CN112224582A - Square billet labeling method and device applied to continuous casting - Google Patents
Square billet labeling method and device applied to continuous casting Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/02—Devices for moving articles, e.g. containers, past labelling station
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The embodiment of the application discloses a square billet labeling method and device applied to continuous casting, and the method comprises the following steps: acquiring a square billet image shot by a camera, and selecting a region to be processed aiming at the square billet image; extracting the square billet contour in the area to be processed; acquiring a target line segment; acquiring the inclination angle of the outline of the target square billet by taking the detection line as a reference; acquiring the number of square billets contained in the outline of the target square billet according to the length and the inclination angle of the target line segment and the specification of the square billet; determining the central position of the end face to be labeled of each square billet in the contour of the target square billet; and controlling a labeling robot to label each square billet in the contour of the target square billet according to the central position of the end face to be labeled of each square billet. The method can accurately judge the number of the square billets contained in the square billet outline, further accurately position the center position of the end face of each square billet, and prevent the square billet from being pasted in a missing manner or in a wrong pasting position.
Description
Technical Field
The application relates to the technical field of machine vision, in particular to a square billet labeling method and device applied to continuous casting.
Background
Continuous casting refers to a process in which molten steel refined by a steel furnace is subjected to casting by a continuous casting machine, rolling by a rolling mill and the like in sequence to form a plurality of formed square billets. Referring to fig. 1 and 2, when a plurality of square billets 3 made by a steel furnace are sequentially conveyed to a billet separating device 2 through a cooling bed 1, a control system sequentially sends in-place signals, and at the moment, iron teeth 21 on the billet separating device 2 pull the square billets away one by one. In order to identify a shift or casting square billet, a label is attached to the end face of the square billet. At present, automatic labeling is generally realized, namely when a control system sends an in-place signal, the cooling bed 1 and the blank separating device 2 stop operating, and a labeling robot 4 is enabled to label a label on the end face of a square blank 3.
In the automatic labeling process, the laser displacement sensor is mainly used for positioning the central position of the end face of the square billet, so that the labeling robot 4 can rapidly and accurately label the square billet end face. In the transportation process on the cooling bed 1, more than two square blanks 3 may be combined together, as shown in fig. 2, in this case, the laser displacement sensor cannot judge that several square blanks to be labeled exist currently, so that the center position of the end face cannot be accurately positioned for each square blank, and the result of missing labeling of the square blanks or wrong labeling position is caused.
Disclosure of Invention
In order to solve the problem that when more than two square billets are combined together, a laser sensor can not accurately position the center position of an end face, so that the square billets are not pasted or the labeling position is wrong, the application discloses a square billet labeling method and device applied to continuous casting through the following embodiments.
The application discloses in a first aspect a square billet labeling method applied to continuous casting, the square billet labeling method comprises:
the method comprises the steps of obtaining a square billet image shot by a camera, wherein the camera is used for shooting a square billet on a billet splitting device when a control system sends an in-place signal every time;
aiming at the square billet image, selecting a region to be processed, wherein the length of the region to be processed is determined according to the maximum transverse distance of the labeling robot, and the width of the region to be processed is determined according to the initial position of the labeling robot and the preset shortest specified value of the square billet;
extracting the square billet contour in the region to be processed;
acquiring a target line segment, wherein the target line segment is a line segment of a preset detection line in a target square billet contour, the target square billet contour is any square billet contour in the area to be processed, and the detection line is parallel to a long edge of the area to be processed;
acquiring the inclination angle of the target square billet profile by taking the detection line as a reference;
acquiring the number of square billets contained in the target square billet profile according to the length of the target line segment, the inclination angle and the square billet specification, wherein the square billet specification comprises a length value and a width value of the cross section of the square billet;
determining the central position of the end face to be labeled of each square billet in the target square billet contour;
and controlling the labeling robot to label each square billet in the contour of the target square billet according to the central position of the end face to be labeled of each square billet.
Optionally, the obtaining the number of square billets included in the target square billet profile according to the length of the target line segment, the inclination angle and the square billet specification includes:
setting a first threshold value according to the square billet specification;
acquiring a preliminary judgment value of the number of square billets according to the first threshold value and the length of the target line segment;
acquiring the number of first dividing points according to the preliminary judgment value of the number of the square billets, wherein the first dividing points are positioned on the target line segment and are used for equally dividing the target line segment, and the number of the first dividing points is the product of the preliminary judgment value and a preset coefficient;
with each first dividing point as an end point, dividing a first dividing line in the direction of the end face of the square blank to be labeled according to the inclination angle;
acquiring a first intersection point, wherein the first intersection point is an intersection point between all first dividing lines and the target square billet contour;
and determining the number of square billets contained in the target square billet contour according to the first intersection point.
Optionally, the determining, according to the first intersection point, the number of square billets included in the target square billet profile includes:
establishing an image coordinate system by taking the upper left corner of the region to be processed as an origin, the long side of the region to be processed as a horizontal axis and the wide side as a longitudinal axis;
acquiring a longitudinal axis coordinate value of any one first intersection point aiming at the image coordinate system;
acquiring the quantity of square billet end surfaces contained in the target square billet contour according to the difference value of the longitudinal axis coordinate values of any two adjacent first intersection points, wherein if the difference value of the longitudinal axis coordinate values of any two adjacent first intersection points is smaller than a preset distance threshold value, the two first intersection points are positioned on the same square billet end surface, otherwise, the two first intersection points are positioned on two different square billet end surfaces, and the distance threshold value is preset according to the square billet rule;
and setting the number of square billet end surfaces contained in the target square billet profile as the number of square billets contained in the target square billet profile.
