CN108007210A - Heating furnace automatical feeding system based on polyphaser information fusion scheme - Google Patents
Heating furnace automatical feeding system based on polyphaser information fusion scheme Download PDFInfo
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- CN108007210A CN108007210A CN201711242781.5A CN201711242781A CN108007210A CN 108007210 A CN108007210 A CN 108007210A CN 201711242781 A CN201711242781 A CN 201711242781A CN 108007210 A CN108007210 A CN 108007210A
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- visible light
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/0024—Charging; Discharging; Manipulation of charge of metallic workpieces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D19/00—Arrangements of controlling devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
- F27D21/02—Observation or illuminating devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
- F27D21/02—Observation or illuminating devices
- F27D2021/026—Observation or illuminating devices using a video installation
Abstract
Heating furnace automatical feeding system based on polyphaser information fusion scheme, including feeding skid, gear steel hook, dial steel fork and rollgang, two lateral visible light cameras, a vertical visible light camera, two sets of LED light sources, automatic control unit and feeding skid electric-control system are further included, two visible light cameras set parallel to steel billet section and are installed on feeding skid outlet both sides；Vertical visible light camera is installed on feeding skid near middle；Automatic control unit is connected with lateral visible light camera, vertical visible light camera and feeding skid electric-control system；Feeding skid electric-control system is connected with feeding skid, group steel fork.The present invention substitutes traditional artificial operation to improve production efficiency in the steel billet transportation flow of feeding skid to rollgang using automation equipment, realizes that heating furnace feeding whole process automates；When supplied materials warms base for height, by close-packed arrays between crowded base operation steel billet in order to avoid hot base inhomogeneous cooling is even and is deformed.
Description
Technical field
The present invention relates to metallurgy industry Bar Wire Product heating furnace feeding device and system, and in particular to one kind is believed based on polyphaser
The heating furnace automatical feeding system of integration program is ceased, for Bar Wire Product heating furnace feeding skid between rollgang.
Background technology
Heater for rolling steel occupies an important position in iron and steel enterprise, its task be heating steel billet, make steel billet temperature and
Its Temperature Distribution meets rolling requirements.Heating furnace feeding device is by the device of steel billet conveying to heating furnace, mainly by feeding platform
Frame, gear steel hook, dial steel fork and rollgang composition, first puts feeding skid by more square billets are rows of by crane during feeding
On, then the step drive device of feeding skid and gear steel hook according to the rhythm of production interoperation of heating furnace by one one, steel billet
Being transported to for root is dialled on steel fork, dials steel fork and steel billet is placed on above rollgang, then rollgang operating by square billet send to
In heating-furnace.At present mainly by installed additional in roller-way both sides metal detection element come in realizing steel billet from roller-way to stove from
Dynamic feeding, but transportational process of the steel billet from heating furnace feeding skid to rollgang is needed by eye-observation steel billet at this stage
Position, the state (dial steel fork on whether there is the information such as steel billet) for dialling steel fork are manually operated feeding skid driving device by one, steel billet afterwards
Root, which is transported to, dials steel fork, and dial steel fork on steel billet conveying to rollgang, will will also carry out squeezing base when supplied materials warms base for height again
Close-packed arrays are in order to avoid hot base inhomogeneous cooling is even and is deformed between being operated such that steel billet, and whole operation process mechanism is uninteresting, people
The easy fatigue of work long period of operation causes operation error so as to cause failure.
The content of the invention
The technical problem to be solved in the present invention is for existing heating furnace feeding above shortcomings, there is provided Yi Zhongji
In the heating furnace automatical feeding system of polyphaser information fusion scheme, realize heating furnace feeding whole process automation and nobody
Change, automation equipment and traditional artificial of technical substitution are used especially in the steel billet transportation flow of feeding skid to rollgang
Operation reduces cost of labor to improve production efficiency.
