CN105136045A - Coil down length measurement method for coil collecting station - Google Patents
Coil down length measurement method for coil collecting station Download PDFInfo
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- CN105136045A CN105136045A CN201510607235.1A CN201510607235A CN105136045A CN 105136045 A CN105136045 A CN 105136045A CN 201510607235 A CN201510607235 A CN 201510607235A CN 105136045 A CN105136045 A CN 105136045A
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- color punctuation
- color
- punctuation
- transfer arm
- coil
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Abstract
The invention discloses a coil down length measurement method for a coil collecting station in order to address the problem of inaccuracy of coil down measurement in prior art. The method comprises the steps of: marking a first color dot at an axis of movement position of a moving arm of a trolley, and marking a second color dot at an axis of movement position of a fixed arm; a camera real-time recording the movement of the first color dot and the second color dot; when the first color dot does not move, the camera recording the positions of the first color dot and the second color dot; conducting image processing on the images of the positions of the first color point and the second color point, and calculating an amount of pixels between the first color dot and the second color dot; based on the amount of the pixels calculated, obtaining an actual length of the coil down in combination with the proportion relation between pixel pitches and actual object distances. The coil collecting station control system addresses the problem of inaccuracy of coil down measurement in the prior art.
Description
Technical field
The present invention relates to automation field, particularly one collection volume station is coiled and is surveyed rectangular method.
Background technology
In prior art, high-speed rod collection volume station controls to be hold coil of strip tightly by the transfer arm of dolly and fixed arm, will coil to be transported to C type and to hook, and carries out unloading volume realization behind centering location.Wherein, initial position when transfer arm is opened completely and the distance of fixed arm are constant distances, and this constant distance deducts the distance that transfer arm clamping coil of strip is passed by, and is the length coiled.The position of dolly is located by scrambler, measure dolly distance C type when zero-bit and hook the actual range of center line, the distance of coil of strip half is deducted with the actual range of little spacing C type hook center line, namely just in time the center line coiled is hooked with C type and align, and now the balance of C type hook is just very important.So, overturning-free in order to ensure the balance that C type hooks, require higher to coiling position control accuracy.
And the control accuracy coiling position linear measure longimetry that is main and that coil has very large relation, the length coiled in prior art is measured by the scrambler on transfer arm, but transfer arm passes through chain drive, due to reasons such as skiddings or after running a period of time, the null position meeting change of dolly transfer arm, add the distance using the distance of ruler actual measurement transfer arm and fixed arm and dolly to hook to C type zero point, there is the fine error in measuring process in capital, these accumulations of error then can make the measurement length coiled occur very big error.Therefore, the length needing suitable method to measure accurately to coil can ensure to coil the control accuracy of position.
Summary of the invention
The object of the invention is to solve in prior art exist coil the inaccurate problem of linear measure longimetry.For solving the problem, embodiments providing a kind of collection volume station and coiling the rectangular method of survey.
In view of this, the invention provides a kind of collection volume station and coil the rectangular method of survey, comprise
Color punctuation is marked respectively at the transfer arm of dolly and the kinematic axis position of fixed arm;
At kinematic axis position mark first color punctuation of the transfer arm of dolly, kinematic axis position mark second color punctuation of fixed arm;
The motion of the first color punctuation and the second color punctuation described in camera real time record;
When described first color punctuation no longer moves, described first color punctuation under described this state of camera record and the position of described second color punctuation;
The image of described first color punctuation when no longer moving described first color punctuation of described camera record and the position of described second color punctuation does image procossing, calculates the pixel quantity between described first color punctuation and described second color punctuation;
The physical length coiled described in obtaining in conjunction with the proportionate relationship of pixel interval size and actual object spacing size according to the pixel quantity between described first color punctuation calculated and described second color punctuation.As can be seen from the above technical solutions, the present invention has the following advantages:
One collection volume station provided by the invention is coiled and is surveyed rectangular method, by marking color punctuation on the transfer arm and fixed arm of dolly, and adopt the mode of the motion of camera record color punctuation, the image of record is done image procossing, the pixel quantity of the color punctuation of two in image is calculated and obtains coiling physical length by conversion.The method uses camera record image and carries out image procossing and not only ensure that the accuracy recording and coil data, and then improve the control accuracy coiling position, also that proximity switch and scrambler carry out measuring due to what adopt in existing system, and invention further reduces the use of proximity switch and scrambler, so reduce cost.
