CN108050845A - Heating furnace automatical feeding system based on visible images identification technology - Google Patents
Heating furnace automatical feeding system based on visible images identification technology Download PDFInfo
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- CN108050845A CN108050845A CN201711244182.7A CN201711244182A CN108050845A CN 108050845 A CN108050845 A CN 108050845A CN 201711244182 A CN201711244182 A CN 201711244182A CN 108050845 A CN108050845 A CN 108050845A
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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
- F27D3/12—Travelling or movable supports or containers for the charge
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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
-
- 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
-
- 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
- F27D2019/0028—Regulation
- F27D2019/0059—Regulation involving the control of the conveyor movement, e.g. speed or sequences
- F27D2019/0062—Regulation involving the control of the conveyor movement, e.g. speed or sequences control of the workpiece stay in different zones
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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 visible images identification technology, including feeding skid, gear steel hook, dial steel fork and rollgang, gear steel hook is arranged at feeding skid one side, rollgang, which is used to steel billet being transported to by feeding skid, dials steel fork, further include two visible light cameras, two sets of LED light sources, automatic control unit and feeding skid electric-control system, it is seen that light video camera sets parallel to steel billet section and is mounted on feeding skid outlet both sides；LED light source sets close to visible light camera and is directed at the irradiation of steel billet section；Automatic control unit is connected with visible light camera and feeding skid electric-control system, and feeding skid electric-control system is connected with feeding skid, gear steel hook, group steel fork；Automatic control unit includes image processing module, decision-making module and communication module.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 the automation of heating furnace feeding whole process, reduces cost of labor.
Description
Technical field
The present invention relates to metallurgy industry Bar Wire Product heating furnace feeding device and systems, and in particular to one kind is based on visible ray figure
As the heating furnace automatical feeding system of identification technology, 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 is to heat 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 put 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 through eye-observation steel billet at this stage
Feeding skid driving device is manually operated by one, steel billet in position, the state (dial steel fork on whether there is the information such as steel billet) for dialling steel fork afterwards
Root, which is transported to, dials steel fork, and dialling steel fork again will be on steel billet conveying to rollgang.Whole operation process mechanism is uninteresting, manually long-term behaviour
Make easy fatigue and cause operation error so as to cause failure.
The content of the invention
The technical problem to be solved by the present invention is to for existing heating furnace feeding above shortcomings, provide a kind of base
In the heating furnace automatical feeding system of visible images identification technology, the whole process of realization heating furnace feeding automates 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 used to solve above-mentioned technical problem technical solution of the present invention is：
Heating furnace automatical feeding system based on visible images identification technology including feeding skid, gear steel hook, dials steel fork
And rollgang, gear steel hook are arranged at feeding skid one side, rollgang, which is used to steel billet being transported to by feeding skid, dials steel fork,
Two visible light cameras, two sets of LED light sources, automatic control unit and feeding skid electric-control system are further included, described two can
See light video camera set parallel to steel billet section and be mounted on feeding skid outlet both sides, for shoot steel billet by feeding skid to
Dial the visible images of steel billet section in the transmission process of steel fork；Two sets of LED light sources are respectively close to a visible image capturing
Machine sets and is directed at the irradiation of steel billet section, for aiding in the illumination of visible light camera under subdued light conditions；It is described to automatically control
Unit is connected with visible light camera and feeding skid electric-control system, the feeding skid electric-control system and feeding skid, gear steel
Hook dials steel fork connection；
The automatic control unit includes image processing module, decision-making module and communication module, described image processing module
For gathering the visible images that visible light camera takes, and analyzing the picture of visible images frame by frame；Institute
It states decision-making module and feeding skid, gear steel hook and the action command for dialling steel fork is generated according to the analysis result of image processing module；Institute
It states communication module and the action command that decision-making module generates is sent to feeding skid electric-control system, feeding skid electric-control system is used for
Controlling feeding skid, gear steel hook and group steel fork action according to action command, (completing scene, electrically and mechanically the corresponding of equipment is moved
Make).