The present invention is that technical solution is used by solving above-mentioned technical problem：
Based on the heating furnace automatical feeding system of polyphaser information fusion scheme, including feeding skid, gear steel hook, group steel fork
And rollgang, gear steel hook are arranged at feeding skid side, rollgang, which is used to steel billet being transported to by feeding skid, dials steel fork,
Further include two lateral visible light cameras, a vertical visible light camera, two sets of LED light sources, automatic control unit and on
Expect rack electric-control system, two visible light cameras set parallel to steel billet section and are installed on feeding skid outlet two
Side, for shooting visible images of the steel billet by steel billet section in feeding skid to the course of conveying for dialling steel fork；Vertical visible ray
Video camera is installed on feeding skid near middle, for taking a crane shot to whole feeding skid；Two sets of LED light sources are used for
Floor light under subdued light conditions；The automatic control unit and lateral visible light camera, vertical visible light camera and feeding
Rack electric-control system connects, and the feeding skid electric-control system is connected with feeding skid, group steel fork；
The automatic control unit includes image processing module, decision-making module and communication module, described image processing module
The vision signal photographed for gathering lateral visible light camera and vertical visible light camera, and frame by frame to shooting picture
Analyzed；The decision-making module refers to according to the action that the analysis result of image processing module generates feeding skid and dials steel fork
Order；The communication module sends the action command that decision-making module produces to feeding skid electric-control system, the automatically controlled system of feeding skid
System is used for according to action command control feeding skid and dials steel fork action (corresponding actions for completing live electrically and mechanically equipment).
By such scheme, described image processing module includes：
Candidate block, for using Intensity segmentation and color segmentation technique from the picture that lateral visible light camera is shot
Pre-segmentation goes out the candidate region Rp for meeting default steel billet gray scale and color characteristic；
Split module, for carrying out form fit and filtering using Shape Matching Technique to candidate region Rp, from picture
It is partitioned into the steel billet region Rs for meeting default steel billet shape facility；
Distance signal computing module, for being gone out according to the Analysis result calculation of steel billet region Rs in steel billet in a row apart from feeding
Rack exports the position of nearest steel billet cross-sectional edge and calculates steel billet cross-sectional edge according to default gear steel hook position
To the distance signal P1 of gear steel hook；
Steel billet signal generation module, for combining two steel billet cross-sectional edges to the distance signal P1 of gear steel hook, generation
Steel billet both ends aligned signal S1, steel billet reach outlet signal S2, and scan default group of steel fork according to steel billet regional analysis result
Region, which obtains dialling on steel fork, steel billet signal S3；
Base signal generation module is squeezed, the color and steel billet of steel billet in the picture for analyzing vertical visible light camera shooting
With the presence or absence of wide arc gap, so as to obtain squeezing base signal S4.
By such scheme, when the distance signal P1 of two steel billet cross-sectional edges to gear steel hook be both less than preset value and both
Difference generate steel billet both ends aligned signal S1 when being less than preset value；When two steel billet cross-sectional edges to the distance signal of gear steel hook
P1 generates steel billet and reaches outlet signal S2 when being both greater than preset value, preset value refers to the Justified deviation of steel billet.
By such scheme, when there are during red bar object on the image of vertical visible light camera shooting, it is believed that feeding
Steel billet is hot base on rack；When the gap between steel billet on the image for detecting vertical visible light camera shooting and calculated gap is maximum
Value, if spacing maxima exceedes predetermined threshold value, then it is assumed that arrange not that closely there are gap between steel billet；If on feeding skid both
There are there are gap, then produce between hot base and steel billet and squeeze base signal S4.
