CN113834445A - Method for detecting sizes of slag and burr in casting blank flame cutting - Google Patents
Method for detecting sizes of slag and burr in casting blank flame cutting Download PDFInfo
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- CN113834445A CN113834445A CN202111167307.7A CN202111167307A CN113834445A CN 113834445 A CN113834445 A CN 113834445A CN 202111167307 A CN202111167307 A CN 202111167307A CN 113834445 A CN113834445 A CN 113834445A
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- 238000005266 casting Methods 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000005520 cutting process Methods 0.000 title claims abstract description 33
- 239000002893 slag Substances 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000010191 image analysis Methods 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 23
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000007493 shaping process Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000011179 visual inspection Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a method for detecting the sizes of slag and burrs generated by flame cutting of a casting blank, which comprises the steps of covering the whole width direction of the casting blank by a view field consisting of an area-array camera; projecting line structure light to the surface of a casting blank, wherein the projected line structure light continuously moves relative to the surface of the casting blank by utilizing the motion of the casting blank per se, and the whole surface of the casting blank is scanned; in the scanning process, an area-array camera rapidly and synchronously shoots a casting blank surface image with a line-structured light pattern, the image containing the head and the tail of the casting blank is reserved through image analysis, the contour information of the head and the tail of the casting blank is extracted according to the principle of triangulation ranging, the head and the tail of the casting blank are spliced in the scanning process, the three-dimensional shapes of the head and the tail of the casting blank are obtained, and the detection of the flame cutting section of the casting blank, namely the sizes of slag and burrs at the head and the tail, is completed. According to the invention, the three-dimensional shapes of the head and the tail of the casting blank are measured in real time by utilizing the structured light visual detection principle and combining the conveying motion of the casting blank, so that the sizes of flame cutting slag and burrs are extracted.
Description
Technical Field
The invention relates to the technical field of flame cutting, in particular to a method for detecting sizes of casting blank flame cutting slag and burrs.
Background
Flame cutting is a rough machining technology widely applied to the steel industry, and particularly when the thickness of steel is more than 50mm, the flame cutting is the only economic and effective cutting mode.
The residual slag and burrs on the upper and lower surfaces of the cutting surface after the flame cutting of the casting blank have great influence on the quality of the finished product. The residual slag and burrs can form defects of warping, slag inclusion and the like in the subsequent rolling process, influence the wear resistance, fatigue resistance, corrosion resistance and electromagnetic property of the metal plate in different degrees, wear and even damage the transportation roller way and the frame roller of the blooming mill, and cause immeasurable economic and brand losses to iron and steel enterprises. Therefore, the sizes of the slag and the burrs of the flame cutting of the casting blank are detected on line, the casting blank which does not meet the requirements is transferred from a production line for additional treatment, and the method has great effects on improving the quality of rolled products, protecting devices such as a conveying roller way and a roller and improving the economic benefit.
At present, no effective means and technology for detecting the flame cutting slag and the size of the casting blank exist, and whether the flame cutting quality of the casting blank meets the requirements or not is roughly judged mainly through manual visual inspection by a monitoring camera. Manual visual inspection can only be roughly qualitative, and workers judge whether the sizes of the slag and the burrs exceed the standard according to experience without a quantitative standard; a large amount of information is easily lost by a high-temperature moving object visually observed by a monitoring camera; moreover, for the same casting blank, the judgment results of different workers are affected by subjective factors and are inconsistent, the measurement results are unreliable, and meanwhile, the manual online visual inspection also generates larger labor cost. Therefore, the development of an online detection device and technology for the flame cutting slag and the size of the casting blank to realize real-time and full-continuous detection gradually receives attention of iron and steel enterprises.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a method for detecting the sizes of flame cutting slag and burrs of a casting blank.
