CN113920105A - Machine vision-based method, system, equipment and medium for identifying inclined steel in heating furnace - Google Patents
Machine vision-based method, system, equipment and medium for identifying inclined steel in heating furnace Download PDFInfo
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Abstract
The invention provides a method, a system, equipment and a medium for identifying oblique steel in a heating furnace based on machine vision, which comprises the following steps of firstly obtaining a pre-shot billet image in the heating furnace; then identifying an image of the steel billet in the heating furnace, and acquiring position coordinates of all the steel billets in the heating furnace; determining a detection area, and taking the steel billet in the detection area as the steel billet to be identified according to the position coordinate of each steel billet; calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than a preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel. According to the invention, the inclination angle of the target steel billet entering the detection area is calculated and compared with the set inclination angle threshold, so that whether the steel billet is inclined or not during steel tapping is judged, and an alarm is given out. The invention can reduce the subsequent billet steel accumulation loss caused by the abnormal tapping of the inclined steel when part of the billet steel is tapped.
Description
Technical Field
The invention relates to the technical field of steel and iron and the technical field of image processing and recognition, in particular to a method, a system, equipment and a medium for recognizing inclined steel in a heating furnace based on machine vision.
Background
In the steel smelting industry, heating furnaces are indispensable heating devices before forging. In the actual forging production, when the steel billet is conveyed in the heating furnace, because the steel billet is usually conveyed in a non-horizontal non-uniform speed stepping type, the steel billet is conveyed to be inclined to different degrees due to the problems of instability, mutual coordination, error and the like of partial conveying beams in the conveying process; for the steel billet with large inclination degree, the steel billet cannot be smoothly discharged from the outlet of the heating furnace, so that the subsequent steel billet is continuously accumulated in the furnace, and the normal smelting operation is hindered; and once the steel billets are piled up, the processing is inconvenient because the steel billets have large mass and high temperature.
In the current smelting scene, the problem of oblique steel tapping of the heating furnace is not detected because the interior of the heating furnace is difficult to observe; if oblique steel occurs during steel billet tapping, the steel cannot be found in time and adjusted, and the loss of steel production operation can be caused.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a method, a system, a device and a medium for identifying oblique steel in a heating furnace based on machine vision, which are used for solving the problem of detecting oblique steel during tapping of the heating furnace.
In order to achieve the above objects and other related objects, the present invention provides a method for identifying tilted steel in a heating furnace based on machine vision, the method comprising the steps of:
acquiring a pre-shot billet steel image in the heating furnace;
identifying the image of the steel billet in the heating furnace, and acquiring the position coordinates of all the steel billets in the heating furnace;
determining a detection area, and taking the steel billet in the detection area as a steel billet to be identified according to the position coordinate of each steel billet;
calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel.
Optionally, after the determining the detection area, the method further includes:
acquiring a coordinate system established in advance according to the billet image in the heating furnace, and determining the position of the detection area in the coordinate system, wherein the method comprises the following steps: ROI ═ y1,x1,y2,x2]；
Judging whether the nth steel billet in the heating furnace is positioned in the detection area, wherein the method comprises the following steps:
wherein, ROI is the position of the detection area in the coordinate system;
(x1,y1) Coordinates of the upper left corner of the detection area in the coordinate system;
(x2,y2) Coordinates in the coordinate system of the lower right corner of the detection area;
the enter _ ROI is a judgment result of whether the nth steel billet in the heating furnace is positioned in the detection area or not;
xn1>x1indicating that the nth billet in the heating furnace is positioned in the detection area;
xn1≤x1indicating that the nth billet in the heating furnace is not or not completely positioned in the detection area;
xn1the abscissa of the upper left corner of the nth billet in the heating furnace in the coordinate system is shown.
Optionally, if a plurality of steel billets exist in the detection area, taking the steel billet at the outermost side or the steel billet farthest from the entrance of the heating furnace as a target steel billet;
and calculating the inclination angle of the target steel billet, comparing the calculated inclination angle with a preset inclination angle threshold value, and judging whether the target steel billet is the oblique steel.
Optionally, before calculating the inclination angle of the target steel billet, the method further includes:
establishing a coordinate system according to the billet image in the heating furnace;
acquiring the position coordinates of each steel billet in the heating furnace in the coordinate system, wherein the position coordinates comprise: billet (n) ═ yn1,xn1,yn2,xn2]；
Determining the position coordinates of the target steel billet in the coordinate system according to the position coordinates of each steel billet, wherein the method comprises the following steps: bille _ tapping [ y ]min,xmin,ymax,xmax]，xmax＝max(xn2)；
Calculating the inclination angle of the target steel billet based on the position coordinates of the target steel billet in the coordinate system;
wherein billt (n) is the position coordinate of the nth billet in the heating furnace in the coordinate system;
(xn1,yn1) The coordinate of the upper left corner of the nth billet in the heating furnace in the coordinate system is shown;
(xn2,yn2) The coordinate of the lower right corner of the nth billet in the heating furnace in the coordinate system;
billt _ tapping is the position coordinate of the target billet in the coordinate system;
(xmin,ymin) The coordinates of the upper left corner of the target billet in the coordinate system are obtained;
(xmax,ymax) And coordinates of the lower right corner of the target billet in the coordinate system are shown.