Term " first ", " second ", " the 3rd " " 4th " etc. (if existence) in instructions of the present invention and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.The embodiments described herein should be appreciated that the data used like this can be exchanged in the appropriate case, so that can be implemented with the order except the content except here diagram or description.In addition, term " comprises " and " having " and their any distortion, intention is to cover not exclusive comprising, such as, contain those steps or unit that the process of series of steps or unit, method, system, product or equipment is not necessarily limited to clearly list, but can comprise clearly do not list or for intrinsic other step of these processes, method, product or equipment or unit.
The above, above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is that the process flow diagram surveying rectangular method is coiled at a kind of volume station that collects provided by the invention;
Fig. 2 be provided by the invention a kind of collect volume station coil survey rectangular method in dolly transport the vertical view coiled;
Fig. 3 is that dolly transfer arm and fixed arm full open position vertical view in the rectangular method of survey is coiled at one collection volume station provided by the invention;
Fig. 4 is that the non-full open position vertical view of dolly transfer arm in the rectangular method of survey is coiled at one collection volume station provided by the invention.
Embodiment
Embodiments provide a kind of collection volume station to coil and survey rectangular method, can solve exist in prior art coil the inaccurate problem of linear measure longimetry, improve the control accuracy coiling position.
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The invention provides a kind of collection volume station and coil the long embodiment of the method 1 of survey, refer to Fig. 1, for the process flow diagram surveying rectangular method is coiled at a kind of volume station that collects provided by the invention, as shown in Figure 1, the invention provides a kind of collection volume station and coil the rectangular method of survey, comprise
At kinematic axis position mark first color punctuation of the transfer arm of dolly, kinematic axis position mark second color punctuation of fixed arm;
The motion of the first color punctuation and the second color punctuation described in camera real time record;
When described first color punctuation no longer moves, described first color punctuation under described this state of camera record and the position of described second color punctuation;
The image of described first color punctuation when no longer moving described first color punctuation of described camera record and the position of described second color punctuation does image procossing, calculates the pixel quantity between described first color punctuation and described second color punctuation;
The physical length coiled described in obtaining in conjunction with the proportionate relationship of pixel interval size and actual object spacing size according to the pixel quantity between described first color punctuation calculated and described second color punctuation.
Concrete, before described collection volume station coiled measuring, first on the transfer arm of described dolly and fixed arm, described first color punctuation and described second color punctuation to be marked respectively, described first color punctuation and the second color punctuation conveniently identification marking on the kinematic axis position of described transfer arm and fixed arm, like this when the motion that can use the first color punctuation and the second color punctuation described in described camera record in described moving of car process, when described first color punctuation on described transfer arm no longer moves, described camera records the position of described first color punctuation under this state and described second color punctuation to carry out image procossing below, by to described first color punctuation of described camera record and the moving image of described second color punctuation, carry out image procossing, pixel quantity between the position calculating described second color punctuation on the position of described first color punctuation on described transfer arm and described fixed arm, the physical length coiled described in obtaining according to the pixel quantity between these two color punctuations and in conjunction with the relation of pixel and actual object size.
The embodiment of the present invention by marking color punctuation on the transfer arm and fixed arm of dolly, and adopt the mode of the motion of camera record color punctuation, the image of record is done image procossing, the pixel quantity of the color punctuation of two in image is calculated and obtains coiling physical length by conversion.The method uses camera record image and carries out image procossing and not only ensure that the accuracy recording and coil data, and then improve the control accuracy coiling position, in addition, signal is can't detect because the proximity switch in dolly arm in prior art easily loosens in use for some time, or because steel cuttings is too many, the reasons such as coiling temperature is larger, there will be problems such as detecting error, therefore the method by described camera direct-detection provided by the invention can more directly judge described in coil and whether put in place, also owing to decreasing the use of proximity switch and scrambler, reduce cost.
The invention provides a kind of collection volume station and coil the long embodiment of the method 2 of survey, 1 described method is described in detail by reference to the accompanying drawings.Shown in accompanying drawing 1, described method step is as follows:
Step S101, kinematic axis position mark first color punctuation at the transfer arm of dolly, kinematic axis position mark second color punctuation of fixed arm;
The motion of the first color punctuation and the second color punctuation described in step S102, camera real time record;
When step S103, described first color punctuation no longer move, described first color punctuation under described this state of camera record and the position of described second color punctuation;
The image of the position of step S104, described first color punctuation when no longer moving described first color punctuation of described camera record and described second color punctuation does image procossing, calculates the pixel quantity between described first color punctuation and described second color punctuation;
Step S105, to obtain in conjunction with the proportionate relationship of pixel interval size and actual object spacing size according to the pixel quantity between described first color punctuation calculated and described second color punctuation described in the physical length coiled.