By said program, described image processing module includes：
Candidate block, for Intensity segmentation and color segmentation technique to be used to carry out pre-segmentation on visible images, from picture
The candidate region Rp for meeting default steel billet gray scale and color characteristic is partitioned into face；
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 feature；
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 two visible image capturings according to default gear steel hook position
Machine shooting image in steel billet cross-sectional edge to keep off steel hook distance signal P1；
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.
By said program, when the distance signal P1 of two steel billet cross-sectional edges to gear steel hook is both less than preset value and the two
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 said program, 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, generating
Steel fork dials steel instruction C5, and cycle criterion is returned again to after rollgang group steel and dials on steel fork whether have steel billet；If not, generate platform
Frame driving device advancement commands C1, rack driving device driving steel billet move forward；
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, generating gear steel hook falls instruction C2；If not, rack driving device advancement commands C1 is returned,
Rack driving device continues that steel billet is driven to move forward；
S2 signal judgment modules, for after generating gear steel hook and falling instruction C2, judging whether that receiving steel billet reaches outlet
Signal S2, if so, generating 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 generated, judging whether to receive
There is steel billet signal S3 on steel fork, if so, illustrating that steel billet has been slipped on group steel fork, generate gear steel hook and lift instruction C4,
Delay, which generates, 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 generated if not, returning.
Compared with prior art, beneficial effects of the present invention：Eye-observation is substituted using machine vision technique and is coordinated pre-
If device action decision scheme realize heating furnace feeding whole process automation and it is unmanned, especially feeding skid to convey
It is reduced in the steel billet transportation flow of roller-way using the traditional manual operation of automation equipment and technical substitution with improving production efficiency
Cost of labor.
Description of the drawings
Fig. 1 is the layout drawing of the heating furnace automatical feeding system the present invention is based on visible images identification technology；
In Fig. 1,1- visible light cameras, 2- automatic control units, 3- feeding skid electric-control systems, 4-LED light sources, on 5-
Expect rack, 6- gear steel hooks, 7- pulls out steel fork, 8- rollgangs, 9- steel billets；
Fig. 2 is present system schematic diagram and work flow diagram.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the present invention is based on the heating furnace automatical feeding system of visible images identification technology, including feeding platform
Frame 5, gear steel hook 6 dial steel fork 7 and rollgang 8, and gear steel hook 6 is arranged at 5 one side of feeding skid, and rollgang 8 is used for steel billet
9 are transported to group steel fork 7 by feeding skid 5, further include two visible light cameras 1, two set of LED light source 4, automatic control unit 2
With feeding skid electric-control system 3, two visible light cameras 1 set parallel to steel billet section and are mounted on feeding skid 5 and export
Both sides, for shooting visible images of the steel billet 9 by steel billet section in feeding skid 5 to the transmission process for dialling steel fork 7；Two sets
LED light source 4 sets respectively close to a visible light camera 1 and is directed at the irradiation of 9 section of steel billet, for being aided under subdued light conditions
The illumination of visible light camera 1；Automatic control unit 2 is connected with visible light camera 1 and feeding skid electric-control system 3, feeding
Rack electric-control system 3 is connected with feeding skid 5, gear steel hook 6, group steel fork 7.
Automatic control unit 2 includes image processing module, decision-making module and communication module, and image processing module is used to gather
The visible images that visible light camera 1 takes, and analyzing the picture of visible images frame by frame；Decision model root tuber
According to analysis result generation feeding skid 5, gear steel hook 6 and the action command for dialling steel fork 7 of image processing module；Communication module will be certainly
The action command that plan module generates is sent to feeding skid electric-control system 3, and feeding skid electric-control system 3 is controlled according to action command
Feeding skid 5 and group steel fork 7 act, and complete the corresponding actions of live electrically and mechanically equipment.
It is exported in feeding skid 5 and two visible light cameras, 1, two set of LED light source 4 near both sides is installed and sets one nearby
Automatic control unit 2 is covered, two visible light cameras 1 can take transmission process of the steel billet 9 by feeding skid 5 to group steel fork 7,
Field range includes the port of export of feeding skid 5 and dials steel fork 7, to ensure that control accuracy spatial resolution must meet<1.5mm/
Pixel selects suitable lens focus and camera point during practical application according to visual field size and mounting distance (generally about 2-3m)
Resolution.Two sets of LED light sources 4 are directed at the irradiation of 9 section of steel billet, to ensure that visible light camera 1 still is able to shoot in subdued light conditions
To clearly picture.