By such scheme, the decision-making module includes：
First S3 signal judgment modules, have steel billet signal S3 for judging whether to receive to dial on steel fork, are dialled if so, producing
Steel fork dials steel instruction C5, and cycle criterion is returned again to after dialling steel to rollgang and dials on steel fork whether have steel billet；If not, produce platform
Frame driving device advancement commands C1, rack driving device driving steel billet move forward；
S4 signal judgment modules, for judging whether to receive crowded base signal S4, advance if so, producing rack driving device
C1 is instructed, rack driving device driving steel billet moves forward；If not, judge whether to receive steel billet both ends aligned signal S1；
S1 signal judgment modules, for when rack driving device driving steel billet moves forward, judging whether to receive steel billet
Both ends aligned signal S1, if so, producing gear steel hook falls instruction C2；The movement if not, steel billet goes ahead, until receiving steel
Untill the aligned signal S1 of base both ends；
S2 signal judgment modules, for after producing gear steel hook and falling instruction C2, judging whether that receiving steel billet reaches outlet
Signal S2, if so, producing rack driving device halt instruction C3, driving device stops, and steel billet slides by inertia and dead weight
To dialling on steel fork, continuing to determine whether to receive to dial on steel fork has steel billet signal S3；If not, returning to gear steel hook falls instruction C2；
2nd S3 signal judgment modules, are dialled for after rack driving device halt instruction C3 is produced, judging whether to receive
There is steel billet signal S3 on steel fork, if so, explanation steel billet has been slipped on group steel fork, produces gear steel hook and lift instruction C4,
Delay, which produces, dials steel fork group steel instruction C5, and passes back through S1 signal judgment modules and judge whether to receive steel billet both ends aligned signal
S1；Rack driving device halt instruction C3 is produced if not, returning.
By such scheme, the vertical visible light camera is installed on the factory building columns or wall of feeding skid near middle
(wall-mounted).
Compared with prior art, beneficial effects of the present invention：
1st, eye-observation is substituted using machine vision technique and coordinates default device action decision scheme to realize heating furnace
Feeding whole process automation and it is unmanned, especially in the steel billet transportation flow of feeding skid to rollgang using automation
Device and the traditional manual operation of technical substitution reduce cost of labor to improve production efficiency；
2nd, by the detection of vertical visible light camera, when supplied materials warms base for height, pass through and squeeze base operation steel billet
Between close-packed arrays in order to avoid hot base inhomogeneous cooling is even and is deformed.
Brief description of the drawings
Fig. 1 is the layout drawing of the heating furnace automatical feeding system of the invention based on polyphaser information fusion scheme；
In Fig. 1, the lateral visible light cameras of 1-, the vertical visible light cameras of 2-, 3-LED light sources, 4- automatic control units,
5- feeding skid electric-control systems, 6- feeding skids, 7- gear steel hooks, 8- pull out steel fork, 9- rollgangs, 10- steel billets；
Fig. 2 is present system schematic diagram and work flow diagram.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the heating furnace automatical feeding system of the invention based on polyphaser information fusion scheme, including feeding platform
Frame 6, gear steel hook 7, dial steel fork 8 and rollgang 9, and gear steel hook 7 is arranged at 6 side of feeding skid, and rollgang 9 is used for steel billet
10 by feeding skid 6 be transported to dial steel fork 8, further include two lateral 1, vertical visible light cameras 2 of visible light camera,
Two sets of LED light sources 3, automatic control unit 4 and feeding skid electric-control system 5, two lateral visible light cameras 1 are parallel to steel billet
Section, which sets and is installed on feeding skid 6, exports both sides, for shooting steel billet 10 by feeding skid 6 to the conveying for dialling steel fork 7
The visible images of steel billet section in journey；Vertical visible light camera 2 is installed on 6 near middle of feeding skid, for whole
Feeding skid 6 takes a crane shot；Two sets of LED light sources 3 are directed at the irradiation of steel billet section, for aiding in lateral visible ray under subdued light conditions
The illumination of video camera 1 and vertical visible light camera 2；Automatic control unit 4 and lateral visible light camera 1, vertical visible ray
Video camera 2 and feeding skid electric-control system 5 connect, and feeding skid electric-control system 5 connects with feeding skid 6, gear steel hook 7, group steel fork 8
Connect.