Optionally, the step of determining whether the target steel billet is an oblique steel comprises:
calculating the inclination angle of the target steel billet by the following steps:
comparing the calculated inclination angle with a preset inclination angle threshold value, and judging whether the target steel billet is the inclined steel or not, wherein the steps of:
wherein, angle is the inclination angle of the target steel billet;
xmax-xminthe transverse distance of the target steel billet in the steel billet image in the heating furnace is taken as the transverse distance;
ymax-yminthe longitudinal distance of the target steel billet in the steel billet image in the heating furnace is taken as the longitudinal distance;
the slant _ alarm represents the judgment of whether the target steel billet is inclined steel or not;
angle > pre _ angle represents that the target steel billet is subjected to oblique steel;
the angle is less than or equal to pre _ angle, which indicates that the target billet is not subjected to inclined steel;
pre _ angle represents a preset tilt angle threshold.
Optionally, the method further comprises:
acquiring a billet image in the heating furnace shot at the current moment, and determining an image frame corresponding to a target billet as an initial identification frame according to the position coordinate of the target billet in the billet image in the heating furnace at the current moment;
acquiring a billet image in the heating furnace shot at the next moment, and determining a billet identification frame with the distance from the initial identification frame within a preset range according to the position coordinates of all billets in the billet image in the heating furnace at the next moment to serve as a candidate identification frame;
and extracting the characteristics of the candidate identification frame, matching the candidate identification frame with the initial identification frame, and determining the motion state and the motion track of the target steel billet.
Optionally, the process of determining the candidate identification box includes:
calculating the distance between the initial identification frame and the billet identification frame, and comprising the following steps: distance (n) ═ l (x)n1+xn2)/2-(xmin+xmax)/2|；
Judging whether the distance between the initial identification frame and the billet identification frame is within a preset range or not, and including:
wherein, distance (n) is the distance between the initial identification frame and the billet identification frame;
if _ candidate (n) indicates the result of determination as to whether or not the billet identification frame is a candidate identification frame;
distance (n) < pre _ distance indicates that the billet recognition frame is taken as a candidate recognition frame;
the distance (n) is not less than pre _ distance and indicates that the billet recognition frame is not used as a candidate recognition frame.
The invention also provides a machine vision-based heating furnace inner oblique steel identification system, which comprises:
the image acquisition module is used for acquiring a pre-shot billet image in the heating furnace;
the image identification module is used for identifying the image of the steel billet in the heating furnace and acquiring the position coordinates of all the steel billets in the heating furnace;
the billet detection module is used for determining a detection area and taking the billet in the detection area as the billet to be identified according to the position coordinate of each billet;
the steel billet identification module is used for calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value and judging whether the steel billet to be identified is the steel billet; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel.
The invention also provides a machine vision-based equipment for identifying the oblique steel in the heating furnace, which comprises:
a processor; and
a computer readable medium having stored thereon instructions which, when executed by the processor, cause the apparatus to perform the method as in any one of the above.
The invention also provides a computer readable medium having stored thereon instructions which are loaded by a processor and which perform the method as defined in any one of the above.
As described above, the present invention provides a method, a system, a device and a medium for identifying tilted steel in a heating furnace based on machine vision, which has the following beneficial effects: firstly, acquiring a pre-shot billet image in a heating furnace; then identifying the image of the steel billet in the heating furnace and acquiring the position coordinates of all the steel billets in the heating furnace; determining a detection area, and taking the steel billet positioned in the detection area as a steel billet to be identified according to the position coordinate of each steel billet; calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel. According to the invention, an industrial camera and a high-temperature protection device thereof are arranged at the position in a heating furnace, a billet image in the furnace is collected to prepare a data set, and a billet position detection model is obtained through training; calling a detection model in real time to obtain the position of a steel billet in the furnace; and judging whether the steel is inclined or not during steel tapping by calculating the inclination angle of the target steel billet entering the detection area and comparing the inclination angle with the set inclination angle threshold value, and giving an alarm. The invention can better detect the inclination condition of the steel billet in the heating furnace during steel tapping and judge whether the steel billet is inclined or not so as to reduce the subsequent steel billet accumulation loss caused by the fact that the inclined steel cannot be discharged normally during the steel tapping of partial steel billets.