Automatic control unit 2 is a high-performance computer and a set of auto-control software.Image processing module is automatic
The core of control unit 2, image processing module gather the visible images that visible light camera 1 takes in real time, then pair can
See that light image is analyzed, main task is to split steel billet 9 and other background objects again as decision model from picture
The decision-making of block provides reliable Information Assurance.Analysis should be set ROI region by operating personnel before starting, ROI region can for steel billet
Maximum region can occur, analytic process can only be carried out in the ROI region of image, so on the one hand improve the accuracy of identification,
On the one hand the speed of identification is improved.
As shown in Fig. 2, the analysis of image processing module mainly includes the following steps that：
1st, first time pre-segmentation of the luminance threshold realization to steel billet is adaptively set according to the brightness of picture；
2nd, according to second pre-segmentation of the color threshold of the steel billet realization to steel billet, by the face of actual measurement observation steel billet section
Color is light blue color, and the color not acute variation with the variation of illumination, it is possible to distinguish steel billet and background 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
Other background objects are contained, so needing further to get rid of other backgrounds using the filtering of form rate and form fit, have protected
It demonstrate,proves in segmentation result only comprising steel billet, 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, tapping can accurately be calculated using edge finding techniques on the image that nearest steel billet G is exported away from feeding skid
The horizontal position coordinate at base section E edges is compared with default gear steel hook horizontal coordinate, with regard to that can calculate steel billet to gear steel
The distance P1 of 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, feeding is caused to interrupt, so needing to ensure steel billet
Gear steel hook, therefore two end (end tables of steel billet according to two visible light cameras shootings or so are put down after the alignment of both ends again
Show the cross-sectional edge at steel billet both ends) steel billet cross-sectional edge to gear steel hook distance signal P1 generations steel billet both ends alignment letter
Number S1, i.e., the P1 of two ends is both less than preset value (preset value refers to the Justified deviation of steel billet) and the difference of the two is less than
Steel billet both ends aligned signal S1 is generated during preset value.In addition when steel billet has arrived at outlet, steel billet can be slipped to by inertia
Dial on steel fork, need to stop immediately feeding skid driving device at this time and rise in time keep off steel hook to prevent steel billet followed by with
It is dialled with sliding on steel fork, therefore also needs to reach outlet signal S2 according to P1 signal generations steel billet, i.e. two ports
P1 generates steel billet and reaches outlet signal S2 when being both greater than preset value；
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
Collide fall in steel billet, therefore when steel billet completely be slipped to dial steel fork on when generation dial steel fork on have steel billet signal S3.
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
It instructs, decision-making module specific steps (logic flow) are as shown in Figure 2：
Step 1 judges whether to receive to dial on steel fork and has steel billet signal S3, if do not received, that is, dialling does not have steel billet on steel fork,
Rack is then needed to transport steel billet to steel fork is dialled, therefore generates rack driving device advancement commands C1, enters step 2；Otherwise steel is dialled
There is steel billet on fork, generation dials steel fork and dials steel instruction C5, and group steel fork flow after rollgang group steel is gone back to again to be judged whether to receive
Dialling on steel fork has steel billet signal S3；
Step 2, rack driving device driving steel billet move forward, and just permit after there was only the alignment of steel billet both ends according to above-mentioned analysis
Perhaps by keeping off steel hook and continuing to move to outlet, so judging whether to receive steel billet both ends aligned signal S1, if receiving steel billet
Both ends aligned signal S1 then generates gear steel hook and falls instruction C2, enters step 3；Otherwise flow returns to the advance of rack driving device and refers to
C1 is made (to be maintained at step 2)；
Step 3, 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 (when steel billet reaches feeding skid outlet), and outlet signal S2 is reached when receiving steel billet
When, generate 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 4；Otherwise flow return gear steel hook is fallen instruction C2 and (is protected
It holds in step 3)；
Step 4 further determines whether to receive to dial on steel fork and has 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, generate gear steel hook and lift instruction C4, slided to prevent steel billet followed by
It falls on and dials on steel fork, then delay, which generates, dials steel fork group steel instruction C5, dials steel fork to rollgang transporting steel billet, and goes back to step
Rapid 2；Otherwise return and generate rack driving device halt instruction C3.