Automatic control unit 4 includes image processing module, decision-making module and communication module, and image processing module is used to gather
The vision signal that lateral visible light camera 1 and vertical visible light camera 2 photograph, and the shooting to vision signal frame by frame
Picture is analyzed；Decision-making module generates feeding skid 6, gear steel hook 7 according to the analysis result of image processing module and dials steel fork 8
Action command；Communication module sends the action command that decision-making module produces to feeding skid electric-control system 5, feeding skid electricity
Control system 5 controls feeding skid 6, gear steel hook 7 and dials steel fork 8 and acts according to action command, completes scene electrically and mechanically equipment
Corresponding actions.
Exported in feeding skid 6 and two lateral visible light cameras 1, feeding skid near middle positions are installed near both sides
The one vertical visible light camera 2 of installation, two sets of LED light sources 3 simultaneously set a set of automatic control unit 4 nearby, and two laterally may be used
See that light video camera 1 can photograph steel billet 10 and include feeding skid 6 to the course of conveying for dialling steel fork 8, field range by feeding skid 6
The port of export and dial steel fork 8, for ensure control accuracy spatial resolution must meet<1.5mm/pixel, according to regarding during practical application
Wild size and mounting distance (generally about 2-3m) select suitable lens focus and camera resolution.Vertical visible light camera 2
Take a crane shot whole feeding skid 6, can on the factory building columns or wall of 6 near middle of feeding skid in-wall mounting.Two sets of LED light sources
3 alignment steel billet section irradiations, to ensure that lateral visible light camera 1 and vertical visible light camera 2 remain in subdued light conditions
Enough photograph clearly picture.
Automatic control unit 4 is a high-performance computer and a set of auto-control software.Image processing module is automatic
The core of control unit 4, image processing module continuously acquisition camera shooting vision signal, and frame by frame to shooting picture
Analyzed, its main task is that steel billet 10 is split with other background objects from picture and is analyzed when being on front platform
It is no between hot base, strand whether close-packed arrays and whether need squeeze base.Image processing module provides for the decision-making of decision-making module can
The Information Assurance leaned on.Analysis should be set ROI region by operating personnel before starting, ROI region is likely to occur maximum region for steel billet,
Analytic process can only be carried out in the ROI region of image, so on the one hand improved the accuracy of identification, on the one hand improved identification
Speed.
As shown in Fig. 2, the analysis of image processing module mainly includes the following steps that：
1st, luminance threshold realization pair is adaptively set according to the brightness of the shooting picture of two lateral visible light cameras 1
The first time pre-segmentation of steel billet；
2nd, in the shooting picture of two lateral visible light cameras 1, realized according to the color threshold of steel billet to steel billet
Second of pre-segmentation, color is light blue by the color of actual measurement observation steel billet section, and color does not become acutely with the change of illumination
Change, it is possible to which steel billet and background are distinguished by color；
3rd, general brightness segmentation and color segmentation obtain further candidate region Rp；
4th, the ratio all set due to color and luminance threshold is broad so also being wrapped in addition to steel billet in the Rp of candidate region
Contain other background objects, but the size of steel billet generally compares fixed and steel billet shape to be square, can according to above-mentioned characteristic
Other backgrounds are got rid of using the filtering of form rate and form fit, ensures only to include steel billet in segmentation result, then obtains
Steel billet region Rs；
5th, simply by a steel billet conveying nearest from feeding skid outlet to roller-way during each transporting steel billet, so only closing
The heart exports that closest root steel billet from feeding skid, is looked up by the position for analyzing each region in the Rs of steel billet region
Nearest steel billet is exported apart from feeding skid；
6th, in the shooting picture of two lateral visible light cameras 1, the figure of nearest steel billet G is being exported away from feeding skid
The horizontal position coordinate at steel billet section E edges can accurately be calculated using edge finding techniques as on, with default gear steel hook
Horizontal coordinate is compared, with regard to that can calculate steel billet cross-sectional edge to the distance signal P1 of gear steel hook；
7th, since the abrasion after feeding skid driving device long time running can cause the movement velocity at steel billet both ends can not
