A CN200710017407A CN100529653C CN 100529653 C CN100529653 C CN 100529653C CN B2007100174075 A CNB2007100174075 A CN B2007100174075A CN 200710017407 A CN200710017407 A CN 200710017407A CN 100529653 C CN100529653 C CN 100529653C
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Abstract
The invention discloses a CCD-strip-based automatic aiming CPC photoelectric detection system, including the detection sensor and the light source, and the light source using rectangular array of 700~900nm wavelength infrared light-emitting diodes, and the detection sensor including optical lens, narrowband filters, linear array CCD and laser alignment, also including CCD driver circuit and detection processor. The detection method of the system uses the fixed installation positive exposure, and the light of the light source through the both sides of the detected strip, and respectively received by the left and right detection sensors, and when the detected strip moving left and right, the photosensitive pixels of the linear array CCD generates the strip edge location-related changes, and outputs the corresponding strip edge location signal, and respectively sends into the left and right detection processor and CPC controller for subtraction calculation, to determine whether the location of the strip departs from the center line of the machine, and the departure distance. The system has the features of high accuracy detection, board detection range, fast response speed, good stability, and anti-disturbance ability.
Description
Technical field
The invention belongs to field of photoelectric technology, relate to a kind of detection system of band automatic centering, particularly a kind of band automatic centering detection system based on CCD the invention still further relates to the detection method of utilizing this detection system.
Background technology
CPC (Centre Position Control) system is the abbreviation of band automatic centering system, and its effect is to make the band automatic deviation correction, keeps the band center constant, is positioned at band all the time and produces on the unit center line of unit.In the production run of band, because: (1) incoming band furls uneven or there is camber in the roll coil of strip; (2) axis between the live-roller is not parallel, with band traffic direction out of plumb; (3) the live-roller surface is not cylindrical, perhaps profile decentraction symmetry and surface working defective; (4) the even own band defective of band uneven distribution; (5) strap tension is inhomogeneous; (6) owing to make moist, heat, the tractive force sudden change causes the distortion of machinery and band; (7) wear and tear in machines etc. all can cause band to depart from the unit center line.Therefore, the band production line generally all must be provided with deviation correction control system, promptly so-called centering control CPC system or marginal position control EPC (Edge Position Control) system.Adopt deviation correction control system can make the band location, avoid that the band sideslip is excessive to be broken equipment or cause broken belt to stop production, owing to realized that the automatic volume of band is neat, can be next process neat coiled material is provided simultaneously, thereby reduce the side cut amount of band in a large number, improve yield rate.At present, the detecting sensor of the CPC/EPC of automatic centering system has three types of inductance type, condenser type and photo-electrics.
Document [1], [2] have been introduced inductance type and condenser type detecting sensor respectively.The inductance type detecting sensor adopts electromagnetic induction principle, comprise two transmitting coils and two receiving coils, two transmitting coils and two receiving coils are that the center symmetry is placed with the band, between transmitting coil and receiving coil, there is not band to pass through, in receiving coil, produce initial electromotive force E0, when band passes through, magnetic flux in the receiving coil reduces, so the induction electromotive force of receiving coil and band wide variety amount in coil is inversely proportional to, thereby finished the collection of band position signalling, but inductance type centering pick-up unit weak point is to be applicable to the magnetic conductive metal band.
The principle of work of condenser type detecting sensor is the variable area formula, and when band departed from, the electric capacity of capacitance type sensor output changed, thereby finish the collection of band position signalling, but the installation requirement of capacitive transducer is higher, sensor output signal a little less than, accuracy of detection is lower.
It mainly is to utilize sensor devices that the photo-electric detecting sensor detects principle, and light signal is become electric signal.Prior art is different according to sensor devices and detection mode, can be divided into three kinds again:
First kind (document [2], [3], [4], [5]): detection system adopts visible light, high frequency visible light, infrared light as light source, utilize single photodiode, photosensitive triode, photoresistance or photoelectric cell as sensor devices, the light that utilizes lens that light source is sent on the light path projects on the sensor devices, when band moves, illumination on the sensor devices is sent the variation relevant with the band movement law, and send corresponding electric signal, utilize this signal can obtain the position of band.Owing to adopt single sensor devices receiving optical signals, for guaranteeing measuring accuracy, the measurement range of pick-up unit is limited.Strip material with different width correction for requiring on the production line must rely on manually or the installation site of motorized adjustment detecting sensor, just can implement the band automatic deviation correction to be adjusted to measure in the effective range.It is less that this detection method detects effective range.