Drawings
FIG. 1 is a schematic flow chart of a method for identifying tilted steel in a heating furnace based on machine vision according to an embodiment;
FIG. 2 is a schematic diagram illustrating the positions of a camera and a steel billet in a heating furnace according to an embodiment;
FIG. 3 is a schematic diagram of a pre-shot image of a billet in a furnace according to an embodiment;
FIG. 4 is a schematic diagram of an embodiment of determining skew steel;
FIG. 5 is a schematic hardware structure diagram of a machine vision-based heating furnace tapping angle steel identification system provided by the embodiment;
fig. 6 is a schematic hardware structure diagram of a machine vision-based heating furnace tapping angle steel identification device provided by an embodiment.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1 to 4, the present embodiment provides a method for identifying tilted steel in a heating furnace based on machine vision, which includes the following steps:
s100, acquiring a pre-shot billet steel image in the heating furnace;
s200, identifying the image of the steel billet in the heating furnace, and acquiring the position coordinates of all the steel billets in the heating furnace;
s300, determining a detection area, and taking the steel billet in the detection area as a steel billet to be identified according to the position coordinate of each steel billet;
s400, calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel.
According to the above description, the embodiment first obtains the pre-shot billet image in the heating furnace; then identifying the image of the steel billet in the heating furnace and acquiring the position coordinates of all the steel billets in the heating furnace; determining a detection area, and taking the steel billet positioned in the detection area as a steel billet to be identified according to the position coordinate of each steel billet; calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel. In the embodiment, an industrial camera and a high-temperature protection device thereof are arranged at the position in a heating furnace, a billet image in the furnace is collected to prepare a data set, and a billet position detection model is obtained through training; calling a detection model in real time to obtain the position of a steel billet in the furnace; and judging whether the steel is inclined or not during steel tapping by calculating the inclination angle of the target steel billet entering the detection area and comparing the inclination angle with the set inclination angle threshold value, and giving an alarm. The embodiment can better detect the inclination condition of the steel billet in the heating furnace during steel tapping and judge whether the steel billet is inclined or not so as to reduce the subsequent steel billet accumulation loss caused by the abnormal tapping of the inclined steel during the steel tapping of partial steel billets.
According to the above description, in an exemplary embodiment, the process of identifying the billet image in the heating furnace and acquiring the position coordinates of all the billets in the heating furnace may be: and identifying the billet image in the heating furnace by using the billet position detection model to obtain the positions of all billets in the heating furnace. The process of generating the billet position detection model comprises the following steps: installing an industrial camera and a high-temperature protection device thereof at the upper position in the heating furnace; and acquiring an image of the steel billet in the furnace, making a steel billet position data set, training the steel billet position data set, and obtaining a steel billet position detection model. In this embodiment, an existing neural network architecture may be adopted to train a billet position data set, and then a billet position detection model is obtained, where the billet position detection model is a neural network model for image target detection. The information contained in the billet position data set includes, but is not limited to: the image information of the billet in the heating furnace and the position coordinate information of all the billets in the image of the billet in the heating furnace. In the embodiment, when the industrial camera is installed at the upper position in the heating furnace, the camera picture is enough to completely cover all steel billets in the heating furnace; the high-temperature protection device can resist high temperature of more than thousand degrees so as to ensure the normal operation of the camera in the furnace.
In an exemplary embodiment, after determining the detection area, the method further includes: and judging whether the nth billet in the heating furnace is positioned in the detection area. Specifically, a coordinate system established in advance according to an image of a billet in the heating furnace is acquired, and the position of the detection area in the coordinate system is determined, including: ROI ═ y1,x1,y2,x2](ii) a Judging whether the nth steel billet in the heating furnace is positioned in the detection area, wherein the method comprises the following steps:
wherein, ROI is the position of the detection area in the coordinate system; (x)1,y1) Coordinates of the upper left corner of the detection area in the coordinate system; (x)2,y2) Coordinates in the coordinate system of the lower right corner of the detection area; the entry _ ROI is whether the nth billet in the heating furnace is locatedA determination result of the detection region; x is the number ofn1>x1The determination result indicating that the nth billet in the heating furnace is located in the detection area, that is, the output of the enter _ ROI is true. x is the number ofn1≤x1The judgment result showing that the nth billet in the heating furnace is not located or is not located in the detection area completely is false. x is the number ofn1The abscissa of the upper left corner of the nth billet in the heating furnace in the coordinate system is shown. In this embodiment, after the steel tapping detection area is set, the inclination angle of the target billet entering the detection area is calculated, and when the target billet does not enter the detection area, the inclination angle is not calculated.
In an exemplary embodiment, if a plurality of steel billets exist in the detection area, the method further comprises the step of taking the steel billet at the outermost side or the steel billet farthest from the entrance of the heating furnace as a target steel billet; and calculating the inclination angle of the target steel billet, comparing the calculated inclination angle with a preset inclination angle threshold value, and judging whether the target steel billet is the oblique steel. In some practical cases, the billet closest to the outlet of the heating furnace may be used as the target billet. As an example, the present embodiment takes the outermost billet as the target billet.