Identical, i.e., one end has moved to gear steel hook and the other end does not reach also, if putting down gear steel hook, possible steel billet one at this time
End is tumbled to group steel fork and other end tilting can not be continued to move in the air, causes feeding to interrupt, so needing to ensure steel billet
Gear steel hook, therefore the steel of two terminations of steel billet shot according to two lateral visible light cameras or so are put down after the alignment of both ends again
The distance signal P1 of base cross-sectional edge to gear steel hook generates both ends aligned signal S1, i.e., the P1 of two terminations is both less than preset value
(preset value refers to the Justified deviation of steel billet) and both differences generate steel billet both ends aligned signal S1 when being less than preset value；
In addition when steel billet has arrived at outlet, steel billet can be slipped to by inertia to be dialled on steel fork, needs to stop feeding platform immediately at this time
Frame driving device and in time rise gear steel hook follow to slide into together to prevent steel billet followed by be dialled on steel fork, therefore is also needed to
Outlet signal S2 is reached according to P1 signal generations steel billet, i.e., the P1 of two ports generates steel billet when being both greater than preset value and reaches outlet
Signal S2；
8th, gear steel hook should be risen after steel billet, which is slipped to, dials steel fork, such as premature gear steel hook that rises may cause to keep off steel hook
The steel billet in falling is collided, therefore has steel billet signal S3 on generation group steel fork when steel billet is slipped to dials on steel fork completely；
9th, analyze and whether there is red bar object on the image of vertical visible light camera shooting, on thinking in the presence of if
Expect that steel billet is hot base on rack；Because the rubicundity and strand of hot base are strip, according to These characteristics, color can be used
Color is red area in cutting techniques segmentation frame out, and verifies whether the region meets the bigger strip feature of length and width,
Illustrate that there are hot base on feeding skid if having the region for meeting above-mentioned requirements；
Whether the gap F the 10th, detected on the image of vertical visible light camera shooting between steel billet is excessive, at the F of gap
Brightness is relatively low, it is possible to gap F split using adaptive threshold fuzziness technology, and calculated gap maximum, if
Spacing maxima exceedes predetermined threshold value, then it is assumed that arranges not that closely there are gap between steel billet；
The 11st, if both there are, there are gap, produce between hot base and steel billet and squeeze base signal S4 on feeding skid.
Decision-making module generates feeding skid according to the analysis result of image processing module and dials the dynamic of all parts of steel fork
Instruct, decision-making module specific steps (logic flow) are as shown in Figure 2：
Step 1, judge whether to receive to dial on steel fork and have steel billet signal S3, if do not received, that is, dialling does not have steel billet on steel fork,
Then need rack to transport steel billet to steel fork is dialled, therefore produce rack driving device advancement commands C1, enter step 2；Otherwise steel is dialled
There is steel billet on fork, produce and dial steel fork group steel instruction C5, flow is gone back to again after group steel fork dials steel to rollgang judges whether to receive
Dialling on steel fork has steel billet signal S3；
Step 2, rack driving device driving steel billet move forward, judge whether to receive crowded base signal S4, if returning
Rack driving device advancement commands C1 (is maintained at step 2), rack driving device drives steel billet persistently to move forward, close to outlet
Steel billet encounter and stopped by gear steel hook after gear steel hook and stop, if there is gap between steel billet, steel billet before gap will stop, and
Gap is filled out lasting movement by the steel billet after gap, and gap will reduce with the lasting movement of steel billet；Otherwise step is entered
Rapid 3；
Step 3, just allow by keeping off steel hook and continuing to move to outlet after there was only the alignment of steel billet both ends according to above-mentioned analysis,
So judging whether to receive steel billet both ends aligned signal S1, gear steel hook is produced if steel billet both ends aligned signal S1 is received and is fallen
C2 is instructed, enters step 4；Otherwise steel billet goes ahead movement, untill receiving steel billet both ends aligned signal S1；
Step 4, rack driving device continue to drive steel billet, and steel billet is continued to move along behind the position by keeping off steel hook, sentenced
The disconnected steel billet that whether receives reaches outlet signal S2, and outlet signal S2 is reached when the outlet of steel billet arrival feeding skid receives steel billet
When, produce rack driving device halt instruction C3, stop feeding platform driving device, ensure followed by steel billet differ and rise and fall
Under, steel billet is slipped to by inertia and dead weight and dials on steel fork, enters step 5；Otherwise flow return gear steel hook is fallen instruction C2 and (is protected