The concrete implementation step surveying rectangular method is coiled below in conjunction with accompanying drawing 1 detailed description collection volume station.
Step S101, kinematic axis position mark first color punctuation at the transfer arm of dolly, kinematic axis position mark second color punctuation of fixed arm;
Concrete, the transfer arm of described dolly and fixed arm need respectively at kinematic axis position described first color punctuation of mark and described second color punctuation before motion starts, preferably, described second color punctuation of the kinematic axis position mark of the fixed arm of described dolly is close the outside of tense marker at described dolly at described fixed arm, but internal face is concordant when holding tightly with described fixed arm, and described first color punctuation of the kinematic axis position mark of described dolly transfer arm is for close tense marker outside described dolly at described transfer arm, but internal face is concordant when holding tightly with described transfer arm, described first color punctuation and described transfer arm are synchronized with the movement.
It should be noted that, the transfer arm of described dolly and fixed arm initial time overall need to coat respectively color so that described camera identification, and the colouring discrimination that is coated with of the transfer arm of described dolly and fixed arm entirety is in the color of described first color punctuation and described second color punctuation.When carrying out image procossing, extract contour of object, and according to the position of color judgment object, then judge that described transfer arm is into 90 relations or parallel relation with fixed arm with the curb girder of described dolly, judge that described transfer arm and fixed arm are the states for full open position or closedown further with this, and then be receive the control to described dolly arm.Also it should be noted that, the shape of described first color punctuation and described second color punctuation is arbitrary shape, be generally rectangle or circle, and described first color punctuation and described second color punctuation occupy the size of picture screen at least 5 pixels, cannot be identified to avoid too little, certainly can not be too large, if too many, screen pixels can be occupied too much, also the pixel interval quantity between bad judgement two points, the color that described first color punctuation and described second color punctuation adopt also is obvious color, larger with background frame aberration, for when image procossing, facilitate the particular location of positioning equipment.In addition, also needing to ensure illuminance on-the-spot in described camera record image process and the white balance treatment effect of described camera, also can block foreign material by arranging background screen, to avoid described color punctuation identification error.
The motion of the first color punctuation and the second color punctuation described in step S102, camera real time record;
Concrete, the motion of the first color punctuation and described second color punctuation described in described camera real time record, transport for described dolly the vertical view coiled shown in accompanying drawing 2, described camera is then positioned at the motion of recording described color punctuation directly over described dolly, before beginning is coiled in described dolly transport, need first the first color punctuation described in artificial selection and described second color punctuation in the photographing region of described camera, be convenient to the position of system identification color punctuation, system can record color and the position of described first color punctuation and described second color punctuation automatically, the positional information of described camera the first color punctuation and described second color punctuation described in real time record in described first color punctuation and described second color punctuation motion process.
It should be noted that, described camera is positioned at the position directly over perpendicular to described dolly, and the image pickup scope of described camera can cover the distance range under described dolly transfer arm and fixed arm full open position, preferably, described camera can be placed on the vertical upper empty position of double-core axle, and the image-region of described camera record can cover the length areas of the single armed brachium of described double-core axle, described dolly transfer arm and fixed arm full open position vertical view is shown in accompanying drawing 3, such setting is convenient to control described dolly arm, and coil that to carry out survey long to described.
When step S103, described first color punctuation no longer move, described first color punctuation under described this state of camera record and the position of described second color punctuation;
Concrete, when no longer moving when described first color punctuation, coiling and held tightly by described transfer arm now can be determined, the position of described camera described first color punctuation under recording this state, and the position of described second color punctuation now on described fixed arm, to calculate the described length coiled below.
It should be noted that, when described first color punctuation on described transfer arm no longer moves, be described transfer arm and no longer move, now then can determine that described transfer arm is held tightly.When described coil transport arrive C type hook place time, described transfer arm needs to open and carry out unloading volume, and accompanying drawing 4 is the vertical view of the non-full open position of transfer arm of described dolly.
Also it should be noted that, arm provided by the invention is held determination methods tightly and to be improved in existing system conventional arm to hold the time existed in determination methods tightly long and coil the unbalanced problem of center of gravity, improves work efficiency, ensure that the balance coiling center of gravity.
The image of the position of step S104, described first color punctuation when no longer moving described first color punctuation of described camera record and described second color punctuation does image procossing, calculates the pixel quantity between described first color punctuation and described second color punctuation;
Concrete, image procossing is carried out in the position of described second color punctuation on the position of the first color punctuation described in when no longer being moved by described first color punctuation on the described transfer arm recorded described camera and described fixed arm, calculates the pixel quantity between described first color punctuation on described transfer arm and described second color punctuation on described fixed arm.
