CN110918656A - Strip steel up-and-down shaking amount filtering device and method based on double-line structured light - Google Patents
Strip steel up-and-down shaking amount filtering device and method based on double-line structured light Download PDFInfo
- Publication number
- CN110918656A CN110918656A CN201811097604.7A CN201811097604A CN110918656A CN 110918656 A CN110918656 A CN 110918656A CN 201811097604 A CN201811097604 A CN 201811097604A CN 110918656 A CN110918656 A CN 110918656A
- Authority
- CN
- China
- Prior art keywords
- strip steel
- camera
- laser
- distance
- structured light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/02—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring flatness or profile of strips
Abstract
The invention discloses a strip steel up-and-down shaking amount filtering device based on double-line structured light, which relates to the technical field of accurate removal of strip steel edge deformation and comprises a camera, a first laser, a second laser, an encoder and strip steel; the laser lines emitted by the first laser and the second laser are parallel, the camera, the two groups of parallel laser lines and the included angle between the two groups of parallel laser lines form an imaging system, and the encoder acquires the actual running speed of the strip steel and feeds the actual running speed back to the camera to be used as a signal for triggering the camera to synchronously acquire. The distance between two adjacent laser lines is equal to the distance that the strip steel moves forward in the interval period of two times of shooting, the image acquisition frame rate of the camera is matched with the movement speed of the strip steel, and the strip steel shaking amount is filtered by calculating the strip steel vibration amount and the up-down jumping amount, so that conditions are provided for online measurement of the strip steel edge deformation amount.
Description
Technical Field
The invention relates to the technical field of accurate removal of strip steel edge deformation, in particular to a strip steel up-and-down shaking amount filtering device and method based on double-line structured light.
Background
Due to the influence of various uncertain factors such as the production process of the strip steel, the strip steel can have edge protrusions and deformation in various shapes in the production process. In order to improve the quality of the product, the deformation needs to be measured and then cut off, as shown in fig. 1. However, due to the presence of these deformations, the contact surface with the roll surface is different during the operation of the strip on the production line, so that the forces applied to the strip by the roll surface are different, resulting in irregular sway of the strip. Due to the presence of these irregularities, the measurement of the edge deformation of the strip becomes particularly difficult, so that the on-line measurement of the deformation becomes very difficult.
Patent 201120108543.7 discloses a belted steel limit unrestrained dipperstick, and it includes: the base comprises a long ruler body arranged transversely and two side walls arranged longitudinally, the two side walls are respectively arranged at the left end part and the right end part of the ruler body, the surface of the ruler body is marked with a length scale along the length direction of the ruler body, and the two side walls are respectively provided with a longitudinal sliding chute; the two ends of the sliding rod are respectively arranged in the longitudinal sliding grooves of the two side walls; the vernier snap ring is sleeved on the ruler body and slides along the ruler body; the conical ruler is vertically arranged above the ruler body, the lower edge of the conical ruler is in sliding connection with the ruler body and slides along the length direction of the ruler body, and a height scale is marked on the surface of the side wall of the conical ruler. The measurement result obtained by adopting the strip steel edge wave-shaped measuring scale can truly reflect the plate type quality condition of the finished product strip steel, and the plate type quality of the finished product strip steel is ensured.
The patent 201110296386.1 discloses an on-line detection method and a measurement device for wave-shaped defects of hot-rolled strip steel, the invention relates to the field of on-line control of hot-rolled strip steel coiling lines and wave shapes, in particular to an on-line detection method and a measurement device for the wave-shaped defects of the hot-rolled strip steel, and the on-line detection method and the measurement device are characterized in that a wave-shaped defect measurement device is arranged at a fixed position above the strip steel at the inlet side of a hot-rolled coiling line, the device is provided with a swing rod, the end part of the swing rod slides on the strip steel along with the movement of the hot-rolled strip steel, and the wave-shaped height of the position: 1) when the strip steel is straight, setting the deflection angle of the oscillating bar to be 45 degrees; 2) measuring the deflection angle value as theta after the strip steel has wave shape; 3) the wave height h can be approximately calculated according to the formula h-Rcos 45-Rcos theta. Compared with the prior art, the beneficial effects are: the method can provide the wave-shaped defect information of the plate roll for operators in real time, so that the coil splitting operators can prejudge in advance to carry out leveling adjustment, and the leveling efficiency and the leveling quality are improved.