The technical scheme adopted by the invention is as follows:
the invention provides a method for detecting sizes of slag and burrs generated by flame cutting of a casting blank, which comprises the following steps:
s1, arranging an area-array camera above the motion direction of the casting blank, and covering the whole width direction of the casting blank by a view field consisting of the area-array camera;
s2, arranging a structured light projector in front of the area array camera, wherein the structured light projector projects structured light to the surface of a casting blank, the projection of the structured light on the movement direction of the casting blank needs to cover the width of the whole casting blank, so that the integrity of the surface appearance measurement of the casting blank is ensured, and the projected structured light continuously moves relative to the surface of the casting blank by utilizing the movement of the casting blank per se to scan the whole surface of the casting blank;
s3, in the scanning process, the area-array camera rapidly and synchronously shoots the surface image of the casting blank with the line-structured light pattern, the image containing the head and the tail of the casting blank is reserved through image analysis, the contour information of the head and the tail of the casting blank is extracted according to the triangular ranging principle, the head and the tail of the casting blank are spliced in the scanning process, the three-dimensional shapes of the head and the tail of the casting blank are obtained, and the detection of the flame cutting section of the casting blank, namely the sizes of the slag and the burr at the head and the tail is completed.
Further, in step S1, the field of view formed by the area-array cameras is determined according to the measurement requirements and the field condition limitations, and is formed by a single area-array camera or by splicing multiple area-array cameras.
Further, in step S2, the line structured light is projected by a laser light source or a broad spectrum light source.
Further, the line structured light is a single line structured light or a plurality of line structured lights.
Further, the plurality of line structured light is made up of an array of projectors that emit a single line structured light or is implemented by a single projector in combination with an optical shaping element projecting a plurality of line structured light.
Furthermore, among the plurality of linear structured lights, projections between two adjacent linear structured lights in the moving direction of the casting blank need to be connected or have a certain contact ratio, so as to ensure the integrity of the surface scanning of the casting blank or the integrity of the three-dimensional shape detection.
Furthermore, the projection of each single structured light in the plurality of line structured lights in the direction perpendicular to the moving direction of the casting blank needs to cover a space window of a camera view field in the moving direction of the casting blank, so as to increase the time length of the head and the tail of the casting blank moving in the space window, and ensure that the camera can acquire more images to acquire the surface profile quantity of the casting blank to the maximum extent.
Further, the projection position of the single-line structured light on the surface of the casting blank corresponds to a diagonal line of a camera view field.
Furthermore, when the area-array camera and the structured light projector are arranged, the measuring range of the profile is ensured to be within the depth of field range of the projection and focusing of the area-array camera and the structured light, so that the measuring precision of the three-dimensional shape of the surface of the casting blank is improved.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the flame cutting quality of the casting blank is judged by detecting the flame cutting slag and burr sizes of the casting blank on line, and the unqualified casting blank is removed from a production line for additional treatment, so that the quality of subsequent rolling products is improved, devices such as a conveying roller way and a roller are protected, and the economic benefit of an enterprise is improved.
Drawings
FIG. 1 is a schematic diagram showing the corresponding relationship between the field of view of the camera and the structured light under the condition of a single line structured light according to the method of the present invention;
FIG. 2 is a schematic diagram of the detection process of the method of the present invention;
FIG. 3 is a schematic diagram of the method for adjusting the measurement range and accuracy of the method of the present invention;
FIG. 4 is a schematic diagram of the method for adjusting the measurement speed according to the present invention;
FIG. 5 is a schematic diagram showing the relationship between the camera viewing field and the structured light under the condition of the light with multiple line structures according to the method of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Example one
The method for detecting the sizes of the slag and the burr of the flame cutting of the casting blank, disclosed by the invention, as shown in figures 1 and 2, comprises the following steps:
s1, arranging an area-array camera above the motion direction of the casting blank, and covering the whole width direction of the casting blank by a view field consisting of the area-array camera; the field of view formed by the area-array cameras is determined according to measurement requirements and field condition limitations, and can be formed by single area-array cameras or formed by splicing multiple area-array cameras in an array manner; in this embodiment, the number of area-array cameras is one;