Optionally, the determining the central position of the end face to be labeled of each square billet in the target square billet profile includes:
acquiring the number of second division points according to the number of square billet roots contained in the target square billet contour, wherein the second division points are positioned on the target line segment and are used for equally dividing the target line segment, and the number of the second division points is the number of square billet roots contained in the target square billet contour;
dividing a second dividing line in the direction of the end face to be labeled of the square blank by taking each second dividing point as an end point according to the inclination angle;
acquiring a second intersection point, wherein the second intersection point is an intersection point between all second dividing lines and the target square billet outline;
and determining the central position of the end face to be labeled of each square billet in the target square billet contour according to the second intersection point.
Optionally, the determining, according to the second intersection point, the center position of the end face to be labeled of each square billet in the target square billet contour includes:
acquiring a horizontal axis coordinate value and a vertical axis coordinate value of any second intersection point under an image coordinate system, wherein the image coordinate system takes the upper left corner of the region to be processed as an origin, the long side of the region to be processed as a horizontal axis, and the wide side as a vertical axis;
converting a coordinate system of a horizontal axis coordinate value and a vertical axis coordinate value of each second intersection point under an image coordinate system to obtain the horizontal axis coordinate value and the vertical axis coordinate value of each second intersection point under a space coordinate system;
setting a vertical axis coordinate value of each second intersection point under the space coordinate system according to the square billet specification;
and acquiring the central position of the end face to be labeled of each square billet in the target square billet contour according to the coordinate value of the horizontal axis, the coordinate value of the vertical axis and the coordinate value of the vertical axis of each second intersection point in the space coordinate system.
Optionally, the setting, according to the square billet specification, a vertical axis coordinate value of each second intersection point in the space coordinate system includes:
setting a center point value of each second intersection point in the image coordinate system according to the following formula:
P=Min(i,w)/2；
wherein P represents a center point value of any one of the second intersection points in the image coordinate system, i represents a width value of the billet cross section, and w represents a length value of the billet cross section;
and converting the coordinate system of the central point value of each second intersection point under the image coordinate system to obtain the vertical axis coordinate value of each second intersection point under the space coordinate system.
Optionally, before determining the central position of the end face to be labeled of each square billet in the target square billet contour, the method further comprises:
judging whether the inclination angle of the target square billet contour is within a preset angle range, if so, determining the central position of the end face to be labeled of each square billet in the target square billet contour, otherwise, judging the target square billet contour as a square billet contour which cannot be labeled, and discarding the square billet contour, wherein the angle range is preset according to the maximum rotation angle of the labeling robot and the installation angle of the camera.
The second aspect of the present application discloses a square billet labeling device applied to continuous casting, the square billet labeling device is used for executing the square billet labeling method applied to continuous casting according to the first aspect of the present application, the square billet labeling device comprises:
the device comprises an image acquisition module, a control system and a control module, wherein the image acquisition module is used for acquiring square billet images shot by a camera, and the camera is used for shooting square billets on the billet splitting device when the control system sends in-place signals each time;
the processing area selection module is used for selecting an area to be processed according to the square billet image, the length of the area to be processed is determined according to the maximum transverse distance of the labeling robot, and the width of the area to be processed is determined according to the initial position of the labeling robot and the preset shortest specified value of the square billet;
the square billet contour extraction module is used for extracting the square billet contour in the area to be processed;
the target line segment acquisition module is used for acquiring a target line segment, the target line segment is a line segment of a preset detection line in a target square billet contour, the target square billet contour is any square billet contour in the area to be processed, and the detection line is parallel to the long edge of the area to be processed;
the inclination angle acquisition module is used for acquiring the inclination angle of the target square billet profile by taking the detection line as a reference;
the square billet root number acquisition module is used for acquiring the square billet root number contained in the target square billet outline according to the length of the target line segment, the inclination angle and the square billet specification, wherein the square billet specification comprises a length value and a width value of the cross section of the square billet;
the central position acquisition module is used for determining the central position of the end face to be labeled of each square billet in the target square billet contour;
and the labeling module is used for controlling the labeling robot to label each square billet in the contour of the target square billet according to the end surface center position of the end surface to be labeled of each square billet.
Optionally, the square billet root number obtaining module includes:
a first threshold value setting unit for setting a first threshold value according to the square billet specification;
the square billet root number preliminary judgment unit is used for acquiring a preliminary judgment value of the square billet root number according to the first threshold value and the length of the target line segment;
a first division point setting unit, configured to obtain the number of first division points according to a preliminary determination value of the number of square billets, where the first division points are located on the target line segment and are used to equally divide the target line segment, and the number of the first division points is a product of the preliminary determination value and a preset coefficient;
the first dividing line dividing unit is used for dividing a first dividing line in the direction of the end face to be labeled of the square blank by taking each first dividing point as an end point according to the inclination angle;
a first intersection point obtaining unit, configured to obtain a first intersection point, where the first intersection point is an intersection point between all the first dividing lines and the target square billet contour;
and the square billet root number determining unit is used for determining the square billet root number contained in the target square billet contour according to the first intersection point.