The above-mentioned patent, the operation is all more loaded down with trivial details, in actual on-line application, has great problem: the first patent requires that the strip steel is in a static state, and the production efficiency is influenced in the actual production; the second patent is in contact with the surface of the strip steel, so that the surface of the strip steel is easily scratched and other additional defects are easily caused.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide a device and a method for filtering the vertical shaking amount of strip steel based on double-line structured light, aiming at the defect that the online measurement of the edge deformation amount of the strip steel is difficult, so that the shaking amount of the strip steel can be filtered, and conditions are provided for the online measurement of the edge deformation amount of the strip steel.
(II) technical scheme
A band steel up-and-down shaking amount filtering device based on double-line structured light comprises a camera, a first laser, a second laser, an encoder and band steel, wherein laser lines emitted by the first laser and the second laser are parallel, the distance between the laser lines is d, the included angle between the optical axis of the camera and the parallel laser lines is theta, the view angle of the camera is α, the camera, two groups of parallel laser lines and the included angle between the two groups of parallel laser lines form an imaging system, and the encoder acquires the actual running speed of the band steel, feeds the actual running speed back to the camera and inputs the actual running speed as a signal for triggering the camera to synchronously acquire.
According to one embodiment of the invention, the camera starts to collect once every time the strip steel travels forward by the distance d, and the position shot by the first laser is accurately shot by the second laser along the moving direction of the strip steel.
According to an embodiment of the invention, the moving distance of the strip steel is consistent with the distance between the laser lines in each shooting, two points p0(t0) and p1(t0) on the strip steel are detected at the time t0, and two new points p0(t1) and p1(t1) are detected at the time t1 when the strip steel moves forwards by the distance equal to the distance d between the two laser lines; the vibration quantity of the strip steel obtained by two times of shooting is V (t1) ═ p1(t0) -p0(t 1).
According to an embodiment of the invention, when the strip only vibrates up and down, the vibration quantity has the same influence on the front point and the rear point, and the real position pp1(t1) of the points on the strip is obtained as p1(t1) + V (t 1).
According to an embodiment of the invention, the point pp1(ti) obtained at any one time of the strip steel is calculated according to the following formula:
according to an embodiment of the invention, the two laser emission laser planes are kept parallel.
According to one embodiment of the invention, when the distance between the camera and the strip steel is H1, the average resolution is R0-L0/d; when the distance is H0, the average resolution is R1 ═ L1/d; after the camera is fixed, the size of the image shot by the camera is fixed, the size of the internal pixel size of the camera is also fixed, the number of pixels in the single direction of the camera is changed by the resolution ratio, and the vertical jump amount h of the strip steel is calculated: H-H0-H1; h1 ═ K1 × cos θ, K1 ═ f/S × R1; wherein: s denotes a camera target size, R1 denotes a camera resolution at a distance of K1, R0 denotes a camera resolution at a distance of K0, and f denotes a camera focal length.
A band steel up-and-down shaking amount filtering method based on double-line structured light comprises the following steps:
s1, loading a calibration file;
s2, collecting laser line images;
s3, extracting the central line of the laser line, and fitting a curve;
s4, calculating the center distance of the laser line;
s5, calculating the up-and-down shaking amount of the strip steel;
s6, designing an image filter according to the shaking amount;
s7, filtering and recombining data;
and S8, outputting the smooth strip steel image.
(III) advantageous effects
By adopting the technical scheme, the band steel up-and-down shaking amount filtering device and method based on the double-line structured light comprise an imaging system consisting of a camera and two or more lasers, the distance between two adjacent laser lines is equal to the forward moving distance of the band steel during the interval of two times of shooting, the image acquisition frame rate of the camera is matched with the moving speed of the band steel, and the shaking amount of the band steel is filtered by calculating the vibration amount and the up-and-down jumping amount of the band steel, so that conditions are provided for online measurement of the edge deformation amount of the band steel.
Drawings
In the present invention, like reference numerals refer to like features throughout, wherein:
FIG. 1 is a schematic diagram showing the cut-out of the edge of a strip in various modifications.
FIG. 2 is a view showing the structure of the apparatus of the present invention.
FIG. 3 is a schematic diagram of the calculation of the vibration amount of the strip steel.
FIG. 4 is a schematic view showing the up-and-down parallel movement of the strip.
FIG. 5 is a schematic diagram showing the variation of the distance between the laser lines in the up-and-down translation of the strip steel.
Fig. 6 is a schematic view of the imaging principle.
