CN106919054A - Flying Shear of Rod Material Shearing Optimization control system and method based on machine vision - Google Patents
Flying Shear of Rod Material Shearing Optimization control system and method based on machine vision Download PDFInfo
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- CN106919054A CN106919054A CN201710238818.0A CN201710238818A CN106919054A CN 106919054 A CN106919054 A CN 106919054A CN 201710238818 A CN201710238818 A CN 201710238818A CN 106919054 A CN106919054 A CN 106919054A
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The present invention discloses a kind of Flying Shear of Rod Material Shearing Optimization control system based on machine vision, including image acquisition subsystem, fuzzy controller and flying shear regulation subsystem；Described image acquisition subsystem includes the light source for being arranged on some cameras at flying shear rear and being matched with each camera, and each camera is connected with image processing module communication；The communication of the fuzzy controller and described image processing module be connected, and subsystem is adjusted for receiving image information, the regulation decision-making of generation flying shear that described image processing module is disposed and flying shear regulation decision-making being conveyed into the flying shear；The flying shear regulation subsystem includes the controlling organization of control flying shear drive mechanism or transmission mechanism, movement locus and torque for adjusting flying shear blade.The present invention makes the work of flying shear become Closed loop operation mode by open loop working method；Realize the on-line optimization of bar material cutting work.
Description
Technical field
The present invention relates to a kind of Flying Shear of Rod Material Shearing Optimization control system and method based on machine vision.
Background technology
Flying shear is usually used on the production lines such as steel rolling, papermaking.In Bars Workshop, it is placed in the rear portion of roll line, will roll
Part is cut into scale or only cutting head cutting tail.Widely used flying shear is conducive to making Rolling production rapid to high speed, serialization direction hair
Exhibition.Therefore, it is one of important step of Rolling production development.
Traditional shear history, carry out the step of to shear action it is predefined after, flying shear just according to it is predefined act into
Row work, and basic monitoring is lacked to shear effect, in bar production workshop, it is easy for causing the elbow of elongated base, extrude
Or the variety of problems such as section is coarse.If flying shear shear effect is not good, it is necessary to which finished product is processed, the wave of material is caused
Take, reduce yield.So, how shear history to be optimized according to shear effect situation particularly significant.
Pieces of bar stock is smaller with respect to profile, is difficult to be used for quickly detecting using traditional means.The instrument such as caliper are again uncomfortable
The worst hot case of the operation of rolling is closed, so the detection means of innovation becomes very necessary.
The content of the invention
Regarding to the issue above, the present invention provides a kind of bar based on machine vision for being obtained in that good flying shear effect and flies
Cut Shearing Optimization control system.
To reach above-mentioned purpose, Flying Shear of Rod Material Shearing Optimization control system of the present invention based on machine vision, including image
Acquisition subsystem, fuzzy controller and flying shear regulation subsystem；
Described image acquisition subsystem include be arranged on flying shear rear some cameras and with each camera
The light source matched somebody with somebody, each camera is connected with image processing module communication；
The fuzzy controller is connected with the communication of described image processing module, for receiving the treatment of described image processing module
Flying shear regulation decision-making is simultaneously conveyed to the flying shear regulation subsystem by the image information that finishes, the regulation decision-making of generation flying shear；
The flying shear regulation subsystem includes the controlling organization of control flying shear drive mechanism or transmission mechanism, winged for adjusting
The movement locus and torque of cutting edge.
Further, described image acquisition subsystem is at least included in flying shear rear and is taken the photograph towards the section collection that flying shear is set
The straight acquisition camera set as head and in bar axis side.
Further, it is provided with shading case on the camera.
Further, the flying shear regulation subsystem is connected with the driving mechanisms control of flying shear blade, the flying shear blade
Drive mechanism be variable-frequency motor；
Or, flying shear regulation subsystem is connected with infinitely variable transmission control, the input shaft of the infinitely variable transmission with
Output shaft is connected with the drive device and flying shear blade of flying shear blade respectively.
Further, described image acquisition subsystem includes two spaced section acquisition cameras, breaks described in two
The axis of face acquisition camera intersects at a point with the axis of the bar.
Further, the axis of the straight acquisition camera and plane determined by the bar axis and flying shear are cut
Butt is to vertical.