Hold in step 4)；
Step 5, further determine whether to receive to dial on steel fork and have steel billet signal S3, has steel billet signal when receiving to dial on steel fork
After S3, that is, illustrate that steel billet has been slipped on group steel fork, produce gear steel hook and lift instruction C4, slided to prevent steel billet followed by
Fall on and dial on steel fork, then delay, which produces, dials steel fork group steel instruction C5, dials steel fork to rollgang transporting steel billet, and go back to step
3 judge whether to receive steel billet both ends aligned signal S1；Otherwise return and produce rack driving device halt instruction C3.
The communication module of automatic control unit 4 sends the action command that decision-making module produces to feeding skid electric-control system
5, general feeding skid electric-control system 5 is PLC system and supporting electric device, can be between communication module and PLC system
Using ethernet communication mode and OPC communications protocol, feeding skid electric-control system 5 completes live electric and machine according to action command
The corresponding actions of tool equipment.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, every in the technology of the present invention side
The equivalents carried out on the basis of case and improvement, should not exclude outside protection scope of the present invention.
Claims (6)
1. based on the heating furnace automatical feeding system of polyphaser information fusion scheme, including feeding skid, gear steel hook, dial steel fork and
Rollgang, gear steel hook are arranged at feeding skid side, and rollgang, which is used to steel billet being transported to by feeding skid, dials steel fork, its
It is characterized in that：Further include two lateral visible light cameras, a vertical visible light camera, two sets of LED light sources, automatically control
Unit and feeding skid electric-control system, two visible light cameras set parallel to steel billet section and are installed on feeding skid
Both sides are exported, for shooting visible images of the steel billet by steel billet section in feeding skid to the course of conveying for dialling steel fork；It is vertical
Visible light camera is installed on feeding skid near middle, for taking a crane shot to whole feeding skid；Two sets of LED light sources
For the floor light under subdued light conditions；The automatic control unit and lateral visible light camera, vertical visible light camera
And the connection of feeding skid electric-control system, the feeding skid electric-control system are connected with feeding skid, group steel fork；
The automatic control unit includes image processing module, decision-making module and communication module, and described image processing module is used for
Gather the vision signal that lateral visible light camera and vertical visible light camera photograph, and being carried out to shooting picture frame by frame
Analysis；The decision-making module generates feeding skid according to the analysis result of image processing module and dials the action command of steel fork；Institute
State communication module and send the action command that decision-making module produces to feeding skid electric-control system, feeding skid electric-control system and be used for
According to action command control feeding skid and dial steel fork action (corresponding actions for completing live electrically and mechanically equipment).
2. the heating furnace automatical feeding system as claimed in claim 1 based on polyphaser information fusion scheme, it is characterised in that：
Described image processing module includes：
Candidate block, for being divided in advance from the picture that lateral visible light camera is shot using Intensity segmentation and color segmentation technique
Cut out the candidate region Rp for meeting default steel billet gray scale and color characteristic；
Split module, for carrying out form fit and filtering using Shape Matching Technique to candidate region Rp, split from picture
Go out to meet the steel billet region Rs of default steel billet shape facility；
Distance signal computing module, for being gone out according to the Analysis result calculation of steel billet region Rs in steel billet in a row apart from feeding skid
Export the position of nearest steel billet cross-sectional edge and steel billet cross-sectional edge is calculated to gear according to default gear steel hook position
The distance signal P1 of steel hook；
Steel billet signal generation module, for combining two steel billet cross-sectional edges to the distance signal P1 of gear steel hook, generates steel billet
Both ends aligned signal S1, steel billet reach outlet signal S2, and scan default group of steel fork region according to steel billet regional analysis result
Obtain dialling on steel fork and have steel billet signal S3；
Base signal generation module is squeezed, whether are the color of steel billet and steel billet in the picture for analyzing vertical visible light camera shooting
There are wide arc gap, so as to obtain squeezing base signal S4.