FIG. 7 is a flow chart of the filtering method of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
Referring to fig. 2, the device for filtering the up-and-down shaking amount of the strip steel based on the double-line structured light comprises a camera 1, a first laser 2, a second laser 3, an encoder 4 and the strip steel 5.
The laser lines emitted by the first laser 2 and the second laser 3 are parallel, the distance is d, the included angle between the optical axis of the camera and the parallel laser lines is theta, the visual field angle of the camera is α, the camera 1, the two groups of parallel laser lines and the included angle between the two groups of parallel laser lines form an imaging system, and the encoder 4 acquires the actual running speed of the strip steel 5 and feeds the actual running speed back to the camera 1 to be used as a signal for triggering the camera to synchronously acquire.
And when the strip steel moves forward for a distance d, the camera 1 starts to collect the strip steel once, so that the position shot by the first laser 2 is accurately shot by the second laser 3 along the moving direction of the strip steel 4.
Referring to fig. 3, the moving distance of the strip steel must be consistent with the distance between the laser lines during each shooting. Two points p0(t0) and p1(t0) on the strip are detected at the time t0, and since the two points are collected at the same time, the height difference between the two points is only related to the plate type and is not related to vibration. At a later time t1, the strip moves forward a distance just equal to the distance d between the two laser lines. At this time, two new points p0(t1) and p1(t1) are detected; if the strip is free of vibrations, p0(t1) should be the same as p1(t0) because the two points are actually at the same location on the strip. In practice, however, the heights of the two points may differ due to the influence of vibration, and the vibration amount is V (t1) ═ p1(t0) — p0(t 1). If the strip only vibrates up and down, the vibration quantity has the same influence on the front point and the rear point, so the vibration quantity is also removed from p1(t1), and the position pp1(t1) of the real point on the strip is obtained as p1(t1) + V (t 1). By analogy, the point pp1(ti) obtained at any one time should be calculated according to the following formula:
referring to fig. 4, the laser planes emitted by the two lasers must be kept parallel, because only the parallel is kept, so that the actual distance between the two laser contour lines is kept in a known state in the image when the strip steel shakes. When the strip steel moves up and down in parallel, the distance d between the two laser lines is kept unchanged, and in the image shot by the camera, the distance amount of the upward shaking of the strip steel can be calculated due to the change of the image resolution. Referring to fig. 5, when the distance between the camera and the strip steel is H1, the average resolution is R0 — L0/d; at a distance of H0, the average resolution is R1 ═ L1/d.
After the camera is fixed, the size of an image shot by the camera is also fixed, the size of an internal pixel of the camera is also fixed, and the number of pixels in one direction of the camera is changed according to the resolution ratio, so that the distance change of the shot strip steel between the central lines of the camera can be directly calculated.
In conjunction with the imaging principle diagram of fig. 6, S represents the size of the target surface of the camera, R1 represents the distance K1, R0 represents the camera resolution at the distance K0, and f represents the camera focal length.
Therefore, the up-down jumping quantity h of the strip steel can be calculated: H-H0-H1; h1 ═ K1 × cos θ, K1 ═ f/S × R1.
The filtering device requires that the distance between two adjacent laser lines is just equal to the distance of forward movement of the strip steel during the interval of two times of shooting; the image acquisition frame rate of the camera must be completely matched with the movement speed of the strip steel. The distance between the two parallel laser lines is set to be d equal to 10mm, the laser planes are perpendicular to the strip steel, the running speed of the strip steel is set to be V equal to 2m/s, and the strip steel is required to be triggered to shoot 2 laser lines on the strip steel once when moving forwards by 10 mm. The running speed V of the strip steel can be calculated, and the scanning frequency of the camera must reach V/d which is 200 fps. That is, the scanning camera with the scanning frequency of 200fps or more must be selected to satisfy the shooting frequency of the laser line.
The filtering device of the invention has to track the deviation of the strip steel in the width direction and divide sampling points by taking one side of the strip steel as a reference. In the interval period between two adjacent strip steel acquisition, the strip steel may deviate a certain distance in the width direction. If the sampling points are not divided by taking one side of the strip steel as a reference, the same point on the strip steel corresponding to two adjacent points in the length direction of the strip steel cannot be ensured.