Optionally, the square billet root number determining unit includes:
a coordinate system establishing subunit, configured to establish an image coordinate system by using the upper left corner of the to-be-processed region as an origin, the long side of the to-be-processed region as a horizontal axis, and the wide side as a vertical axis;
a first longitudinal coordinate obtaining subunit, configured to obtain, for the image coordinate system, a longitudinal coordinate value of any one of the first intersection points;
a billet end face obtaining subunit, configured to obtain, according to a difference between longitudinal axis coordinate values of any two adjacent first intersection points, the number of billet end faces included in the target billet contour, where if the difference between the longitudinal axis coordinate values of any two adjacent first intersection points is smaller than a preset distance threshold, the two first intersection points are located on the same billet end face, otherwise, the two first intersection points are located on two different billet end faces, and the distance threshold is preset according to the billet rule;
and a square billet root number setting subunit, configured to set the number of square billet end faces included in the target square billet profile as the number of square billet included in the target square billet profile.
Optionally, the central position obtaining module includes:
the second division point setting unit is used for acquiring the number of second division points according to the number of square billet roots contained in the target square billet contour, the second division points are positioned on the target line segment and are used for equally dividing the target line segment, and the number of the second division points is the number of square billet roots contained in the target square billet contour;
the second dividing line dividing unit is used for dividing a second dividing line in the direction of the end face to be labeled of the square blank by taking each second dividing point as an end point according to the inclination angle;
the second intersection point acquisition unit is used for acquiring a second intersection point, and the second intersection point is an intersection point between all the second dividing lines and the target square billet outline;
and the central position determining unit is used for determining the central position of the end face to be labeled of each square billet in the target square billet contour according to the second intersection point.
Optionally, the central position determining unit includes:
a second intersection point coordinate obtaining subunit, configured to obtain a horizontal axis coordinate value and a vertical axis coordinate value of any one of the second intersection points in an image coordinate system, where the image coordinate system uses an upper left corner of the to-be-processed region as an origin, uses a long side of the to-be-processed region as a horizontal axis, and uses a wide side as a vertical axis;
the coordinate conversion subunit is used for carrying out coordinate system conversion on a horizontal axis coordinate value and a vertical axis coordinate value of each second intersection point in an image coordinate system to obtain the horizontal axis coordinate value and the vertical axis coordinate value of each second intersection point in a space coordinate system;
a vertical axis coordinate obtaining subunit, configured to set, according to the square billet specification, a vertical axis coordinate value of each second intersection point in the space coordinate system;
and the central position setting stator unit is used for acquiring the central position of the end face to be labeled of each square billet in the target square billet contour according to the coordinate value of the horizontal axis, the coordinate value of the vertical axis and the coordinate value of the vertical axis of each second intersection point in the space coordinate system.
The embodiment of the application discloses a square billet labeling method and device applied to continuous casting, and the method comprises the following steps: acquiring a square billet image shot by a camera, and selecting a region to be processed aiming at the square billet image; extracting the square billet contour in the area to be processed; acquiring a target line segment; acquiring the inclination angle of the outline of the target square billet by taking the detection line as a reference; acquiring the number of square billets contained in the outline of the target square billet according to the length and the inclination angle of the target line segment and the specification of the square billet; determining the central position of the end face to be labeled of each square billet in the contour of the target square billet; and controlling a labeling robot to label each square billet in the contour of the target square billet according to the central position of the end face to be labeled of each square billet. The method can accurately judge the number of the square billets contained in the square billet outline, further accurately position the center position of the end face of each square billet, and prevent the square billet from being pasted in a missing manner or in a wrong pasting position.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a conventional continuous casting square billet labeling system;
fig. 2 is a schematic view of a square billet appearing and being combined on a billet splitting device disclosed in an embodiment of the application;
fig. 3 is a schematic flowchart of a work flow of a square billet labeling method applied to continuous casting according to an embodiment of the present application;
FIG. 4 is a top view of a continuous casting square billet labeling system disclosed in an embodiment of the present application;
FIG. 5 is a side view of a continuous casting square billet labeling system as disclosed in an embodiment of the present application;
fig. 6 is a schematic diagram of a square billet contour after an operation process in a square billet labeling method for continuous casting according to an embodiment of the present application;
fig. 7 is a schematic diagram of a selected region to be processed for a billet image in a billet labeling method for continuous casting according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a square billet disclosed in an embodiment of the present application;
fig. 9 is a schematic diagram illustrating a target line segment and an inclination angle obtained for a square billet contour in the square billet labeling method for continuous casting according to the embodiment of the present application;
fig. 10 is a schematic view illustrating a first dividing line defined in a billet labeling method for continuous casting according to an embodiment of the present application;
fig. 11 is a schematic diagram illustrating a second dividing line defined in a billet labeling method for continuous casting according to an embodiment of the present application.
Detailed Description
In order to solve the problem that when more than two square billets are combined together, a laser sensor can not accurately position the center position of an end face, so that the square billets are not pasted or the labeling position is wrong, the application discloses a square billet labeling method and device applied to continuous casting through the following embodiments.
A first embodiment of the present application discloses a square billet labeling method applied to continuous casting, referring to a work flow diagram shown in fig. 3, the square billet labeling method includes:
and step S101, acquiring an image of the square billet shot by the camera 5, wherein the camera is used for shooting the square billet on the billet splitting device when the control system sends an in-place signal every time.