3. the heating furnace automatical feeding system as claimed in claim 2 based on polyphaser information fusion scheme, it is characterised in that：
Given birth to when the distance signal P1 of two steel billet cross-sectional edges to gear steel hook is both less than preset value and both differences are less than preset value
Into steel billet both ends aligned signal S1；Given birth to when the distance signal P1 of two steel billet cross-sectional edges to gear steel hook is both greater than preset value
Outlet signal S2 is reached into steel billet, preset value refers to the Justified deviation of steel billet.
4. the heating furnace automatical feeding system as claimed in claim 2 based on polyphaser information fusion scheme, it is characterised in that：
When there are during red bar object on the image of vertical visible light camera shooting, it is believed that steel billet is hot base on feeding skid；When
The gap on the image of vertical visible light camera shooting between steel billet and calculated gap maximum are detected, if spacing maxima surpasses
Cross predetermined threshold value, then it is assumed that arrange not that closely there are gap between steel billet；If both there are deposited between hot base and steel billet on feeding skid
In gap, then produce and squeeze base signal S4.
5. the heating furnace automatical feeding system as claimed in claim 2 based on polyphaser information fusion scheme, it is characterised in that：
The decision-making module includes：
First S3 signal judgment modules, have steel billet signal S3 for judging whether to receive to dial on steel fork, steel fork are dialled if so, producing
Steel instruction C5 is dialled, cycle criterion is returned again to after dialling steel to rollgang and dials on steel fork whether have steel billet；Driven if not, producing rack
Dynamic device advancement commands C1, rack driving device driving steel billet move forward；
S4 signal judgment modules, for judging whether to receive crowded base signal S4, if so, producing rack driving device advancement commands
C1, rack driving device driving steel billet move forward；If not, judge whether to receive steel billet both ends aligned signal S1；
S1 signal judgment modules, for when rack driving device driving steel billet moves forward, judging whether to receive steel billet both ends
Aligned signal S1, if so, producing gear steel hook falls instruction C2；The movement if not, steel billet goes ahead, until receiving steel billet two
Untill holding aligned signal S1；
S2 signal judgment modules, for after producing gear steel hook and falling instruction C2, judging whether that receiving steel billet reaches outlet signal
S2, if so, producing rack driving device halt instruction C3, driving device stops, and steel billet is slipped to by inertia and dead weight and dials
On steel fork, continuing to determine whether to receive to dial on steel fork has steel billet signal S3；If not, returning to gear steel hook falls instruction C2；
2nd S3 signal judgment modules, steel fork is dialled for after rack driving device halt instruction C3 is produced, judging whether to receive
On have steel billet signal S3, if so, explanation steel billet be slipped on group steel fork, produce gear steel hook lift instruction C4, delay
Produce and dial steel fork group steel instruction C5, and pass back through S1 signal judgment modules and judge whether to receive steel billet both ends aligned signal S1；
Rack driving device halt instruction C3 is produced if not, returning.
6. the heating furnace automatical feeding system as claimed in claim 1 based on polyphaser information fusion scheme, it is characterised in that：
The vertical visible light camera is installed on the factory building columns or wall of feeding skid near middle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711242781.5A CN108007210A (en) | 2017-11-30 | 2017-11-30 | Heating furnace automatical feeding system based on polyphaser information fusion scheme |
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