With reference to fig. 7, a method for filtering the up-and-down shaking amount of the strip steel based on the double-line structured light comprises the following steps:
s1, loading a calibration file;
s2, collecting laser line images;
s3, extracting the central line of the laser line, and fitting a curve;
s4, calculating the center distance of the laser line;
s5, calculating the up-and-down shaking amount of the strip steel;
s6, designing an image filter according to the shaking amount;
s7, filtering and recombining data;
and S8, outputting the smooth strip steel image.
In the filtering method, the related edge tracking is obtained by calculation through the sharp change of the laser line. And extracting the central line of the laser line and calculating the gray level change value of the pixel. Suppose the brightness value of a point on the laser line is represented as f (i, j), and i, j represents the horizontal and vertical coordinates of the pixel point. If f (i +1, j) -f (i-1, j) is larger than the set edge threshold, the position of the edge can be determined to be i. The same position of the strip steel is shot twice, if the value i is not changed, the comparison can be directly carried out, and if the value i is changed, the point i is aligned, and then the point i corresponding to two adjacent points in the length direction of the strip steel is shot for 2 times and corresponds to the same point on the strip steel.
In summary, according to the technical scheme of the invention, the strip steel up-and-down shaking amount filtering device and method based on the double-line structured light form an imaging system by a camera and two or more lasers, the distance between two adjacent laser lines is equal to the forward moving distance of the strip steel during the interval of two times of shooting, the image acquisition frame rate of the camera is matched with the movement speed of the strip steel, and the strip steel shaking amount is filtered by calculating the strip steel vibration amount and the up-and-down jumping amount, so that conditions are provided for online measurement of the strip steel edge deformation amount.
Claims (8)
1. A band steel up-and-down shaking amount filtering device based on double-line structured light is characterized by comprising a camera, a first laser, a second laser, an encoder and band steel, wherein laser lines emitted by the first laser and the second laser are parallel, the distance between the laser lines is d, the included angle between the optical axis of the camera and the parallel laser lines is theta, the visual field angle of the camera is α, the camera, two groups of parallel laser lines and the included angle between the two groups of parallel laser lines form an imaging system, and the encoder acquires the actual running speed of the band steel, feeds the actual running speed back to the camera and inputs the actual running speed as a signal for triggering the camera to synchronously acquire.
2. The strip steel up-and-down shaking amount filtering device based on the double-line structured light as claimed in claim 1, wherein the camera starts to collect once every time the strip steel moves forward for a distance d, and the position shot by the first laser is accurately shot by the second laser along the moving direction of the strip steel.
3. The strip steel up-and-down shaking amount filtering device based on the double-line structured light as claimed in claim 2, wherein the moving distance of the strip steel is kept consistent with the distance between the laser lines at each shooting, two points p0(t0) and p1(t0) on the strip steel are detected at the time t0, two new points p0(t1) and p1(t1) are detected at the time t1 when the strip steel moves forward by the distance equal to the distance d between the two laser lines; the vibration quantity of the strip steel obtained by two times of shooting is V (t1) ═ p1(t0) -p0(t 1).
4. The strip steel up-and-down shaking amount filtering device based on the two-line structured light as claimed in claim 3, wherein when the strip steel only vibrates up and down, the vibration amount has the same influence on the front point and the rear point, and the real position pp1(t1) of the point on the strip steel is obtained as p1(t1) + V (t 1).
5. The apparatus for filtering the up-and-down shaking amount of steel strip based on the two-line structured light of claim 4, wherein the point pp1(ti) obtained at any one time of the steel strip is calculated according to the following formula:
6. the strip steel up-and-down shaking amount filtering device based on the double-line structured light as claimed in claim 1, wherein the laser emitting planes of the two lasers are kept parallel.
7. The strip steel up-and-down shaking amount filtering device based on the two-line structured light as claimed in claim 6, wherein when the distance between the camera and the strip steel is H1, the average resolution is R0-L0/d; when the distance is H0, the average resolution is R1 ═ L1/d; after the camera is fixed, the size of the image shot by the camera is fixed, the size of the internal pixel size of the camera is also fixed, the number of pixels in the single direction of the camera is changed by the resolution ratio, and the vertical jump amount h of the strip steel is calculated: H-H0-H1; h1 ═ K1 × cos θ, K1 ═ f/S × R1; wherein: s denotes a camera target size, R1 denotes a camera resolution at a distance of K1, R0 denotes a camera resolution at a distance of K0, and f denotes a camera focal length.