The present invention proposes a kind of Flying Shear of Rod Material Shearing Optimization control system based on machine vision, makes the work of flying shear by opening
Ring working method becomes Closed loop operation mode；The flying shear shear effect that fuzzy controller carries out decision-making evaluates mechanism, realizes bar
The on-line optimization of shearing work；By this contactless detection mode of vision system, make system architecture simple, facilitate engineering
Implement and the old system reform.
Regarding to the issue above, the present invention provides a kind of bar based on machine vision for being obtained in that good flying shear effect and flies
Cut Shearing Optimization control method.
To reach above-mentioned purpose, the present invention is based on the Flying Shear of Rod Material Shearing Optimization control method of machine vision, including as follows
Step：
Compares figure picture when S1 is gathered and preserved flying shear region without bar；
S2 collection flying shears shear the bar image after finishing, and the bar image and compares figure picture are contrasted, and obtain
Remove the bar image of background；
S3 calculates the degree of crook and cross section quality of the bar image of removal background；
The degree of crook and cross section quality are input to fuzzy controller by S4, fuzzy controller according to degree of crook and
Regulation decision-making is simultaneously passed to flying shear regulation subsystem by cross section quality generation regulation decision-making；
S5 flying shears regulation subsystem is adjusted according to regulation decision-making to flying shear；
Flying shear after S6 regulations is sheared to next bar and is performed S2.
Further, degree of crook and cross section quality contrast step are also included after the S3, specific method is as follows：Obtain
The degree of crook and cross section quality of current bar are taken, the degree of crook and cross section quality of current bar is curved with a upper bar
Qu Chengdu and cross section quality are contrasted, and according to the rule base of comparing result Optimizing Fuzzy Controller.
Further, also include setting up nominal flat model in S1；
The detailed process that bar stock bent degree is calculated in S3 is as follows：
The straight portion of bar is carried out into the treatment that overlaps with nominal flat model, from the axis end of current bar to described
The axis of nominal flat model does a vertical line, and the length of the measurement vertical line is simultaneously curved as current bar using the length of the vertical line
The parameter of Qu Chengdu.
Further, the cross section quality at least includes two parameters of cross sectional radii and section flatness.
The present invention proposes a kind of Flying Shear of Rod Material Shearing Optimization control method based on machine vision, makes the work of flying shear by opening
Ring working method becomes Closed loop operation mode；The flying shear shear effect that fuzzy controller carries out decision-making evaluates mechanism, realizes bar
The on-line optimization of shearing work；By this contactless detection mode of vision system, make system architecture simple, facilitate engineering
Implement and the old system reform.
Brief description of the drawings
Fig. 1 is the system flow block diagram of Flying Shear of Rod Material Shearing Optimization control system of the present invention based on machine vision.
Specific embodiment
With reference to Figure of description, the present invention will be further described.
Refer to raw material direction on rolling line before in the present invention, in the present invention after refer to finished product direction on rolling line.
Embodiment 1
As shown in figure 1, the present embodiment provides a kind of Flying Shear of Rod Material Shearing Optimization control system based on machine vision, including
Image acquisition subsystem, fuzzy controller and flying shear regulation subsystem；
Described image acquisition subsystem include be arranged on flying shear rear some cameras and with each camera
The light source matched somebody with somebody, each camera is connected with image processing module communication；
The fuzzy controller is connected with the communication of described image processing module, for receiving the treatment of described image processing module
Flying shear regulation decision-making is simultaneously conveyed to the flying shear regulation subsystem by the image information that finishes, the regulation decision-making of generation flying shear；
The flying shear regulation subsystem includes the controlling organization of control flying shear drive mechanism or transmission mechanism, winged for adjusting
The movement locus and torque of cutting edge.
Video monitoring device is made up of camera, light source, video processor and shading casing.It realizes machine vision system
The acquisition of information and the information processing function of system.The information that fuzzy logic controller is obtained according to video monitoring device, to shearing
Situation is estimated, and can set some indexs of shearing as Appreciation gist, carries out Fuzzy processing to each Appreciation gist, just
The language library of fuzzy controller is constituted, by experience, fuzzy rule base is defined, realize the control of fuzzy controller
Decision making function.Flying shear Frequency Drive controller is used to carry out flying shear plant equipment direct gear stage control, by becoming frequency modulation
The mode of speed, movement locus and torque to flying shear are controlled.