Referring to fig. 4 and 5, the camera 5 is mounted on the side of the whole transport chain bed through a camera support 6 and is located on the opposite side of the labeling robot for shooting square billets on the billet splitting device. The square billet 3 can temporarily stay when being transported to the billet separating device 2 from the cooling bed 1, the control system sends a signal in place, the camera 5 shoots the square billet 3, then an image obtained by shooting is sent to the control system, and the control system processes the image.
And S102, aiming at the square billet image, selecting a region to be processed, wherein the length of the region to be processed is determined according to the maximum transverse distance of the labeling robot, and the width of the region to be processed is determined according to the initial position of the labeling robot and the preset shortest specified value of the square billet.
With reference to fig. 7, the cases one to five represent respectively five possible cases of the square blanks on the blank-separating device, the area to be treated being a rectangular area, one of the long sides of which is flush with the initial position of the labeling robot, the rectangular area being able to cover the maximum transverse distance over which the labeling robot is able to perform the labeling action, the transverse distance depending on the transport direction of the square blanks. In actual production, if the length of the square billet is smaller than the shortest specified value, the square billet is unqualified, and labeling operation is not needed, so that the unqualified square billet is excluded from the region to be processed, subsequent image processing is avoided, time is saved, and labeling efficiency is improved. As shown in case four in fig. 7, the square billet belongs to an unqualified short billet, and the width of the area to be processed is smaller than the distance between the end face of the short billet and the initial position of the labeling robot. The initial position of the robot is determined according to actual working conditions, and the robot can complete the square billet labeling action within the operation range at the initial position (the labeling operation can be completed on the square billets within the range).
And step S103, extracting the square billet contour in the region to be processed.
And performing conventional algorithms such as graying, filtering, binaryzation, corrosion, opening operation and the like on the area to be processed, so as to extract the image contour in the area to be processed and obtain the square billet contour.
Referring to fig. 6, in the process of image processing on the region to be processed, the opening operation processing is used to separate two outlines with an intersection point, so as to reduce the number of blanks to be processed subsequently as much as possible.
Step S104, obtaining a target line segment S, where the target line segment S is a line segment of a preset detection line L in a target square billet contour, the target square billet contour is any square billet contour in the region to be processed, and as shown in fig. 7, the detection line L is parallel to a long edge of the region to be processed.
Specifically, at the position of the detection line L (y = m), white pixels and black pixels (after image preprocessing, the square blank outline is white pixels, and the background is black pixels) in the region to be processed are traversed in a row, the white pixels are used as initial positions, the black pixels are used as termination positions, the number of the pixels is counted, and the size of the target line segment S is obtained. Referring to fig. 7, since the billet may have a slope, the lengths of the target line segments corresponding to different billet contours may be different, and the length of the target line segment S may have a plurality of values.
And step S105, taking the detection line L as a reference, and acquiring the inclination angle of the target square billet contour.
The inclination angle of the square billet profile can be obtained by moment calculation in the conventional image processing technology, and the inclination angle is shown in fig. 9.
And S106, acquiring the number of square billets contained in the target square billet outline according to the length of the target line segment, the inclination angle and the square billet specification, wherein the square billet specification comprises the length value and the width value of the cross section of the square billet.
In the embodiment of the present application, step S106 is implemented by the following process:
and setting a first threshold value according to the square billet specification.
Specifically, referring to fig. 8, the end face (i.e., cross-section) of the billet is rectangular, including long sides and short sides. In the process of conveying the square billets on the cooling bed, rolling may occur, so in the image shot by the camera, the outlines shot for different square billets may be the wider side where the long side is located or the narrower side where the short side is located.
In order to realize the preliminary judgment, a first threshold value is set according to the specification of the square billet, and the first threshold value is a length value of the cross section of the square billet, namely a value corresponding to the long edge of the end surface of the square billet.
And acquiring a preliminary judgment value of the number of square billets according to the first threshold and the length of the target line segment S.
Specifically, if S < L1, obtaining a preliminary judgment value of the number of square billets to be 1; if 2 is L1 and S is more than 1.1 is L1, obtaining the primary judgment value of the square billet root number as 2; if 3 is L1 and S is more than 2.1 is L1, the initial judgment value of the number of the square billets is 3; by analogy, the number n of billets may be preliminarily judged, wherein L1 represents the first threshold value.
However, similar to the case one in fig. 7, the billet profile may be a profile corresponding to the wider side of one billet, or may be a profile consisting of the narrower sides of two billets, and when the billet is tilted, S is longer. Therefore, the initial judgment value of the number of square billets may not meet the actual situation, and the number of square billets needs to be further calculated.
And acquiring the number of first dividing points according to the preliminary judgment value of the square billet root number, wherein the first dividing points are positioned on the target line segment and used for equally dividing the target line segment, and the number of the first dividing points is the product of the preliminary judgment value and a preset coefficient. In practical applications, the predetermined coefficient is a value greater than 1, and may be set to 1.5 as an example.
And with each first dividing point as an end point, dividing a first dividing line in the direction of the end face of the square blank to be labeled according to the inclination angle.
And acquiring a first intersection point, wherein the first intersection point is the intersection point between all the first dividing lines and the target square billet contour.
