CN112504184B - Rapid online quality inspection system for three-dimensional size of steel plate - Google Patents
Rapid online quality inspection system for three-dimensional size of steel plate Download PDFInfo
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- CN112504184B CN112504184B CN202011382511.6A CN202011382511A CN112504184B CN 112504184 B CN112504184 B CN 112504184B CN 202011382511 A CN202011382511 A CN 202011382511A CN 112504184 B CN112504184 B CN 112504184B
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- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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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
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- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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Abstract
The invention discloses a steel plate three-dimensional size rapid online quality inspection system, which comprises a steel plate conveying device, a quality inspection device and a quality inspection device, wherein the steel plate conveying device is used for conveying steel plates to other devices; the steel plate characteristic code identification device is used for identifying the characteristic code on the surface of the steel plate and searching the design size information of the steel plate in the database according to the characteristic code; the first measuring device is used for measuring the thickness data of the steel plate; the second measuring device is used for comprehensively scanning the steel plate and acquiring point cloud data information of the steel plate; and the data storage and display control device is used for processing the point cloud data, calculating the geometric parameters of the steel plate, judging whether each datum does not meet the corresponding standard requirement according to a preset judgment rule, and displaying and transmitting all the data. The invention can realize automatic detection in severe environment of steel mill, improve detection precision, reliability and production tact of the mill, ensure detection quality of products delivered from the mill, reduce the number of workers in production line, reduce labor intensity of workers and reduce harm of operation environment to human body.
Description
Technical Field
The invention belongs to the technical field of automatic detection, and particularly relates to a steel plate three-dimensional size rapid online quality detection system.
Background
At present, steel plate detection is mainly completed in a manual mode, the length and the width of a steel plate are measured through a meter ruler, the thickness of the steel plate is randomly checked and measured through a micrometer, the length and the width of the steel plate are recorded on the surface of the steel plate and then recorded into a computer, the measurement accuracy depends heavily on the experience and the responsibility of a detection worker, the generated measurement error randomness is large, the steel plate is influenced by factors such as rolling and shearing and is generally not in a standard rectangle, the worker can only detect the length, the width and the thickness of the fixed position of the steel plate, the minimum width, the length and the thickness which are required by national standards cannot be found, the false detection condition exists, the dimension parameters of the steel plate which are difficult to measure manually, such as camber, bevel and unevenness, are determined whether to be qualified or not through experience, quantitative numerical judgment is not prepared, and further uncertainty is brought to the quality detection result of the steel plate. After the dimension of the steel plate is measured, workers manually call the design dimension of the steel plate from a computer according to the characteristic code of the steel plate, manually judge whether the steel plate is qualified or not, and write down marks on the surface of the steel plate according to the judgment result, so that the whole process is long in time consumption and the production rhythm is influenced.
Disclosure of Invention
The invention aims to provide a rapid online quality inspection system for the three-dimensional size of a steel plate, aiming at a series of problems of limited detection size parameters, low speed, manual false detection risk, high labor intensity, bad production environment and the like when the steel plate size quality inspection is finished manually in the current factory.
The technical solution for realizing the purpose of the invention is as follows: a steel plate three-dimensional size rapid online quality inspection system comprises a steel plate conveying device, a steel plate feature code recognition device, a steel plate to be detected, a first measuring device, a second measuring device and a data storage and display control device;
the steel plate conveying device is used for conveying the steel plate to be detected to other devices;
the steel plate feature code recognition device is used for recognizing the feature code on the surface of the steel plate to be detected, searching the design size information of the steel plate in the database according to the feature code, and then transmitting the feature code and the design size information to the data storage and display control device;
the first measuring device is used for measuring the thickness data of the steel plate to be detected and transmitting the data to the data storage and display control device;
the second measuring device is used for comprehensively scanning the steel plate to be detected, acquiring point cloud data information of the steel plate and transmitting the point cloud data information to the data storage and display control device;
the data storage and display control device is used for processing the point cloud data and calculating the geometric parameters of the steel plate to be detected, including the length, the width, the camber, the cut slope, the unevenness and the diagonal of the steel plate to be detected; the device is also used for integrating the feature codes, the design size information and the geometric parameters, judging whether each datum does not meet the corresponding standard requirement according to a preset judgment rule, displaying a judgment result, and then transmitting all data of the device to a remote database server to finish the whole-process measurement of the steel plate.
Further, the first measuring device adopts a non-contact ultrasonic thickness measuring mode.
Further, the second measuring device can detect whether all the steel plates are completely scanned or not in the process of comprehensively scanning the steel plates to be detected, and point cloud data information of the steel plates is generated after all the steel plates are completely scanned.