Step S105, to obtain in conjunction with the proportionate relationship of pixel interval size and actual object spacing size according to the pixel quantity between described first color punctuation calculated and described second color punctuation described in the physical length coiled;
Concrete, the physical length coiled described in obtaining according to the pixel quantity between described first color punctuation on the above-mentioned described transfer arm calculated and described second color punctuation on described fixed arm and in conjunction with the proportionate relationship of pixel interval size and actual object spacing size.
It should be noted that, the corresponding actual object distance value of pixel distance value of two color punctuations is linearly proportional, and this relation can be found or be obtained by on-the-spot actual measurement in described camera technical parameter book.
One collection volume station provided by the invention is coiled and is surveyed rectangular method, by marking color punctuation on the transfer arm and fixed arm of dolly, and adopt the mode of the motion of camera record color punctuation, the image of record is done image procossing, the pixel quantity of the color punctuation of two in image is calculated and obtains coiling physical length by conversion, by image processing techniques extracts physical outline line and according to location comparison, judge whether described transfer arm and fixed arm and dolly edge become 90 degree or parallel, judge whether described transfer arm is opened or closed.The method uses camera record image real time record and carries out image procossing for the indirect inspection that prior art uses scrambler and proximity switch, not only ensure that the accuracy recording and coil data, and then improve the control accuracy coiling position, make material tracking can record the information of material more accurately, thus make final product information be able to accurate recording.The present invention also owing to decreasing the use of 6 proximity switches and scrambler, reduces cost.In addition, if realize measuring the whole process of the arm of described dolly, two are needed preferably to be positioned at the camera in described cart vertical overhead or to need rotatable camera head to expand camera angle, if and be only coil to survey long control, only need a camera just can complete the described measurement coiled.
Claims (9)
1. collection volume station is coiled and is surveyed a rectangular method, and it is characterized in that, described method comprises:
At kinematic axis position mark first color punctuation of the transfer arm of dolly, kinematic axis position mark second color punctuation of fixed arm;
The motion of the first color punctuation and the second color punctuation described in camera real time record;
When described first color punctuation no longer moves, described first color punctuation under described this state of camera record and the position of described second color punctuation;
The image of described first color punctuation when no longer moving described first color punctuation of described camera record and the position of described second color punctuation does image procossing, calculates the pixel quantity between described first color punctuation and described second color punctuation;
The physical length coiled described in obtaining in conjunction with the proportionate relationship of pixel interval size and actual object spacing size according to the pixel quantity between described first color punctuation calculated and described second color punctuation.
2. method according to claim 1, is characterized in that, the transfer arm of described dolly and fixed arm entirety coat the color being different from described first color punctuation and described second color punctuation respectively.
3. method according to claim 1, is characterized in that, described second color punctuation is for close tense marker at described fixed arm movement outside shaft position place at described fixed arm.
4. method according to claim 1, is characterized in that, described first color punctuation is for close tense marker at described transfer arm movement outside shaft position place at described transfer arm.
5. method according to claim 4, is characterized in that, described first color punctuation and described transfer arm are synchronized with the movement.
6. method according to claim 1, is characterized in that, the shape of described first color punctuation and described second color punctuation is arbitrary shape.
7. method according to claim 1, is characterized in that, described first color punctuation and described second color punctuation occupy the size of picture screen for being at least 5 pixels.
8. method according to claim 1, is characterized in that, described camera is positioned at perpendicular to position directly over described dolly.
9. method according to claim 1, is characterized in that, the scope of recording interval for running when described dolly transfer arm and fixed arm are opened of described camera.
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| CN201510607235.1A CN105136045B (en) | 2015-09-22 | 2015-09-22 | One kind collection volume station, which is coiled, surveys long method |
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| CN201510607235.1A CN105136045B (en) | 2015-09-22 | 2015-09-22 | One kind collection volume station, which is coiled, surveys long method |
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| CN105136045A true CN105136045A (en) | 2015-12-09 |
| CN105136045B CN105136045B (en) | 2018-01-05 |
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Address after: 100096 Beijing Haidian District Xisanqi building materials East Road 18, 5, 518 room. Patentee after: Polytron Technologies Inc in Beijing Address before: 100096 Beijing Haidian District Xisanqi building materials East Road 18, 5, 518 room. Patentee before: Beijing Bestpower Worthysky Technology Co., Ltd. |