And determining the number of square billets contained in the target square billet contour according to the first intersection point.
Referring to fig. 10, the dotted lines indicate first dividing lines, each of which has an intersection with the profile of the target billet, and theoretically, the longitudinal coordinate values of the intersections on the end surfaces of the same billet should be the same, and even if the profile of the billet has an inclination, the difference between the longitudinal coordinate values of the intersections on the end surfaces of the same billet should be within a certain range, so that it can be further determined that the profile of the target billet contains several billets.
And establishing an image coordinate system by taking the upper left corner of the region to be processed as an origin, the long side of the region to be processed as a horizontal axis and the wide side as a vertical axis. The image coordinate system is referred to as the U-V coordinate system in fig. 9 and 11.
And acquiring a longitudinal axis coordinate value of any first intersection point aiming at the image coordinate system.
And acquiring the quantity of the square billet end surfaces contained in the target square billet contour according to the difference value of the longitudinal axis coordinate values of any two adjacent first intersection points, wherein if the difference value of the longitudinal axis coordinate values of any two adjacent first intersection points is smaller than a preset distance threshold value, the two first intersection points are positioned on the same square billet end surface, otherwise, the two first intersection points are positioned on two different square billet end surfaces, and the distance threshold value is preset according to the square billet rule.
As an example, if the difference between the ordinate V1 of one intersection and the ordinate V2 of the other intersection is smaller than the length of the short side of the cross section of the billet, it can be determined that the two intersections are located on the same billet end face. Therefore, the number of the first intersection points which are not on the same square billet end face is screened, and the number of the square billet end faces contained in the target square billet outline can be obtained.
And setting the number of square billet end surfaces contained in the target square billet profile as the number of square billets contained in the target square billet profile.
And S107, determining the central position of the end face to be labeled of each square billet in the target square billet contour.
And S108, controlling the labeling robot to label each square billet in the contour of the target square billet according to the end surface center position of the end surface to be labeled of each square billet.
The embodiment of the application discloses a square billet labeling method and device applied to continuous casting, and the method comprises the following steps: acquiring a square billet image shot by a camera, and selecting a region to be processed aiming at the square billet image; extracting the square billet contour in the area to be processed; acquiring a target line segment; acquiring the inclination angle of the outline of the target square billet by taking the detection line as a reference; acquiring the number of square billets contained in the outline of the target square billet according to the length and the inclination angle of the target line segment and the specification of the square billet; determining the central position of the end face to be labeled of each square billet in the contour of the target square billet; and controlling a labeling robot to label each square billet in the contour of the target square billet according to the central position of the end face to be labeled of each square billet. The method can accurately judge the number of the square billets contained in the square billet outline, further accurately position the center position of the end face of each square billet, and prevent the square billet from being pasted in a missing manner or in a wrong pasting position.
In this embodiment, the central position of the end face to be labeled of each square billet in the target square billet profile is determined by the following steps:
and acquiring the number of second division points according to the number of square billet roots contained in the target square billet contour, wherein the second division points are positioned on the target line segment and are used for equally dividing the target line segment, and the number of the second division points is the number of square billet roots contained in the target square billet contour.
And with each second dividing point as an end point, dividing a second dividing line in the direction of the end face of the square blank to be labeled according to the inclination angle. Referring to fig. 11, the dotted line indicates the second dividing line.
And acquiring a second intersection point, wherein the second intersection point is the intersection point between all the second dividing lines and the target square billet contour.
And determining the central position of the end face to be labeled of each square billet in the target square billet contour according to the second intersection point.
Further, the determining the center position of the end face to be labeled of each square billet in the target square billet contour according to the second intersection point includes:
and acquiring a horizontal axis coordinate value and a vertical axis coordinate value of any second intersection point under an image coordinate system, wherein the image coordinate system takes the upper left corner of the region to be processed as an origin, the long side of the region to be processed as a horizontal axis, and the wide side as a vertical axis. The image coordinate system is referred to as the U-V coordinate system in fig. 11.
And converting a coordinate system of a horizontal axis coordinate value and a vertical axis coordinate value of each second intersection point in an image coordinate system to obtain the horizontal axis coordinate value and the vertical axis coordinate value of each second intersection point in a space coordinate system. The spatial coordinate system is seen in the X-Y coordinate system of fig. 11. The image coordinate system UOV and the space coordinate system XYZ can perform coordinate transformation with each other, the U coordinate direction corresponds to the X coordinate direction, and the V coordinate direction corresponds to the Y coordinate direction.
And setting a vertical axis coordinate value of each second intersection point under the space coordinate system according to the square billet specification.
And acquiring the central position of the end face to be labeled of each square billet in the target square billet contour according to the coordinate value of the horizontal axis, the coordinate value of the vertical axis and the coordinate value of the vertical axis of each second intersection point in the space coordinate system.
And setting a vertical axis coordinate value of each second intersection point under the space coordinate system according to the square billet specification, wherein the setting comprises the following steps:
setting a center point value of each second intersection point in the image coordinate system according to the following formula:
P=Min(i,w)/2。
wherein P represents a center point value of any one of the second intersection points in the image coordinate system, i represents a width value of the billet cross section, and w represents a length value of the billet cross section.
And converting the coordinate system of the central point value of each second intersection point under the image coordinate system to obtain the vertical axis coordinate value of each second intersection point under the space coordinate system.