Further, the data storage and display control device is used for processing the point cloud data and calculating the geometric parameters of the steel plate to be detected, wherein the geometric parameters comprise the length, the width, the camber, the inclination, the unevenness and the diagonal of the steel plate to be detected, and the specific process comprises the following steps:
and 5, setting a sliding window, sliding the sliding window on the fitting plane according to a preset step length, and calculating the maximum and minimum values of the point cloud in the sliding window from the fitting plane to obtain the unevenness.
Compared with the prior art, the invention has the following remarkable advantages:
1) the system can realize high-precision on-line rapid measurement of geometric parameters such as the length, the width, the thickness, the camber, the bevel, the unevenness, the diagonal and the like of the steel plate;
2) steel plate feature codes are sprayed on the surface of the steel plate, identity information of the steel plate is automatically identified, the design size of the steel plate is obtained through the identity information, and the detection efficiency is improved;
3) the quality inspection judgment rule is used for comparing the actual measurement size and the design size of the steel plate, judging whether the steel plate is qualified or not, automatically generating an unqualified size item when the steel plate is unqualified, realizing automatic quality inspection, and reducing the risk of manual false inspection and the influence of manual subjectivity;
4) the measured size and the quality inspection result of the steel plate are locally stored and uploaded to a factory data server for use by subsequent stations, so that the utilization rate of data resources is improved;
5) the essence inspection system can finish the inspection on the original production rhythm of a factory without generating extra inspection time;
6) automatic detection in a severe environment of a steel mill is realized, the detection precision, reliability and production tact of the mill are improved, and the detection quality of ex-factory products is ensured; meanwhile, the number of production line workers is reduced, the labor intensity of the workers is reduced, and the harm of the operation environment to the human body is reduced.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
FIG. 1 is a block diagram of a three-dimensional fast on-line quality inspection system for steel plates according to an embodiment.
FIG. 2 is a flow chart of an embodiment of automated inspection of steel plates.
FIG. 3 is a flowchart illustrating the detection of geometric parameters of a steel plate according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In one embodiment, with reference to fig. 1, the invention provides a steel plate three-dimensional size rapid online quality inspection system, which includes a steel plate transportation device 1, a steel plate feature code recognition device 2, a steel plate to be detected 3, a first measurement device 4, a second measurement device 6, and a data storage and display control device 7;
the steel plate conveying device 1 is used for conveying the steel plate 3 to be detected to other devices;
the steel plate feature code recognition device 2 is used for recognizing the feature code on the surface of the steel plate 3 to be detected, searching the design size information of the steel plate in a database according to the feature code, and then transmitting the feature code and the design size information to the data storage and display control device 7;
the first measuring device is used for measuring the thickness data of the steel plate 3 to be detected and transmitting the data to the data storage and display control device 7; the measured thickness data comprises fixed point position thickness measurement and thickness measurement on the whole straight line along a certain straight line direction of the steel plate;
the second measuring device 6 is used for comprehensively scanning the steel plate 3 to be detected, collecting point cloud data information of the steel plate and transmitting the point cloud data information to the data storage and display control device 7; the second measuring device can adopt a plurality of 3D industrial cameras, each camera collects steel plate point cloud data corresponding to the position of the camera, and finally all the point cloud data are spliced to form complete steel plate point cloud data;
the data storage and display control device 7 is used for processing the point cloud data and calculating the geometric parameters of the steel plate 3 to be detected, including the length, the width, the camber, the cut slope, the unevenness and the diagonal of the steel plate 3 to be detected; the device is also used for integrating the feature codes, the design size information and the geometric parameters, judging whether each datum does not meet the corresponding standard requirement according to a preset judgment rule, displaying a judgment result, and then transmitting all data of the device to a remote database server to finish the whole-process measurement of the steel plate.
Further, in one embodiment, the steel plate feature code recognition device 2 recognizes the steel plate feature code by using a character recognition technology based on pattern recognition.
Further, in one embodiment, the first measuring device adopts a non-contact ultrasonic thickness measuring mode.
Further, in one embodiment, the first measuring device includes at least three ultrasonic thickness measuring probes.
Further, in one embodiment, the first measuring device comprises a cross beam, and a first thickness measuring probe 5-1, a second thickness measuring probe 5-2 and a third thickness measuring probe 5-3 which are arranged on the cross beam, when the steel plate transporting device 1 transports the steel plate 3 to be detected to the steel plate transporting device 1, the first thickness measuring probe 5-1 and the third thickness measuring probe 5-3 automatically search for the edge of the steel plate, the second thickness measuring probe 5-2 searches for the center of the steel plate according to the positions of the first thickness measuring probe 5-1 and the third thickness measuring probe 5-3, and after all the probes are in place, the probes automatically fall to the surface of the steel plate to start the measurement of the thickness of the steel plate.