s2, arranging a structured light projector in front of the area array camera, wherein the structured light projector projects structured light to the surface of a casting blank, the projection of the structured light on the movement direction of the casting blank needs to cover the width of the whole casting blank, so that the integrity of the surface appearance measurement of the casting blank is ensured, and the projected structured light continuously moves relative to the surface of the casting blank by utilizing the movement of the casting blank per se to scan the whole surface of the casting blank;
wherein the line structured light is projected by a laser light source or a broad spectrum light source;
the line-structured light is single line-structured light or multiple line-structured light; in this embodiment, the line structured light is a single line structured light; when the single-line structured light is adopted, the projection position of the single-line structured light on the surface of the casting blank corresponds to the diagonal line of the camera view field;
when the area-array camera and the structured light projector are arranged, the measuring range of the casting blank outline is ensured to be within the depth of field range of the projection focus of the area-array camera and the structured light so as to improve the measuring precision of the three-dimensional shape of the casting blank surface;
as shown in FIG. 3, wherein npNormal to the sector of the line-structured light, ncIs the optical axis of the camera, theta is npAnd ncThe included angle of (A); under the condition that the positions of the camera view field and the line structure light are determined according to requirements, the different positions of the area array camera and the structure light projector cause the change of the optical axis direction of the camera and the normal direction of the line structure light sector, and according to the principle of triangulation, the measurement range and the measurement precision of the casting blank surface morphology can be realized by adjusting the included angle between the normal direction of the sector where the line structure light is located and the optical axis of the camera; the smaller the set included angle is, the smaller the measurement range is, and the higher the measurement precision is; the larger the included angle is, the larger the measurement range is, and the lower the measurement accuracy is.
S3, in the scanning process, the area-array camera rapidly and synchronously shoots the surface image of the casting blank with the line-structured light pattern, the image containing the head and the tail of the casting blank is reserved through image analysis, the contour information of the head and the tail of the casting blank is extracted according to the triangular ranging principle, the head and the tail of the casting blank are spliced in the scanning process, the three-dimensional shapes of the head and the tail of the casting blank are obtained, and the detection of the flame cutting section of the casting blank, namely the sizes of the slag and the burr at the head and the tail is completed.
Example two
The difference between this embodiment and the first embodiment is: the number of the area array cameras is two, and the line structured light is a plurality of line structured light, specifically, in this embodiment, in order to increase the measurement speed, the number of the line structured light is ten per surface.
FIG. 5 shows the measurement of the upper surface of a cast slab, which is the same as the measurement of the lower surface of the cast slab; when multiple line structured light is employed, the multiple line structured light is made up of a projector array that emits a single line structured light or is achieved by a single structured light projector in combination with an optical shaping element projecting multiple line structured light simultaneously; in the plurality of linear structured lights, the projections of two adjacent linear structured lights in the motion direction of the casting blank are connected or have a certain contact ratio so as to ensure the integrity of the surface scanning of the casting blank or the integrity of the three-dimensional shape detection; the projection of each single structured light in the plurality of line structured lights in the direction vertical to the motion direction of the casting blank needs to cover a space window of a camera view field in the motion direction of the casting blank so as to increase the time length of the head and the tail of the casting blank moving in the space window and ensure that the camera can acquire more images to acquire the surface profile quantity of the casting blank to the maximum extent;
the application requirement of adopting the light with the plurality of line structures is that the measurement efficiency and speed of the surface profile of the casting blank can be improved; when the moving speed of the casting blank is too high or the available view field window of a camera in the moving direction of the casting blank is smaller, in order to ensure the dense contour detection number of the surface of the casting blank, the method is realized by increasing the light quantity of the line structure;
as shown in fig. 4, when a plurality of line-structured lights are used, in order to increase the measurement time window in the camera field of view, the projection of each line-structured light in the plurality of line-structured lights in the direction perpendicular to the casting blank moving direction must cover the space window of the camera field of view in the casting blank moving direction; in order to ensure the integrity of the surface appearance measurement of the casting blank, the projection of the multi-line structured light in the movement direction of the casting blank must cover the whole width of the casting blank; the more the line structured light is, the faster the measurement speed is; under the condition that the camera acquisition speed is certain and the computer processing capability is sufficient, the measurement speed or the profile extraction speed is in direct proportion to the quantity of line structure light.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (9)