According to the above description, before calculating the inclination angle of the target billet, the method further comprises: establishing a coordinate system according to the billet image in the heating furnace; for example, in the present embodiment, when the coordinate system is established according to the billet image in the heating furnace, the lower left corner of the billet image in the heating furnace may be taken as the origin of coordinates, the vertical direction may be taken as the Y axis, and the horizontal direction may be taken as the X axis.
Acquiring the position coordinates of each steel billet in the heating furnace in the coordinate system, wherein the position coordinates comprise: billet (n) ═ yn1,xn1,yn2,xn2](ii) a Determining the position coordinates of the target steel billet in the coordinate system according to the position coordinates of each steel billet, wherein the method comprises the following steps: bille _ tapping [ y ]min,xmin,ymax,xmax]，xmax＝max(xn2) (ii) a I.e. xmaxThe maximum value of max (x) is determined by the x-coordinate value of all billetsn2) The identification box is located. Wherein billet (n) is in the heating furnaceThe position coordinates of the nth billet in the coordinate system; (x)n1,yn1) The coordinate of the upper left corner of the nth billet in the heating furnace in the coordinate system is shown; (x)n2,yn2) The coordinate of the lower right corner of the nth billet in the heating furnace in the coordinate system; billt _ tapping is the position coordinate of the target billet in the coordinate system; (x)min,ymin) The coordinates of the upper left corner of the target billet in the coordinate system are obtained; (x)max,ymax) And coordinates of the lower right corner of the target billet in the coordinate system are shown.
And calculating the inclination angle of the target steel billet based on the position coordinates of the target steel billet in the coordinate system.
According to the above description, in an exemplary embodiment, the determining whether the target steel billet is a skew steel includes:
calculating the inclination angle of the target steel billet by the following steps:
the distance between the inclination angle and the lateral and longitudinal directions is indicated in fig. 4.
Comparing the calculated inclination angle with a preset inclination angle threshold value, and judging whether the target steel billet is the inclined steel or not, wherein the steps of:
wherein, angle is the inclination angle of the target steel billet; x is the number ofmax-xminThe transverse distance of the target steel billet in the steel billet image in the heating furnace is taken as the transverse distance; y ismax-yminThe longitudinal distance of the target steel billet in the steel billet image in the heating furnace is taken as the longitudinal distance; slnt _ alarm represents a judgment as to whether or not the target billet is subjected to skew steel; true indicates the occurrence of skew steel and false indicates the absence of skew steel. angle>pre _ angle represents the condition of the target steel billet for producing the inclined steel; the angle is less than or equal to pre _ angle, which represents the condition that the target billet steel is not subjected to inclined steel; pre _ angle represents a preset tilt angle threshold. As an example, the present implementationFor example, the inclination angle threshold may be set in advance to 20 ° to 30 °. When the steel tapping angle is larger than the set threshold value, smooth steel tapping cannot be carried out, namely, the steel billet cannot smoothly pass through the outlet of the heating furnace.
In an exemplary embodiment, the method further comprises: acquiring a billet image in the heating furnace shot at the current moment, and determining an image frame corresponding to a target billet as an initial identification frame according to the position coordinate of the target billet in the billet image in the heating furnace at the current moment; acquiring a billet image in the heating furnace shot at the next moment, and determining a billet identification frame with the distance from the initial identification frame within a preset range according to the position coordinates of all billets in the billet image in the heating furnace at the next moment to serve as a candidate identification frame; and extracting the characteristics of the candidate identification frame, matching the candidate identification frame with the initial identification frame, and determining the motion state and the motion track of the target steel billet. Specifically, the process of determining the candidate identification box includes:
calculating the distance between the initial identification frame and the billet identification frame billet, and the following steps are included: distance (n) ═ l (x)n1+xn2)/2-(xmin+xmax)/2|；
Judging whether the distance between the initial identification frame and the billet identification frame is within a preset range or not, and including:
wherein, distance (n) is the distance between the initial identification frame and the billet identification frame; if _ candidate (n) indicates the result of determination as to whether or not the billet identification frame is a candidate identification frame; distance (n) < pre _ distance indicates that the billet recognition frame is taken as a candidate recognition frame, and at the moment, true is output, namely a judgment result that the billet recognition frame is taken as the candidate recognition frame is output; the distance (n) is more than or equal to pre _ distance, which indicates that the billet recognition frame is not used as the candidate recognition frame, and at the moment, false is output, namely, the judgment result that the billet recognition frame is not used as the candidate recognition frame is output. Therefore, the embodiment can perform individual tracking on the target billet; the individual tracking can definitely master the position and the motion state of the target object, obtain the motion track of the target object and improve the accuracy of locking the position of the target object; the basic steps of individual tracking include: acquiring a camera image, and taking the acquired target billet position billet _ tapping as an initial identification frame; acquiring a next camera image, and setting all billet identification frames billet with the distance to the initial identification frame within a preset range as candidate identification frames; and extracting the features of all the candidate recognition frames, calculating the confidence scores of all the candidate frames by matching the features of the candidate recognition frames with the template of the initial recognition frame, and taking the highest confidence score as a predicted target.