Further, in one embodiment, the second measuring device 6 detects whether all the steel plates are completely scanned in the process of fully scanning the steel plate 3 to be detected in real time, and generates point cloud data information of the steel plates after all the steel plates are completely scanned.
Further, in one embodiment, the data storage and display control device 7 is configured to process the point cloud data, and calculate geometric parameters of the steel plate 3 to be detected, including length, width, camber, shear, unevenness, and diagonal of the steel plate 3 to be detected, and with reference to fig. 3, the specific process includes:
and 5, setting a sliding window, sliding the sliding window on the fitting plane according to a preset step length, and calculating the maximum and minimum values of the point cloud in the sliding window from the fitting plane to obtain the unevenness.
Further, in one embodiment, the steel plate feature code recognition device stores the feature code in the form of an image, and the feature code image includes three modes of a bar code, a two-dimensional code and text characters.
Further, in one embodiment, the system further comprises: the two lasers of the correlation laser group for measuring the width dimension of the steel plate are respectively positioned at the two sides of the steel plate and irradiate the side surface of the steel plate to realize the width measurement, and the laser Doppler velocimeter is used for measuring the length dimension of the steel plate.
With reference to fig. 2, the process of the system of the present invention for realizing the rapid online quality inspection of the three-dimensional size of the steel plate comprises:
(1) after the system is started, the steel plate conveying device 1 conveys a steel plate 3 to be detected to the steel plate characteristic code recognition device 2, the steel plate characteristic code recognition device 2 starts to scan and recognize material codes on the surface of the steel plate, the recognized material codes are transmitted to the data storage and display control device 7, the design size information of the steel plate is searched in a database, and finally the design size information is displayed on the data storage and display control device;
(2) after acquiring basic information of a steel plate 3, the steel plate 3 is conveyed to a first measuring device by a steel plate conveying device 1, the edge of the steel plate is automatically searched by a first thickness measuring probe 5-1 and a third thickness measuring probe 5-3, the center of the steel plate is searched by a second thickness measuring probe 5-2 according to the positions of the first thickness measuring probe 5-1 and the third thickness measuring probe 5-3, the steel plate continues to move forwards by the steel plate conveying device after the probes fall in place, in the process, the thickness measuring probes 5-1, 5-3 and 5-2 are always kept at the edge and the center of the steel plate until the current steel plate is measured, and thickness measuring data are transmitted to a data storage and display control device 7 in real time through an Ethernet;
(3) after the thickness measurement is finished, the measured steel plate 3 moves to a position below a second measuring device 6, the whole steel plate surface scanning is started, whether a complete steel plate is scanned or not is continuously detected in the scanning process, and when the fact that the whole steel plate is scanned is detected, measured data are formed into point cloud data information;
(4) the data storage and display control device 7 processes the whole steel plate point cloud data information by using an image processing algorithm, calculates geometric parameters such as required measurement length, width, camber, cut off slope, unevenness and diagonal line, and displays the geometric parameters on the data storage and display control device 7;
(5) the data storage and display control device 7 integrates the feature code, the design size and the actual measurement size information of the same steel plate, judges whether the related data exceed the limit or not according to the judgment rule, displays the related data on the interface of the data storage and display control device 7, and transmits all the data to a factory remote database server through the Ethernet to finish the whole-flow measurement of the single steel plate.