Second kind (document [6], [7]): detection system adopts visible light as light source, utilizes beam coupling device CCD as sensor devices, adopts the mode of reverse side irradiation, and light source and CCD detection head are positioned at band the same side.Wherein document [6] light source is made up of the LED array, the light beam that light source sends is after cylindrical lens converges, form a high brightness, the uniform parallel beam planar projective of illumination is to tested strip surface, the bright band that drops down onto the band outside is sponged by ground blacking layer or the coal seam that scatters, and the bright band of falling on the band is imaged on the line array CCD photosurface after the band reflection.Like this, the boundary of last clear zone of CCD and dark space enters subsequent process circuit corresponding to the edge of band through collection.This detection mode is subjected to the influence of strip surface smooth finish very big.If the strip surface reflective is good, then Fan She light intensity is just strong, if band is contaminated or reflective is bad, then through the light intensity of band reflection just a little less than, pollute serious more, how fast, reasonably the light intensity of reflection is weak more, adjust CCD induction light intensity, and reducing until eliminating the oversaturated probability of CCD is the more scabrous problem of this detection mode.
The third (document [8]): detection system adopts the mode of front illuminated, and light source and CCD camera are positioned at the band both sides.Use two CCD cameras to measure.Two edges of band are aimed in the optical center of camera, and two cameras link to each other with leading screw.When strip width changes,, make the centre distance of two cameras consistent with strip width by shaking leading screw.In the testing process, with the calculating that subtracts of the measured value of two cameras, according to the numerical value and the symbol that calculate, the side-play amount of band and offset direction as can be known.
More than the Lights sections of three kinds of photodetector systems, adopt visible light or high frequency visible light more.But inevitably have natural light, workshop illumination, overhead traveling crane car light or the like a series of jamming light source in the band production scene, the anti-interference ability that how to improve detection system also is a key issue that will solve.
List of references:
[1] Zou Fengxin, Yang Xilin, Gao Zengxue, Qiu Zhongyi. detect the strip steel deviation control method of principle based on inductive position. metallurgical automation, 2006,30 (4): 37-39.
[2] Jin Baoquan. strip steel deviation intelligence PPF control system. Institutes Of Technology Of Taiyuan's master thesis, 2005.3.
[3] Zhu Xinlian, Zhang Haiyan, Zhao Qinghai. roll web paper tape sideslip detects and correcting system. sensor technology, 2005,24 (7): 57-59.
[4] hide brightly, Wu Lei .EMG band center support system is analyzed. aluminium processing, 2005, (5): 24-26.
[5] Wang Jianbo. the application of infrared electro detection method in deviation rectification of strip control. coloured equipment .2002, (4): 7-9.
[6] Peng Xiaojun, Wu Minyuan, Wang Weiping, Xiang Yaping, Zhang Mingjian, what safety. based on the circuit design and the realization of the EPC/CPC measuring system of twin-line array CCD. photoelectron technology .2006,26 (1): 57-61.
[7] Li Yugui, Huang Qingxue, the application of Yang Xiaoming .CCD image sensor in high-velocity zone steel deviation-rectifying system. Taiyuan Heavy Machinery College journal, 2000,21 (4): 316-318.
[8] Zhao Hong, Qiu Zhongyi. the cold-strip steel deviation correction control system. metallurgical automation, 2006,30 (S2): 650-652.
Summary of the invention
In order to solve the defective that existing photo-electric detection system is subject to ambient light interference and sensing range is limited, accuracy of detection is low, the object of the present invention is to provide a kind of band automatic centering CPC detection system based on CCD, this detection system accuracy of detection height, sensing range is wide, response speed is fast, anti-interference is stronger, installation, easy and simple to handle.
Another object of the present invention is to provide a kind of detection method of utilizing said detecting system.
The technical solution adopted in the present invention is, a kind of band automatic centering CPC detection system based on CCD, comprise light source and detecting sensor, the rectangular array that light source adopts the infrared diode of 700～900nm wavelength to form, detecting sensor comprises left side detecting sensor and the right side detecting sensor that detects position, band both sides of the edge respectively, the left side detecting sensor is identical with right side detecting sensor structure, comprise camera lens respectively, laser alignment device and line array CCD, be provided with narrow band pass filter between camera lens and the line array CCD, also comprise the CCD driving circuit and the measurement processor that drive line array CCD.