In summary, the invention provides a method for identifying inclined steel in a heating furnace based on machine vision, which includes the steps of firstly, obtaining a pre-shot image of a steel billet in the heating furnace; then identifying the image of the steel billet in the heating furnace and acquiring the position coordinates of all the steel billets in the heating furnace; determining a detection area, and taking the steel billet positioned in the detection area as a steel billet to be identified according to the position coordinate of each steel billet; calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel. The method comprises the steps of installing an industrial camera and a high-temperature protection device thereof at the position in a heating furnace, acquiring an image of a steel billet in the furnace to manufacture a data set, and training to obtain a steel billet position detection model; calling a detection model in real time to obtain the position of a steel billet in the furnace; and judging whether the steel is inclined or not during steel tapping by calculating the inclination angle of the target steel billet entering the detection area and comparing the inclination angle with the set inclination angle threshold value, and giving an alarm. The method can better detect the inclination condition of the steel billet in the heating furnace during steel tapping and judge whether the steel billet is inclined or not so as to reduce the subsequent steel billet accumulation loss caused by the fact that the inclined steel cannot be discharged normally during the steel tapping of partial steel billets.
As shown in fig. 5, the present invention further provides a system for identifying tilted steel in a heating furnace based on machine vision, the system comprising:
the image acquisition module M10 is used for acquiring a pre-shot billet image in the heating furnace;
the image recognition module M20 is used for recognizing the images of the steel billets in the heating furnace and acquiring the position coordinates of all the steel billets in the heating furnace;
the billet detection module M30 is used for determining a detection area and taking the billet in the detection area as the billet to be identified according to the position coordinates of each billet;
the steel billet to be identified is judged to be the inclined steel or not by the inclined steel identification module M40, wherein the inclined steel identification module M40 is used for calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value and judging whether the steel billet to be identified is the inclined steel or not; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel.
According to the above description, the embodiment first obtains the pre-shot billet image in the heating furnace; then identifying the image of the steel billet in the heating furnace and acquiring the position coordinates of all the steel billets in the heating furnace; determining a detection area, and taking the steel billet positioned in the detection area as a steel billet to be identified according to the position coordinate of each steel billet; calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel. In the embodiment, an industrial camera and a high-temperature protection device thereof are arranged at the position in a heating furnace, a billet image in the furnace is collected to prepare a data set, and a billet position detection model is obtained through training; calling a detection model in real time to obtain the position of a steel billet in the furnace; and judging whether the steel is inclined or not during steel tapping by calculating the inclination angle of the target steel billet entering the detection area and comparing the inclination angle with the set inclination angle threshold value, and giving an alarm. The embodiment can better detect the inclination condition of the steel billet in the heating furnace during steel tapping and judge whether the steel billet is inclined or not so as to reduce the subsequent steel billet accumulation loss caused by the abnormal tapping of the inclined steel during the steel tapping of partial steel billets.
According to the above description, in an exemplary embodiment, the process of identifying the billet image in the heating furnace and acquiring the position coordinates of all the billets in the heating furnace may be: and identifying the billet image in the heating furnace by using the billet position detection model to obtain the positions of all billets in the heating furnace. The process of generating the billet position detection model comprises the following steps: installing an industrial camera and a high-temperature protection device thereof at the upper position in the heating furnace; and acquiring an image of the steel billet in the furnace, making a steel billet position data set, training the steel billet position data set, and obtaining a steel billet position detection model. In this embodiment, an existing neural network architecture may be adopted to train a billet position data set, and then a billet position detection model is obtained, where the billet position detection model is a neural network model for image target detection. The information contained in the billet position data set includes, but is not limited to: the image information of the billet in the heating furnace and the position coordinate information of all the billets in the image of the billet in the heating furnace. In the embodiment, when the industrial camera is installed at the upper position in the heating furnace, the camera picture is enough to completely cover all steel billets in the heating furnace; the high-temperature protection device can resist high temperature of more than thousand degrees so as to ensure the normal operation of the camera in the furnace.