Below by taking the operation of bar crop as an example, the present invention will be described：
Its basic control flow is as follows：
S1：Before bar blank long is sent to flying shear by transfer roller；
S2：Vision system detects that identification end key index parameterizes key index to blank head long；Example
Such as tangent plane flatness, Leading Edge Deformation degree, radius change；
S3：The index of parametrization is sent in fuzzy logic controller, the parameter fuzzy is given by decision system
Shearing proposed parameter；
S4：Be sent to the shear parameters of suggestion in flying shear Frequency Drive controller by fuzzy logic controller, allows flying shear frequency conversion
Mechanism performs shear action according to shear parameters；
S5：Vision system is evaluated shear effect, updates the rule base of fuzzy logic controller.
The present embodiment proposes a kind of Flying Shear of Rod Material Shearing Optimization control system based on machine vision, make the work of flying shear by
Open loop working method becomes Closed loop operation mode；The flying shear shear effect that fuzzy controller carries out decision-making evaluates mechanism, realizes rod
The on-line optimization of material shearing work；By this contactless detection mode of vision system, make system architecture simple, facilitate work
Journey is implemented and the old system reform.
Embodiment 2
The present embodiment is with the difference in embodiment 1：The flying shear regulation subsystem is controlled with infinitely variable transmission
Connection, the input shaft and output shaft of the infinitely variable transmission are driven with the drive device and flying shear blade of flying shear blade connect respectively
Connect.
The present embodiment can also adjust the movement locus and torque of flying shear blade, energy by the way of infinitely variable transmission is adjusted
Enough realize adjustment effect same as Example 1.In the present embodiment, those skilled in the art can realize root according to prior art
Infinitely variable transmission is adjusted according to control strategy.
Embodiment 3
The present embodiment provides a kind of Flying Shear of Rod Material Shearing Optimization control method based on machine vision, comprises the following steps：
Compares figure picture when S1 is gathered and preserved flying shear region without bar；
S2 collection flying shears shear the bar image after finishing, and the bar image and compares figure picture are contrasted, and obtain
Remove the bar image of background；
S3 calculates the degree of crook and cross section quality of the bar image of removal background；
The degree of crook and cross section quality are input to fuzzy controller by S4, fuzzy controller according to degree of crook and
Regulation decision-making is simultaneously passed to flying shear regulation subsystem by cross section quality generation regulation decision-making；
S5 flying shears regulation subsystem is adjusted according to regulation decision-making to flying shear；
Flying shear after S6 regulations is sheared to next bar and is performed S2.
Also include degree of crook and cross section quality contrast step after the S3, specific method is as follows：Obtain current rod
The degree of crook and cross section quality of material, by the degree of crook of the degree of crook and cross section quality of current bar and a upper bar and
Cross section quality is contrasted, and according to the rule base of comparing result Optimizing Fuzzy Controller.
Also include setting up nominal flat model in S1；
The detailed process that bar stock bent degree is calculated in S3 is as follows：
The straight portion of bar is carried out into the treatment that overlaps with nominal flat model, from the axis end of current bar to described
The axis of nominal flat model does a vertical line, and the length of the measurement vertical line is simultaneously curved as current bar using the length of the vertical line
The parameter of Qu Chengdu.
The cross section quality at least includes two parameters of cross sectional radii and section flatness.
The present embodiment proposes a kind of Flying Shear of Rod Material Shearing Optimization control method based on machine vision, make the work of flying shear by
Open loop working method becomes Closed loop operation mode；The flying shear shear effect that fuzzy controller carries out decision-making evaluates mechanism, realizes rod
The on-line optimization of material shearing work；By this contactless detection mode of vision system, make system architecture simple, facilitate work
Journey is implemented and the old system reform.
More than, only presently preferred embodiments of the present invention, but protection scope of the present invention is not limited thereto, any to be familiar with sheet
Those skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in should all be covered
Within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should be defined by claim is defined.
Claims (10)
1. a kind of Flying Shear of Rod Material Shearing Optimization control system based on machine vision, it is characterised in that：Including IMAQ subsystem
System, fuzzy controller and flying shear regulation subsystem；
Described image acquisition subsystem includes being arranged on some cameras at flying shear rear and matches with each camera
Light source, each camera is connected with image processing module communication；
The fuzzy controller is connected with the communication of described image processing module, is disposed for receiving described image processing module
Image information, the regulation decision-making of generation flying shear and flying shear regulation decision-making is conveyed to flying shear regulation subsystem；
The flying shear regulation subsystem includes the controlling organization of control flying shear drive mechanism or transmission mechanism, is cut for adjusting flying shear
The movement locus and torque of sword.