The present invention proposes a kind of detection method of band automatic centering, comprise and utilize light source and detecting sensor that the band position signalling in the ribbon motion process is gathered, by this position signalling is analyzed, is calculated, come whether disalignment detects to band, this method may further comprise the steps:
A) adopt fixed installation front illuminated formula, detected band is between infrared light supply and detecting sensor;
B) rectangular array of the infrared diode composition of employing 700～900nm wavelength is as light source;
C) adopt left side detecting sensor and right side detecting sensor to detect position, band both sides of the edge respectively, the left side detecting sensor is identical with right side detecting sensor structure, comprise camera lens, laser alignment device and line array CCD respectively, be provided with narrow band pass filter between camera lens and the line array CCD, also comprise the CCD driving circuit and the measurement processor that drive line array CCD;
D) light that sends of light source is received by the sensor devices line array CCD of left side detecting sensor and right side detecting sensor respectively by the both sides of detected band, when detected band move left and right, sensitization pixel on the line array CCD produces the variation relevant with strip edge, if can sense the infrared light that light source sends on the sensitization pixel of line array CCD, then this sensitization pixel is exported high level; If infrared light is blocked by band, on the line array CCD sensitization pixel induction less than, then this sensitization pixel is output as low level, thus the strip edge position signalling is converted to the some position signal on the line array CCD, send into respectively in left and right sides measurement processor and the CPC controller and carry out subtraction calculations, can judge whether the band position departs from the unit center line, and the distance that departs from.
Advantage of the present invention is: the accuracy of detection height (
), sensing range is wide, and response speed is fast, is not subjected to the influence of variable in distance between band and the detecting sensor, the influence that not changed by strip width, strong interference immunity, simple in structure, installation, easy and simple to handle is easy to safeguard and debugging.
Description of drawings
Fig. 1 is that CPC detection system of the present invention detects schematic diagram;
Fig. 2 is the circuit block diagram of detection system of the present invention;
Fig. 3 is the circuit block diagram of measurement processor in the system of the present invention.
Among the figure, 1. left side detecting sensor, 2. right side detecting sensor, 3. band, 4. infrared light supply.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Detection system of the present invention comprises light source 4 and detects the left side detecting sensor 1 and the right side detecting sensor 2 of position, band 3 both sides of the edge respectively.The rectangular array that light source 4 adopts the infrared diode of 700～900nm wavelength to form has light stability, long service life, easy characteristics of installing.Left side detecting sensor 1 is identical with right side detecting sensor 2 structures, comprises camera lens, narrow band pass filter, line array CCD, CCD driving circuit, measurement processor.This detection system adopts beam coupling device line array CCD as sensor devices, the light that light source 4 sends by lens focus to the sensor devices line array CCD, because the spectrum induction range of line array CCD is 300～1100nm, visible light in still can induced environment, interference for filtering environmental light, this detection system is added with narrow band pass filter between camera lens and line array CCD device, thereby make native system can only respond to the infrared light of the specific wavelength that light source 4 sends, on detecting sensor, set up simultaneously the laser alignment device, make detecting sensor can aim at simply fast, thereby can drop into steering operation fast with light source.
Detection mode adopts fixed installation front illuminated formula, as shown in Figure 1, detected band 3 is between infrared light supply 4 and detecting sensor, adopting wavelength is that the rectangular array formed of the infrared diode of 700～900nm is as the detection system light source, adopt left side detecting sensor 1 and right side detecting sensor 2 to detect position, band 3 both sides of the edge respectively, the address of left side detecting sensor 1 is No. 1, and the address of right side detecting sensor 2 is No. 2.Because be added with narrow band pass filter between line array CCD and the camera lens, the infrared light that ordinary ambient light and light source send all can enter camera lens, but the infrared light that narrow band pass filter can only send by light source 4.Infrared light supply 4 is parallel when upwards shining, and the infrared light that is blocked by band 3 does not enter line array CCD, therefore is revealed as the dark space on the corresponding sensitization pixel of line array CCD, otherwise, be bright district, so bright-dark cut is the marginal position of band 3 on the line array CCD.If line array CCD sensitization pixel is sensed infrared light, then high level is exported in CCD respective point position; Blocked by band 3 as if infrared light, then output low level.As long as the scope that band 3 departs from the unit center line is in 0～500mm, detection head all can correctly detect the distance that departs from.
Because the variation of distance can be reflected on left side detecting sensor 1 and the right side detecting sensor 2 simultaneously between band 3 and the detecting sensor, and output signal is complementary, so the variation of distance can not influence the detection of band center between band 3 and the detecting sensor.Simultaneously, this detection method has also compensated the influence that the strip width variation detects the band center automatically.