In an exemplary embodiment, after determining the detection area, the method further includes: and judging whether the nth billet in the heating furnace is positioned in the detection area. Specifically, a coordinate system established in advance according to an image of a billet in the heating furnace is acquired, and the position of the detection area in the coordinate system is determined, including: ROI ═ y1,x1,y2,x2](ii) a Judging whether the nth steel billet in the heating furnace is positioned in the detection area, wherein the method comprises the following steps:
wherein, ROI is the position of the detection area in the coordinate system; (x)1,y1) Coordinates of the upper left corner of the detection area in the coordinate system; (x)2,y2) Coordinates in the coordinate system of the lower right corner of the detection area; the enter _ ROI is a judgment result of whether the nth steel billet in the heating furnace is positioned in the detection area or not; x is the number ofn1>x1The determination result indicating that the nth billet in the heating furnace is located in the detection area, that is, the output of the enter _ ROI is true. x is the number ofn1≤x1The judgment result showing that the nth billet in the heating furnace is not located or is not located in the detection area completely is false. x is the number ofn1The abscissa of the upper left corner of the nth billet in the heating furnace in the coordinate system is shown. In this embodiment, after the steel tapping detection area is set, the inclination angle of the target billet entering the detection area is calculated, and when the target billet does not enter the detection area, the inclination angle is not calculated.
In an exemplary embodiment, if a plurality of steel billets exist in the detection area, the method further comprises the step of taking the steel billet at the outermost side or the steel billet farthest from the entrance of the heating furnace as a target steel billet; and calculating the inclination angle of the target steel billet, comparing the calculated inclination angle with a preset inclination angle threshold value, and judging whether the target steel billet is the oblique steel. In some practical cases, the billet closest to the outlet of the heating furnace may be used as the target billet. As an example, the present embodiment takes the outermost billet as the target billet.
According to the above description, before calculating the inclination angle of the target billet, the method further comprises: establishing a coordinate system according to the billet image in the heating furnace; for example, in the present embodiment, when the coordinate system is established according to the billet image in the heating furnace, the lower left corner of the billet image in the heating furnace may be taken as the origin of coordinates, the vertical direction may be taken as the Y axis, and the horizontal direction may be taken as the X axis.
Acquiring the position coordinates of each steel billet in the heating furnace in the coordinate system, wherein the position coordinates comprise: billet (n) ═ yn1,xn1,yn2,xn2](ii) a Determining the position coordinates of the target steel billet in the coordinate system according to the position coordinates of each steel billet, wherein the method comprises the following steps: bille _ tapping [ y ]min,xmin,ymax,xmax]，xmax＝max(xn2) (ii) a I.e. xmaxThe maximum value of max (x) is determined by the x-coordinate value of all billetsn2) The identification box is located. Wherein billt (n) is the position coordinate of the nth billet in the heating furnace in the coordinate system; (x)n1,yn1) The coordinate of the upper left corner of the nth billet in the heating furnace in the coordinate system is shown; (x)n2,yn2) The coordinate of the lower right corner of the nth billet in the heating furnace in the coordinate system; billt _ tapping is the position coordinate of the target billet in the coordinate system; (x)min,ymin) The coordinates of the upper left corner of the target billet in the coordinate system are obtained; (x)max,ymax) And coordinates of the lower right corner of the target billet in the coordinate system are shown.
And calculating the inclination angle of the target steel billet based on the position coordinates of the target steel billet in the coordinate system.
According to the above description, in an exemplary embodiment, the determining whether the target steel billet is a skew steel includes:
calculating the inclination angle of the target steel billet by the following steps:
the distance between the inclination angle and the lateral and longitudinal directions is indicated in fig. 4.
Comparing the calculated inclination angle with a preset inclination angle threshold value, and judging whether the target steel billet is the inclined steel or not, wherein the steps of:
wherein, angle is the inclination angle of the target steel billet; x is the number ofmax-xminThe transverse distance of the target steel billet in the steel billet image in the heating furnace is taken as the transverse distance; y ismax-yminThe longitudinal distance of the target steel billet in the steel billet image in the heating furnace is taken as the longitudinal distance; the slant _ alarm represents the judgment of whether the target steel billet is inclined steel or not; true indicates the occurrence of skew steel and false indicates the absence of skew steel. angle>pre _ angle represents the condition of the target steel billet for producing the inclined steel; the angle is less than or equal to pre _ angle, which represents the condition that the target billet steel is not subjected to inclined steel; pre _ angle represents a preset tilt angle threshold. As an example, the present embodiment may set the inclination angle threshold value to 20 ° to 30 ° in advance. When the steel tapping angle is larger than the set threshold value, smooth steel tapping cannot be carried out, namely, the steel billet cannot smoothly pass through the outlet of the heating furnace.