8. The strip steel up-and-down shaking amount filtering method based on the double-line structured light as claimed in claim 1, characterized by comprising the following steps:
s1, loading a calibration file;
s2, collecting laser line images;
s3, extracting the central line of the laser line, and fitting a curve;
s4, calculating the center distance of the laser line;
s5, calculating the up-and-down shaking amount of the strip steel;
s6, designing an image filter according to the shaking amount;
s7, filtering and recombining data;
and S8, outputting the smooth strip steel image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097604.7A CN110918656A (en) | 2018-09-20 | 2018-09-20 | Strip steel up-and-down shaking amount filtering device and method based on double-line structured light |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097604.7A CN110918656A (en) | 2018-09-20 | 2018-09-20 | Strip steel up-and-down shaking amount filtering device and method based on double-line structured light |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110918656A true CN110918656A (en) | 2020-03-27 |
Family
ID=69856117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811097604.7A Pending CN110918656A (en) | 2018-09-20 | 2018-09-20 | Strip steel up-and-down shaking amount filtering device and method based on double-line structured light |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110918656A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102297658A (en) * | 2011-05-20 | 2011-12-28 | 南京航空航天大学 | Three-dimensional information detection method based on dual laser |
| CN202238932U (en) * | 2011-10-19 | 2012-05-30 | 北京金自天正智能控制股份有限公司 | Plate measuring instrument |
| CN104833317A (en) * | 2015-05-07 | 2015-08-12 | 浙江理工大学 | Medium or heavy steel plate morphology detection system based on controllable symmetrical double-line laser angle and method thereof |
-
2018
- 2018-09-20 CN CN201811097604.7A patent/CN110918656A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102297658A (en) * | 2011-05-20 | 2011-12-28 | 南京航空航天大学 | Three-dimensional information detection method based on dual laser |
| CN202238932U (en) * | 2011-10-19 | 2012-05-30 | 北京金自天正智能控制股份有限公司 | Plate measuring instrument |
| CN104833317A (en) * | 2015-05-07 | 2015-08-12 | 浙江理工大学 | Medium or heavy steel plate morphology detection system based on controllable symmetrical double-line laser angle and method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 徐宏喆等: ""基于改进激光三角测量法的动态板形图像处理的研究与应用"", 《西安理工大学学报》 * |
| 董星辰: ""热轧带钢平直度双线激光CCD测量方法与实现技术研究"", 《中国优秀硕士学位论文全文数据库工程科技Ⅰ辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101985265B1 (en) | Device for inspecting shape of road travel surface | |
| CN102428341B (en) | Device for measuring displacement of pantograph and method for detecting hard spot of trolley wire | |
| DE69723380T2 (en) | DEVICE FOR OBSERVING A WALL SURFACE | |
| EP2248600B1 (en) | Ejection amount correction method and coating apparatus | |
| EP2490438B1 (en) | Vision measuring device | |
| JP6296206B2 (en) | Shape measuring apparatus and shape measuring method | |
| CN111421001B (en) | Online accurate centering system of high-speed wire rod mill and centering method thereof | |
| CN113188484B (en) | Method for detecting outline area of head of hot-rolled coil | |
| JP6510246B2 (en) | Volume measurement system | |
| JP4896828B2 (en) | Shape detection method and shape detection apparatus | |
| CN105841613A (en) | Device of utilizing planar mirror set to determine qualification of shelf crossbeams | |
| CN110918656A (en) | Strip steel up-and-down shaking amount filtering device and method based on double-line structured light | |
| JPH07159133A (en) | Dimension measuring device | |
| CN109883355B (en) | Method and device for automatically searching interference fringes | |
| JP6280426B2 (en) | Vehicle headlight measuring device | |
| JP2008304190A (en) | Highly precise method and device for measuring displacement of object to be measured by laser reflected light | |
| RU171133U1 (en) | Device for measuring the geometric characteristics of roundwood | |
| KR20110010501A (en) | Apparatus for measuring plate velocity of rolling mill and method thereof | |
| CN112229478A (en) | Method and system for monitoring height change in process of material pile operation | |
| JP2009300100A (en) | Shape measuring apparatus and its shape measuring method | |
| US7526118B2 (en) | Digital video optical inspection apparatus and method for vertically sectioning an object's surface | |
| JP3855062B2 (en) | Method and apparatus for measuring shape of continuous object by monotonically increasing waveform projection | |
| KR101780883B1 (en) | Shape measuring device | |
| KR100229070B1 (en) | Inspection method and device of cream solder of pcb | |
| CN115574725B (en) | Steel plate size measurement method and system based on line structured light |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200327 |