In conclusion, the steel plate three-dimensional size rapid online quality inspection system provided by the invention completes acquisition of various information of steel plate detection in a manner of mutual fusion of various sensors. Through the combination of 3D vision, 2D vision, laser Doppler and ultrasonic detection system, combine the running gear, accomplish functions such as the discernment of steel sheet information, measurement, judgement and upload, realize the automated inspection under the harsh environment of steel mill, improve and detect precision, reliability and mill's production beat, guarantee the product detection quality of dispatching from the factory, reduce production line workman's quantity simultaneously, alleviate workman's intensity of labour, reduce the injury of operation environment to the human body.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A steel plate three-dimensional size rapid online quality inspection system is characterized by comprising a steel plate conveying device (1), a steel plate feature code recognition device (2), a steel plate to be detected (3), a first measuring device (4), a second measuring device (6) and a data storage and display control device (7);
the steel plate conveying device (1) is used for conveying the steel plate (3) to be detected to other devices;
the steel plate feature code recognition device (2) is used for recognizing the feature code on the surface of the steel plate (3) to be detected, searching the design size information of the steel plate in a database according to the feature code, and then transmitting the feature code and the design size information to the data storage and display control device (7);
the first measuring device is used for measuring the thickness data of the steel plate (3) to be detected and transmitting the data to the data storage and display control device (7);
the second measuring device (6) is used for comprehensively scanning the steel plate (3) to be detected, collecting point cloud data information of the steel plate and transmitting the point cloud data information to the data storage and display control device (7);
the data storage and display control device (7) is used for processing the point cloud data and calculating the geometric parameters of the steel plate (3) to be detected, wherein the geometric parameters comprise the length, the width, the camber, the cut inclination, the unevenness and the diagonal of the steel plate (3) to be detected; the device is also used for integrating the feature codes, the design size information and the geometric parameters, judging whether each datum does not meet the corresponding standard requirement according to a preset judgment rule, displaying a judgment result, and then transmitting all data of the device to a remote database server to finish the whole-process measurement of the steel plate;
the first measuring device comprises a cross beam, and a first thickness measuring probe (5-1), a second thickness measuring probe (5-2) and a third thickness measuring probe (5-3) which are arranged on the cross beam, when the steel plate transporting device (1) transports a steel plate (3) to be detected to the position of the steel plate transporting device (1), the first thickness measuring probe (5-1) and the third thickness measuring probe (5-3) automatically search for the edge of the steel plate, the second thickness measuring probe (5-2) searches for the center of the steel plate according to the positions of the first thickness measuring probe (5-1) and the third thickness measuring probe (5-3), and after all the probes are in place, the probes automatically fall to the surface of the steel plate to start the measurement of the thickness of the steel plate;
and the second measuring device (6) can detect whether all the steel plates are completely scanned or not in the process of comprehensively scanning the steel plates (3) to be detected in real time, and point cloud data information of the steel plates is generated after all the steel plates are completely scanned.
2. The steel plate three-dimensional size rapid online quality inspection system according to claim 1, wherein the steel plate feature code recognition device (2) recognizes the steel plate feature code by a character recognition technology based on pattern recognition.
3. The system for rapidly detecting the quality of the steel plate in the three-dimensional size on line according to claim 2, wherein the first measuring device adopts a non-contact ultrasonic thickness measuring mode.
4. The system for rapidly detecting the quality of the steel plate in the three-dimensional online manner according to claim 3, wherein the first measuring device comprises at least three ultrasonic thickness measuring probes.
5. The steel plate three-dimensional size rapid online quality inspection system according to claim 1, wherein the data storage and display control device (7) is configured to process the point cloud data, calculate geometric parameters of the steel plate (3) to be detected, including length, width, camber, shear slope, unevenness, and diagonal of the steel plate (3) to be detected, and the specific process includes:
step 1, clutter suppression is carried out on a three-dimensional point cloud model formed by point cloud data to obtain a corrected three-dimensional steel plate target model;
step 2, performing target segmentation based on the consistency of the normal vector and the continuity of coordinates;
step 3, obtaining a main direction, namely a long axis, of the steel plate through Principal Component Analysis (PCA), and measuring a short axis size sequence of the long axis of the steel plate by the virtual caliper along the main direction and a vertical direction, wherein the vertical direction and the main direction are positioned on the same plane and are vertical to each other; the long axis is the length of the steel plate, the short axis is the width of the steel plate, a diagonal line can be obtained according to the length and the width, the longest long axis sequence-the shortest long axis sequence is beveling, and the longest short axis-the shortest short axis sequence is sickle curve;
step 4, performing point cloud plane fitting of the steel plate area based on the target segmentation result of the step 2;
and 5, setting a sliding window, sliding the sliding window on the fitting plane according to a preset step length, and calculating the maximum and minimum values of the point cloud in the sliding window from the fitting plane to obtain the unevenness.
6. The steel plate three-dimensional size rapid online quality inspection system according to claim 5, wherein the steel plate feature code recognition device stores the feature code in the form of an image, and the feature code image includes three modes of a bar code, a two-dimensional code and text characters.
7. The system for rapidly inspecting the quality of the steel plate on line in three dimensions according to claim 6, further comprising: the laser Doppler velocimeter is used for measuring the length dimension of the steel plate.
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Address after: 222061 No.18, Shenghu Road, Haizhou District, Lianyungang City, Jiangsu Province Patentee after: The 716th Research Institute of China Shipbuilding Corp. Patentee after: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Patentee after: China Shipbuilding Digital Information Technology Co.,Ltd. Address before: 222061 No.18, Shenghu Road, Haizhou District, Lianyungang City, Jiangsu Province Patentee before: The 716th Research Institute of China Shipbuilding Corp. Patentee before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Patentee before: CSIC Information Technology Co.,Ltd. |