In an exemplary embodiment, the system further comprises: acquiring a billet image in the heating furnace shot at the current moment, and determining an image frame corresponding to a target billet as an initial identification frame according to the position coordinate of the target billet in the billet image in the heating furnace at the current moment; acquiring a billet image in the heating furnace shot at the next moment, and determining a billet identification frame with the distance from the initial identification frame within a preset range according to the position coordinates of all billets in the billet image in the heating furnace at the next moment to serve as a candidate identification frame; and extracting the characteristics of the candidate identification frame, matching the candidate identification frame with the initial identification frame, and determining the motion state and the motion track of the target steel billet. Specifically, the process of determining the candidate identification box includes:
calculating the distance between the initial identification frame and the billet identification frame billet, and the following steps are included: distance (n) ═ l (x)n1+xn2)/2-(xmin+xmax)/2|；
Judging whether the distance between the initial identification frame and the billet identification frame is within a preset range or not, and including:
wherein, distance (n) is the distance between the initial identification frame and the billet identification frame; if _ candidate (n) indicates the result of determination as to whether or not the billet identification frame is a candidate identification frame; distance (n) < pre _ distance indicates that the billet recognition frame is taken as a candidate recognition frame, and at the moment, true is output, namely a judgment result that the billet recognition frame is taken as the candidate recognition frame is output; the distance (n) is more than or equal to pre _ distance, which indicates that the billet recognition frame is not used as the candidate recognition frame, and at the moment, false is output, namely, the judgment result that the billet recognition frame is not used as the candidate recognition frame is output. Therefore, the embodiment can perform individual tracking on the target billet; the individual tracking can definitely master the position and the motion state of the target object, obtain the motion track of the target object and improve the accuracy of locking the position of the target object; the basic steps of individual tracking include: acquiring a camera image, and taking the acquired target billet position billet _ tapping as an initial identification frame; acquiring a next camera image, and setting all billet identification frames billet with the distance to the initial identification frame within a preset range as candidate identification frames; and extracting the features of all the candidate recognition frames, calculating the confidence scores of all the candidate frames by matching the features of the candidate recognition frames with the template of the initial recognition frame, and taking the highest confidence score as a predicted target.
In summary, the invention provides a heating furnace tapping inclined steel recognition system based on machine vision, which first obtains a pre-shot billet image in a heating furnace; then identifying the image of the steel billet in the heating furnace and acquiring the position coordinates of all the steel billets in the heating furnace; determining a detection area, and taking the steel billet positioned in the detection area as a steel billet to be identified according to the position coordinate of each steel billet; calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel. The system is characterized in that an industrial camera and a high-temperature protection device thereof are arranged at the position in a heating furnace, a billet image in the furnace is collected to prepare a data set, and a billet position detection model is obtained through training; calling a detection model in real time to obtain the position of a steel billet in the furnace; and judging whether the steel is inclined or not during steel tapping by calculating the inclination angle of the target steel billet entering the detection area and comparing the inclination angle with the set inclination angle threshold value, and giving an alarm. The system can better detect the inclination condition of the steel billet in the heating furnace during steel tapping and judge whether the steel billet is inclined or not so as to reduce the subsequent steel billet accumulation loss caused by the fact that the inclined steel cannot be discharged normally during the steel tapping of partial steel billets.
The embodiment of the application also provides heating furnace tapping inclined steel identification equipment based on machine vision, and the equipment can comprise: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform the method of fig. 1. Fig. 5 shows a structural schematic diagram of a machine vision-based heating furnace tapping angle steel recognition device 1000. Referring to fig. 5, the machine vision-based recognition apparatus 1000 for inclined steel tapping from a heating furnace includes: a processor 1010, a memory 1020, a power source 1030, a display unit 1040, an input unit 1060.
The processor 1010 is a control center of the machine vision-based heating furnace inclined steel tapping recognition device 1000, connects various components by using various interfaces and lines, and executes various functions of the machine vision-based heating furnace inclined steel tapping recognition device 1000 by running or executing software programs and/or data stored in the memory 1020, thereby integrally monitoring the machine vision-based heating furnace inclined steel tapping recognition device 1000. In the embodiment of the present application, the processor 1010 executes the method described in fig. 1 when calling the computer program stored in the memory 1020. Alternatively, processor 1010 may include one or more processing units; preferably, the processor 1010 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. In some embodiments, the processor, memory, and/or memory may be implemented on a single chip, or in some embodiments, they may be implemented separately on separate chips.
The memory 1020 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, various applications, and the like; the storage data area may store data created from use of the machine vision-based heating furnace tapping angle steel recognition apparatus 1000, and the like. Further, the memory 1020 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The machine vision-based recognition device 1000 for inclined steel tapping of the heating furnace further comprises a power supply 1030 (such as a battery) for supplying power to each component, wherein the power supply can be logically connected with the processor 1010 through a power management system, so that functions of charging, discharging, power consumption management and the like can be realized through the power management system.
The display unit 1040 may be used to display information input by a user or information provided to the user, and various menus of the heating furnace steel-tapping inclined steel recognition apparatus 1000 based on machine vision, and the like. The display unit 1040 may include a display panel 1050. The Display panel 1050 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.