2. the Flying Shear of Rod Material Shearing Optimization control system of machine vision is based on as claimed in claim 1, it is characterised in that：The figure
Section acquisition camera and set in bar axis side that flying shear rear sets towards flying shear are at least included in as acquisition subsystem
The straight acquisition camera put.
3. the Flying Shear of Rod Material Shearing Optimization control system of machine vision is based on as claimed in claim 1 or 2, it is characterised in that：Institute
State and be provided with camera shading case.
4. the Flying Shear of Rod Material Shearing Optimization control system of machine vision is based on as claimed in claim 1, it is characterised in that：It is described to fly
Cut regulation subsystem to be connected with the driving mechanisms control of flying shear blade, the drive mechanism of the flying shear blade is variable-frequency motor；
Or, flying shear regulation subsystem controls to be connected with infinitely variable transmission, the input shaft of the infinitely variable transmission and output
Axle is connected with the drive device and flying shear blade of flying shear blade respectively.
5. the Flying Shear of Rod Material Shearing Optimization control system of machine vision is based on as claimed in claim 2, it is characterised in that：The figure
As acquisition subsystem include two spaced section acquisition cameras, the axis of section acquisition camera described in two with it is described
The axis of bar intersects at a point.
6. the Flying Shear of Rod Material Shearing Optimization control system of machine vision is based on as claimed in claim 2, it is characterised in that：It is described flat
The axis of straight acquisition camera is vertical with the shear direction of flying shear with plane determined by the bar axis.
7. a kind of Flying Shear of Rod Material Shearing Optimization control method based on machine vision, it is characterised in that：Comprise the following steps：
Compares figure picture when S1 is gathered and preserved flying shear region without bar；
S2 collection flying shears shear the bar image after finishing, and the bar image and compares figure picture are contrasted, and are removed
The bar image of background；
S3 calculates the degree of crook and cross section quality of the bar image of removal background；
The degree of crook and cross section quality are input to fuzzy controller by S4, and fuzzy controller is according to degree of crook and section
Regulation decision-making is simultaneously passed to flying shear regulation subsystem by quality generation regulation decision-making；
S5 flying shears regulation subsystem is adjusted according to regulation decision-making to flying shear；
Flying shear after S6 regulations is sheared to next bar and is performed S2.
8. the Flying Shear of Rod Material Shearing Optimization control method of machine vision is based on as claimed in claim 7, it is characterised in that：The S3
Also include degree of crook and cross section quality contrast step afterwards, specific method is as follows：Obtain current bar degree of crook and
Cross section quality, it is right that the degree of crook and cross section quality of current bar and the degree of crook and cross section quality of a upper bar are carried out
Than, and according to the rule base of comparing result Optimizing Fuzzy Controller.
9. the Flying Shear of Rod Material Shearing Optimization control method of machine vision is based on as claimed in claim 7, it is characterised in that：In S1 also
Including setting up nominal flat model；
The detailed process that bar stock bent degree is calculated in S3 is as follows：
The straight portion of bar is carried out into the treatment that overlaps with nominal flat model, from the axis end of current bar to the standard
The axis of straight model does a vertical line, measures the length of the vertical line and using the length of the vertical line as current bar stock bent journey
The parameter of degree.
10. the Flying Shear of Rod Material Shearing Optimization control method of machine vision is based on as claimed in claim 7, it is characterised in that：It is described
Cross section quality at least includes two parameters of cross sectional radii and section flatness.
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| CN111215689A (en) * | 2019-12-06 | 2020-06-02 | 中冶华天南京工程技术有限公司 | Novel multi-length flying shear mechanism and bar shearing method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709808A (en) * | 2018-12-29 | 2019-05-03 | 江苏华宏科技股份有限公司 | Scrap shearing machine shears oil cylinder stroke Fuzzy control system and method |
| CN111215689A (en) * | 2019-12-06 | 2020-06-02 | 中冶华天南京工程技术有限公司 | Novel multi-length flying shear mechanism and bar shearing method thereof |
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| CN106919054B (en) | 2023-07-21 |
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