The action command that decision-making module generates is sent to feeding skid electric-control system by the communication module of automatic control unit 2
3, general feeding skid electric-control system 3 is PLC system and mating electric device, can be between communication module and PLC system
Using ethernet communication mode and OPC communications protocol, feeding skid electric-control system 3 completes live electrical 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 be excluded outside protection scope of the present invention.
Claims (4)
1. the heating furnace automatical feeding system based on visible images identification technology, including feeding skid, gear steel hook, dial steel fork and
Rollgang, gear steel hook are arranged at feeding skid one side, and rollgang, which is used to steel billet being transported to by feeding skid, dials steel fork,
It is characterized in that：Further include two visible light cameras, two sets of LED light sources, automatic control unit and feeding skid electric-control system, institute
State two visible light cameras set parallel to steel billet section and be mounted on feeding skid outlet both sides, for shoot steel billet by
Expect rack to the visible images of steel billet section in the transmission process for dialling steel fork；Two sets of LED light sources can respectively close to one
See that light video camera sets and is directed at the irradiation of steel billet section, for aiding in the illumination of visible light camera under subdued light conditions；It is described
Automatic control unit is connected with visible light camera and feeding skid electric-control system, the feeding skid electric-control system and feeding platform
Frame, gear steel hook dial steel fork connection；
The automatic control unit includes image processing module, decision-making module and communication module, and described image processing module is used for
The visible images that take of acquisition visible light camera, and analyzing the picture of visible images frame by frame；It is described to determine
Plan module generates feeding skid, gear steel hook and the action command for dialling steel fork according to the analysis result of image processing module；It is described logical
The action command that decision-making module generates is sent to feeding skid electric-control system by news module, and feeding skid electric-control system is according to action
Instruction control feeding skid, gear steel hook and group steel fork action.
2. the heating furnace automatical feeding system based on visible images identification technology as described in claim 1, it is characterised in that：
Described image processing module includes：
Candidate block, for Intensity segmentation and color segmentation technique to be used to carry out pre-segmentation on visible images, from picture
It is partitioned into 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 feature；
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
It exports nearest steel billet cross-sectional edge position and the figure of two set scene depth cameras shooting is calculated according to default gear steel hook position
As in steel billet cross-sectional edge to keep off steel hook distance signal P1；
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
It obtains dialling on steel fork and has steel billet signal S3.
3. the heating furnace automatical feeding system based on visible images identification technology as claimed in claim 2, it is characterised in that：
It is given birth to when the distance signal P1 of two steel billet cross-sectional edges to gear steel hook is both less than the difference of preset value and the two less than preset value
Into steel billet both ends aligned signal S1；It is 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 based on visible images identification technology as claimed in claim 2, 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, generating
Steel instruction C5 is dialled, cycle criterion is returned again to after rollgang group steel and dials on steel fork whether have steel billet；It is driven if not, generating rack
Dynamic device advancement commands C1, rack driving device driving steel billet move forward；
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, generating gear steel hook falls instruction C2；If not, return to rack driving device advancement commands C1, rack
Driving device continues that steel billet is driven to move forward；
S2 signal judgment modules, for after generating gear steel hook and falling instruction C2, judging whether that receiving steel billet reaches outlet signal
S2, if so, generating 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 dial steel fork for after rack driving device halt instruction C3 is generated, judging whether to receive
On have steel billet signal S3, if so, illustrate that steel billet has been slipped on group steel fork, generate gear steel hook and lift instruction C4, delay
It generates and dials 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 generated if not, returning.
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| CN201711244182.7A CN108050845A (en) | 2017-11-30 | 2017-11-30 | Heating furnace automatical feeding system based on visible images identification technology |
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| CN201711244182.7A CN108050845A (en) | 2017-11-30 | 2017-11-30 | Heating furnace automatical feeding system based on visible images identification technology |
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Application publication date: 20180518 |