And (3) converting the set result value of P = Min (i, w)/2 from the image coordinate system to a world coordinate system according to the square billet specification information i x w, and assigning the result value to Z, so that the (x, y, Z) value of the optimal labeling position can be obtained, and the labeling robot can move to the optimal labeling position according to the coordinate value.
Further, before determining the center position of the end face to be labeled of each square billet in the target square billet contour, the method further comprises the following steps:
judging whether the inclination angle of the target square billet contour is within a preset angle range, if so, determining the central position of the end face to be labeled of each square billet in the target square billet contour, otherwise, judging the target square billet contour as a square billet contour which cannot be labeled, and discarding the square billet contour, wherein the angle range is preset according to the maximum rotation angle of the labeling robot and the installation angle of the camera.
Before the optimal labeling position is determined, whether the square blank in the area to be processed can finish labeling operation needs to be judged according to the inclination angle of the outline, and if the inclination angle of the square blank is larger and exceeds the rotation angle of the labeling robot, the labeling operation cannot be finished. Specifically, when the inclination angle α of the square billet profile is within the range of (α 1, α 2), the labeling operation can be completed. Wherein the values of α 1 and α 2 are set according to the rotation angle of the labeling robot and the installation angle of the camera.
The following are embodiments of the apparatus disclosed herein for performing the above-described method embodiments. For details which are not disclosed in the device embodiments, reference is made to the method embodiments.
The second embodiment of the present application discloses a square billet labeling device applied to continuous casting, which is used for executing a square billet labeling method applied to continuous casting according to the first embodiment of the present application, and the square billet labeling device comprises:
the image acquisition module is used for acquiring square billet images shot by the camera, and the camera is used for shooting square billets on the billet splitting device when the control system sends in-place signals each time.
And the processing area selection module is used for selecting an area to be processed according to the square billet image, the length of the area to be processed is determined according to the maximum transverse distance of the labeling robot, and the width of the area to be processed is determined according to the initial position of the labeling robot and the preset shortest specified value of the square billet.
And the square billet contour extraction module is used for extracting the square billet contour in the area to be processed.
The target line segment acquisition module is used for acquiring a target line segment, the target line segment is a line segment of a preset detection line in a target square billet contour, the target square billet contour is any square billet contour in the area to be processed, and the detection line is parallel to the long edge of the area to be processed.
And the inclination angle acquisition module is used for acquiring the inclination angle of the target square billet profile by taking the detection line as a reference.
And the square billet root number acquisition module is used for acquiring the square billet root number contained in the target square billet outline according to the length of the target line segment, the inclination angle and the square billet specification, and the square billet specification comprises the length value and the width value of the cross section of the square billet.
And the central position acquisition module is used for determining the central position of the end face to be labeled of each square billet in the target square billet contour.
And the labeling module is used for controlling the labeling robot to label each square billet in the contour of the target square billet according to the end surface center position of the end surface to be labeled of each square billet.
Further, the square billet root number obtaining module comprises:
and the first threshold value setting unit is used for setting a first threshold value according to the square billet specification.
And the square billet root number preliminary judgment unit is used for acquiring a preliminary judgment value of the square billet root number according to the first threshold value and the length of the target line segment.
And the first dividing point setting unit is used for acquiring the number of first dividing points according to the preliminary judgment value of the number of the square billets, the first dividing points are positioned on the target line segment and used for equally dividing the target line segment, and the number of the first dividing points is the product of the preliminary judgment value and a preset coefficient.
And the first dividing line dividing unit is used for dividing the first dividing lines in the direction of the end face to be labeled of the square blank by taking each first dividing point as an end point according to the inclination angle.
And the first intersection point acquisition unit is used for acquiring a first intersection point, and the first intersection point is an intersection point between all the first dividing lines and the target square billet outline.
And the square billet root number determining unit is used for determining the square billet root number contained in the target square billet contour according to the first intersection point.
Further, the square billet root number determining unit includes:
and the coordinate system establishing subunit is used for establishing an image coordinate system by taking the upper left corner of the to-be-processed area as an origin, the long side of the to-be-processed area as a horizontal axis and the wide side as a vertical axis.
And the first longitudinal axis coordinate acquisition subunit is used for acquiring the longitudinal axis coordinate value of any one first intersection point according to the image coordinate system.
And the square billet end face obtaining subunit is configured to obtain the number of square billet end faces included in the target square billet profile according to a difference value between the longitudinal axis coordinate values of any two adjacent first intersection points, wherein if the difference value between the longitudinal axis coordinate values of any two adjacent first intersection points is smaller than a preset distance threshold, the two first intersection points are located on the same square billet end face, otherwise, the two first intersection points are located on two different square billet end faces, and the distance threshold is preset according to the square billet rule.
And a square billet root number setting subunit, configured to set the number of square billet end faces included in the target square billet profile as the number of square billet included in the target square billet profile.
Further, the central position obtaining module includes:
and the second division point setting unit is used for acquiring the number of second division points according to the number of square billet roots contained in the target square billet contour, the second division points are positioned on the target line segment and are used for equally dividing the target line segment, and the number of the second division points is the number of square billet roots contained in the target square billet contour.
And the second dividing line dividing unit is used for dividing the second dividing lines in the direction of the end face to be labeled of the square blank by taking each second dividing point as an end point according to the inclination angle.