Fig. 2 is the circuit block diagram of detection system of the present invention, and left-hand broken line partly is a detecting sensor 1, and the right side dotted portion is a detecting sensor 2.Total system is a closed-loop system, and detecting sensor reflection band 3 departs from the distance of unit center line, passes to the CPC controller by the RS485 bus, and the controller drives hydraulic system is adjusted the position of band 3, reaches the correction purpose.
Fig. 3 is the circuit block diagram of measurement processor, and dotted portion is finished in CPLD; Uo, SP, FC are the signals that the CCD chip is exported to subsequent conditioning circuit, and the threshold value of binary conversion treatment circuit input circuit can be regulated by the programming of STC 6 Single-chip Controlling programmable resistances.
The position at band center is admitted to the CPC controller by RS485, according to band center skew controlled hydraulic system, drives adjusting deviation device by the CPC controller, and band is positioned on the unit center line all the time.Whole detection and control procedure all adopt digital signal processing, comprise that ccd signal processing, the transmission of strip edge signal, system calibrating, position servo control, parameter are provided with demonstration etc., have the accuracy of detection height, sensing range is wide, response speed is fast, good stability, characteristics that antijamming capability is strong.
CPC centering control system workflow: at first, the CCD driving circuit of the left and right sides drives the line array CCD operate as normal; The second, left and right sides measurement processor is handled the signal of CCD output, writes down the marginal point position information of the band left and right sides respectively; The 3rd, send the marginal point position of both sides to the CPC controller by the RS485 bus; The 4th, after controller receives the some position information of both sides, calculate the distance of band 3 misalignment unit center lines according to computing formula; At last, thus drive the correction that hydraulic system realizes band according to the distance of departing from of calculating.
The present invention is applicable to that coil diameter such as strip uncoiler changes greatly, the band height change greatly, strip width variation CPC position probing and control (dual detection sensor) greatly, or EPC position probing and the control (single detecting sensor) of band height change when little.
Claims (2)
1. band automatic centering CPC detection system based on CCD, comprise light source and detecting sensor, detecting sensor comprises left side detecting sensor (1) and the right side detecting sensor (2) that detects band (3) position, both sides of the edge respectively, left side detecting sensor (1) is identical with right side detecting sensor (2) structure, comprise camera lens and line array CCD respectively, also comprise the CCD driving circuit and the measurement processor that drive line array CCD, it is characterized in that, described light source (4) is the rectangular array that the infrared diode of 700nm～900nm wavelength is formed, described left side detecting sensor (1) and right side detecting sensor (2) also comprise the laser alignment device, are provided with narrow band pass filter between camera lens and the line array CCD.
2. the detection method of a band automatic centering, comprise and utilize infrared light supply and detecting sensor that the strip edge position signalling in the motion process is gathered, by this position signalling is analyzed, is calculated, come whether band is departed from the unit center line and detect, it is characterized in that:
A) adopt fixed installation front illuminated formula, detected band (3) is positioned between infrared light supply and the detecting sensor (1,2);
B) rectangular array of the infrared diode composition of employing 700～900nm wavelength is as infrared light supply;
C) adopt left side detecting sensor (1) and right side detecting sensor (2) to detect band (3) position, both sides of the edge respectively, left side detecting sensor (1) is identical with right side detecting sensor (2) structure, comprise camera lens, laser alignment device and line array CCD respectively, be provided with narrow band pass filter between camera lens and the line array CCD, also comprise the CCD driving circuit and the measurement processor that drive line array CCD;
D) light that sends of described infrared light supply is received by the line array CCD of left side detecting sensor (1) and right side detecting sensor (2) respectively by the both sides of detected band (3), when detected band (3) move left and right, sensitization pixel on the line array CCD produces and the relevant variation in band (3) edge, if can sense the infrared light that infrared light supply sends on the sensitization pixel of line array CCD, then this sensitization pixel is exported high level; If infrared light is blocked by band (3), on the line array CCD sensitization pixel induction less than, then this sensitization pixel is output as low level, thus the strip edge position signalling is converted to the sensitization pixel point position signal on the line array CCD, send into respectively in left and right sides measurement processor and the CPC controller and carry out subtraction calculations, promptly judge the band position and whether depart from the unit center line, and the distance that departs from.
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| CNB2007100174075A CN100529653C (en) | 2007-02-12 | 2007-02-12 | CCD based strip automatic centering CPC detecting system and detecting method |
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