1. The method for detecting the sizes of the casting blank flame cutting slag and burrs is characterized by comprising the following steps of:
s1, arranging an area-array camera above the motion direction of the casting blank, and covering the whole width direction of the casting blank by a view field consisting of the area-array camera;
s2, arranging a structured light projector in front of the area array camera, wherein the structured light projector projects structured light to the surface of a casting blank, the projection of the structured light on the movement direction of the casting blank needs to cover the width of the whole casting blank, so that the integrity of the surface appearance measurement of the casting blank is ensured, and the projected structured light continuously moves relative to the surface of the casting blank by utilizing the movement of the casting blank per se to scan the whole surface of the casting blank;
s3, in the scanning process, the area-array camera rapidly and synchronously shoots the surface image of the casting blank with the line-structured light pattern, the image containing the head and the tail of the casting blank is reserved through image analysis, the contour information of the head and the tail of the casting blank is extracted according to the triangular ranging principle, the head and the tail of the casting blank are spliced in the scanning process, the three-dimensional shapes of the head and the tail of the casting blank are obtained, and the detection of the flame cutting section of the casting blank, namely the sizes of the slag and the burr at the head and the tail is completed.
2. The method for detecting the sizes of the casting blank flame cutting slag and the burrs according to claim 1, wherein the method comprises the following steps: in step S1, the field of view formed by the area-array cameras is determined according to the measurement requirements and the limitations of the field conditions, and is formed by a single area-array camera or by splicing multiple area-array cameras.
3. The method for detecting the sizes of the casting blank flame cutting slag and the burrs according to claim 1, wherein the method comprises the following steps: in step S2, the line structured light is projected by a laser light source or a broad spectrum light source.
4. The method for detecting the sizes of the casting blank flame cutting slag and the burrs according to claim 1, wherein the method comprises the following steps: the line-structured light is single line-structured light or multiple line-structured light.
5. The method for detecting the sizes of the casting blank flame cutting slag and the burrs according to claim 4, wherein the method comprises the following steps: the multiple line structured light is made up of an array of projectors that emit a single line structured light or is implemented by a single projector in combination with an optical shaping element projecting multiple line structured light.
6. The method for detecting the sizes of the casting blank flame cutting slag and the burrs according to claim 4, wherein the method comprises the following steps: among the plurality of linear structured lights, projections between two adjacent linear structured lights in the motion direction of the casting blank are required to be connected or have a certain contact ratio, so that the integrity of the surface scanning of the casting blank or the integrity of the three-dimensional shape detection is ensured.
7. The method for detecting the sizes of the casting blank flame cutting slag and the burrs according to claim 6, wherein: the projection of each single structured light in the plurality of line structured lights in the direction perpendicular to the motion direction of the casting blank needs to cover a space window of a camera view field in the motion direction of the casting blank so as to increase the time length of the motion of the head and the tail of the casting blank in the space window and ensure that the camera can acquire more images to acquire the surface profile quantity of the casting blank to the maximum extent.
8. The method for detecting the sizes of the casting blank flame cutting slag and the burrs according to claim 4, wherein the method comprises the following steps: the projection position of the single-line structured light on the surface of the casting blank corresponds to a diagonal line of a camera view field.
9. The method for detecting the sizes of the casting blank flame cutting slag and the burrs according to claim 1, wherein the method comprises the following steps: when the area-array camera and the structured light projector are arranged, the measuring range of the profile is ensured to be within the depth of field range of the projection and focusing of the area-array camera and the structured light so as to improve the measuring precision of the three-dimensional shape of the surface of the casting blank.
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| CN202111167307.7A CN113834445A (en) | 2021-10-04 | 2021-10-04 | Method for detecting sizes of slag and burr in casting blank flame cutting |
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Cited By (2)
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| CN115574725A (en) * | 2022-12-08 | 2023-01-06 | 江苏金恒信息科技股份有限公司 | Steel plate size measuring method and system based on line structured light |
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