And the second intersection point acquisition unit is used for acquiring a second intersection point, and the second intersection point is an intersection point between all the second dividing lines and the target square billet outline.
And the central position determining unit is used for determining the central position of the end face to be labeled of each square billet in the target square billet contour according to the second intersection point.
Further, the center position determination unit includes:
and the second intersection point coordinate acquisition subunit is used for acquiring a horizontal axis coordinate value and a vertical axis coordinate value of any one second intersection point in an image coordinate system, wherein the image coordinate system takes the upper left corner of the to-be-processed area as an origin, the long side of the to-be-processed area as a horizontal axis, and the wide side as a vertical axis.
And the coordinate conversion subunit is used for performing coordinate system conversion on the horizontal axis coordinate value and the vertical axis coordinate value of each second intersection point in the image coordinate system to obtain the horizontal axis coordinate value and the vertical axis coordinate value of each second intersection point in the space coordinate system.
And the vertical axis coordinate acquisition subunit is used for setting a vertical axis coordinate value of each second intersection point under the space coordinate system according to the square billet specification.
And the central position setting stator unit is used for acquiring the central position of the end face to be labeled of each square billet in the target square billet contour according to the coordinate value of the horizontal axis, the coordinate value of the vertical axis and the coordinate value of the vertical axis of each second intersection point in the space coordinate system.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (10)
1. A square billet labeling method applied to continuous casting is characterized by comprising the following steps:
the method comprises the steps of obtaining a square billet image shot by a camera, wherein the camera is used for shooting a square billet on a billet splitting device when a control system sends an in-place signal every time;
aiming at the square billet image, selecting a region to be processed, wherein the length of the region to be processed is determined according to the maximum transverse distance of the labeling robot, and the width of the region to be processed is determined according to the initial position of the labeling robot and the preset shortest specified value of the square billet;
extracting the square billet contour in the region to be processed;
acquiring a target line segment, wherein the target line segment is a line segment of a preset detection line in a target square billet contour, the target square billet contour is any square billet contour in the area to be processed, and the detection line is parallel to a long edge of the area to be processed;
acquiring the inclination angle of the target square billet profile by taking the detection line as a reference;
acquiring the number of square billets contained in the target square billet profile according to the length of the target line segment, the inclination angle and the square billet specification, wherein the square billet specification comprises a length value and a width value of the cross section of the square billet;
determining the central position of the end face to be labeled of each square billet in the target square billet contour;
and controlling the labeling robot to label each square billet in the contour of the target square billet according to the central position of the end face to be labeled of each square billet.
2. The method of claim 1, wherein the obtaining the number of billets contained in the target billet contour according to the length of the target line segment, the inclination angle and the billet specification comprises:
setting a first threshold value according to the square billet specification;
acquiring a preliminary judgment value of the number of square billets according to the first threshold value and the length of the target line segment;
acquiring the number of first dividing points according to the preliminary judgment value of the number of the square billets, wherein the first dividing points are positioned on the target line segment and are used for equally dividing the target line segment, and the number of the first dividing points is the product of the preliminary judgment value and a preset coefficient;
with each first dividing point as an end point, dividing a first dividing line in the direction of the end face of the square blank to be labeled according to the inclination angle;
acquiring a first intersection point, wherein the first intersection point is an intersection point between all first dividing lines and the target square billet contour;
and determining the number of square billets contained in the target square billet contour according to the first intersection point.
3. The method for labeling square billets for use in continuous casting according to claim 2, wherein said determining the number of square billets contained in the target square billet profile according to the first intersection point comprises:
establishing an image coordinate system by taking the upper left corner of the region to be processed as an origin, the long side of the region to be processed as a horizontal axis and the wide side as a longitudinal axis;
acquiring a longitudinal axis coordinate value of any one first intersection point aiming at the image coordinate system;
acquiring the quantity of square billet end surfaces contained in the target square billet contour according to the difference value of the longitudinal axis coordinate values of any two adjacent first intersection points, wherein if the difference value of the longitudinal axis coordinate values of any two adjacent first intersection points is smaller than a preset distance threshold value, the two first intersection points are positioned on the same square billet end surface, otherwise, the two first intersection points are positioned on two different square billet end surfaces, and the distance threshold value is preset according to the square billet rule;
and setting the number of square billet end surfaces contained in the target square billet profile as the number of square billets contained in the target square billet profile.
4. The billet labeling method applied to continuous casting according to claim 1 or 3, wherein the determining the central position of the end face to be labeled of each billet in the target billet contour comprises:
acquiring the number of second division points according to the number of square billet roots contained in the target square billet contour, wherein the second division points are positioned on the target line segment and are used for equally dividing the target line segment, and the number of the second division points is the number of square billet roots contained in the target square billet contour;
dividing a second dividing line in the direction of the end face to be labeled of the square blank by taking each second dividing point as an end point according to the inclination angle;
acquiring a second intersection point, wherein the second intersection point is an intersection point between all second dividing lines and the target square billet outline;
and determining the central position of the end face to be labeled of each square billet in the target square billet contour according to the second intersection point.
5. The method for labeling square billets for continuous casting according to claim 4, wherein the step of determining the central position of the end face to be labeled of each square billet in the target square billet contour according to the second intersection point comprises the following steps:
acquiring a horizontal axis coordinate value and a vertical axis coordinate value of any second intersection point under an image coordinate system, wherein the image coordinate system takes the upper left corner of the region to be processed as an origin, the long side of the region to be processed as a horizontal axis, and the wide side as a vertical axis;
converting a coordinate system of a horizontal axis coordinate value and a vertical axis coordinate value of each second intersection point under an image coordinate system to obtain the horizontal axis coordinate value and the vertical axis coordinate value of each second intersection point under a space coordinate system;
setting a vertical axis coordinate value of each second intersection point under the space coordinate system according to the square billet specification;
and acquiring the central position of the end face to be labeled of each square billet in the target square billet contour according to the coordinate value of the horizontal axis, the coordinate value of the vertical axis and the coordinate value of the vertical axis of each second intersection point in the space coordinate system.
6. The method of claim 5, wherein the setting of the vertical axis coordinate value of each second intersection point in the space coordinate system according to the billet specification comprises:
setting a center point value of each second intersection point in the image coordinate system according to the following formula:
P=Min(i,w)/2；
wherein P represents a center point value of any one of the second intersection points in the image coordinate system, i represents a width value of the billet cross section, and w represents a length value of the billet cross section;
and converting the coordinate system of the central point value of each second intersection point under the image coordinate system to obtain the vertical axis coordinate value of each second intersection point under the space coordinate system.
7. The billet counting method applied to the continuous casting according to claim 1 or 6, wherein before determining the central position of the end face to be labeled of each billet in the target billet contour, the method further comprises:
judging whether the inclination angle of the target square billet contour is within a preset angle range, if so, determining the central position of the end face to be labeled of each square billet in the target square billet contour, otherwise, judging the target square billet contour as a square billet contour which cannot be labeled, and discarding the square billet contour, wherein the angle range is preset according to the maximum rotation angle of the labeling robot and the installation angle of the camera.
8. A billet labeling apparatus for continuous casting, which is used for performing the billet labeling method for continuous casting according to any one of claims 1 to 7, the billet labeling apparatus comprising:
the device comprises an image acquisition module, a control system and a control module, wherein the image acquisition module is used for acquiring square billet images shot by a camera, and the camera is used for shooting square billets on the billet splitting device when the control system sends in-place signals each time;
the processing area selection module is used for selecting an area to be processed according to the square billet image, the length of the area to be processed is determined according to the maximum transverse distance of the labeling robot, and the width of the area to be processed is determined according to the initial position of the labeling robot and the preset shortest specified value of the square billet;
the square billet contour extraction module is used for extracting the square billet contour in the area to be processed;
the target line segment acquisition module is used for acquiring a target line segment, the target line segment is a line segment of a preset detection line in a target square billet contour, the target square billet contour is any square billet contour in the area to be processed, and the detection line is parallel to the long edge of the area to be processed;
the inclination angle acquisition module is used for acquiring the inclination angle of the target square billet profile by taking the detection line as a reference;
the square billet root number acquisition module is used for acquiring the square billet root number contained in the target square billet outline according to the length of the target line segment, the inclination angle and the square billet specification, wherein the square billet specification comprises a length value and a width value of the cross section of the square billet;
the central position acquisition module is used for determining the central position of the end face to be labeled of each square billet in the target square billet contour;
and the labeling module is used for controlling the labeling robot to label each square billet in the contour of the target square billet according to the end surface center position of the end surface to be labeled of each square billet.
9. The apparatus for labeling a billet applied to continuous casting according to claim 8, wherein the billet number acquiring module comprises:
a first threshold value setting unit for setting a first threshold value according to the square billet specification;
the square billet root number preliminary judgment unit is used for acquiring a preliminary judgment value of the square billet root number according to the first threshold value and the length of the target line segment;
a first division point setting unit, configured to obtain the number of first division points according to a preliminary determination value of the number of square billets, where the first division points are located on the target line segment and are used to equally divide the target line segment, and the number of the first division points is a product of the preliminary determination value and a preset coefficient;
the first dividing line dividing unit is used for dividing a first dividing line in the direction of the end face to be labeled of the square blank by taking each first dividing point as an end point according to the inclination angle;
a first intersection point obtaining unit, configured to obtain a first intersection point, where the first intersection point is an intersection point between all the first dividing lines and the target square billet contour;
and the square billet root number determining unit is used for determining the square billet root number contained in the target square billet contour according to the first intersection point.
10. The square billet labeling device applied to continuous casting according to claim 9, wherein the square billet number determining unit comprises:
a coordinate system establishing subunit, configured to establish an image coordinate system by using the upper left corner of the to-be-processed region as an origin, the long side of the to-be-processed region as a horizontal axis, and the wide side as a vertical axis;
a first longitudinal coordinate obtaining subunit, configured to obtain, for the image coordinate system, a longitudinal coordinate value of any one of the first intersection points;
a billet end face obtaining subunit, configured to obtain, according to a difference between longitudinal axis coordinate values of any two adjacent first intersection points, the number of billet end faces included in the target billet contour, where if the difference between the longitudinal axis coordinate values of any two adjacent first intersection points is smaller than a preset distance threshold, the two first intersection points are located on the same billet end face, otherwise, the two first intersection points are located on two different billet end faces, and the distance threshold is preset according to the billet rule;
and a square billet root number setting subunit, configured to set the number of square billet end faces included in the target square billet profile as the number of square billet included in the target square billet profile.
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