The input unit 1060 may be used to receive information such as numbers or characters input by a user. The input unit 1060 may include a touch panel 1070 and other input devices 1080. The touch panel 1070, also referred to as a touch screen, may collect touch operations by a user (e.g., operations by a user on the touch panel 1070 or near the touch panel 1070 using a finger, a stylus, or any other suitable object or attachment).
Specifically, the touch panel 1070 can detect a touch operation of a user, detect signals generated by the touch operation, convert the signals into touch point coordinates, transmit the touch point coordinates to the processor 1010, and receive and execute a command transmitted from the processor 1010. In addition, the touch panel 1070 may be implemented using various types such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. Other input devices 1080 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, power on/off keys, etc.), a trackball, a mouse, a joystick, and the like.
Of course, the touch panel 1070 may cover the display panel 1050, and when the touch panel 1070 detects a touch operation on or near the touch panel 1070, the touch operation is transmitted to the processor 1010 to determine the type of the touch event, and then the processor 1010 provides a corresponding visual output on the display panel 1050 according to the type of the touch event. Although in fig. 5, the touch panel 1070 and the display panel 1050 are implemented as two separate components to implement the input and output functions of the machine vision-based furnace-tapping angle steel recognition apparatus 1000, in some embodiments, the touch panel 1070 and the display panel 1050 may be integrated to implement the input and output functions of the machine vision-based furnace-tapping angle steel recognition apparatus 1000.
Machine vision based furnace tapping angle steel recognition device 1000 may also include one or more sensors, such as pressure sensors, gravity acceleration sensors, proximity light sensors, and the like. Of course, the machine vision-based furnace tapping angle steel recognition device 1000 may also include other components such as a camera, etc., as desired in a particular application.
Embodiments of the present application also provide a computer-readable storage medium, which stores instructions that, when executed by one or more processors, enable the above-mentioned device to perform the method described in fig. 1 in the present application.
It will be understood by those skilled in the art that fig. 5 is merely an example of a machine vision based furnace tapping angle steel identification apparatus and does not constitute a limitation of the apparatus, which may include more or fewer components than those shown, or some components in combination, or different components. For convenience of description, the above parts are separately described as modules (or units) according to functional division. Of course, the functionality of the various modules (or units) may be implemented in the same one or more pieces of software or hardware when implementing the present application.
Those skilled in the art will appreciate that the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein. The present application has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application, and it is understood that each flowchart illustration and/or block diagram block and combination of flowchart illustrations and/or block diagrams block and computer program instructions may be implemented by computer program instructions. These computer program instructions may be applied to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be understood that although the terms first, second, third, etc. may be used to describe preset ranges, etc. in embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, the first preset range may also be referred to as a second preset range, and similarly, the second preset range may also be referred to as the first preset range, without departing from the scope of the embodiments of the present invention.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A method for identifying inclined steel in a heating furnace based on machine vision is characterized by comprising the following steps:
acquiring a pre-shot billet steel image in the heating furnace;
identifying the image of the steel billet in the heating furnace, and acquiring the position coordinates of all the steel billets in the heating furnace;
determining a detection area, and taking the steel billet in the detection area as a steel billet to be identified according to the position coordinate of each steel billet;
calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value, and judging whether the steel billet to be identified is oblique steel; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel.
2. The machine vision-based method for identifying the oblique steel in the heating furnace according to claim 1, wherein after the detection area is determined, the method further comprises the following steps:
acquiring a coordinate system established in advance according to the billet image in the heating furnace, and determining the position of the detection area in the coordinate system, wherein the method comprises the following steps: ROI ═ y1，x1，y2，x2]；
Judging whether the nth steel billet in the heating furnace is positioned in the detection area, wherein the method comprises the following steps:
wherein, ROI is the position of the detection area in the coordinate system;
(x1,y1) Coordinates of the upper left corner of the detection area in the coordinate system;
(x2,y2) Coordinates in the coordinate system of the lower right corner of the detection area;
the enter _ ROI is a judgment result of whether the nth steel billet in the heating furnace is positioned in the detection area or not;
xn1>x1indicating that the nth billet in the heating furnace is positioned in the detection area;
xn1≤x1indicating that the nth billet in the heating furnace is not or not completely positioned in the detection area;
xn1the abscissa of the upper left corner of the nth billet in the heating furnace in the coordinate system is shown.
3. The machine vision-based method for identifying an oblique steel in a heating furnace according to claim 1, further comprising, if a plurality of steel slabs are present in the detection area, setting an outermost steel slab or a steel slab farthest from an entrance of the heating furnace as a target steel slab;
and calculating the inclination angle of the target steel billet, comparing the calculated inclination angle with a preset inclination angle threshold value, and judging whether the target steel billet is the oblique steel.
4. The machine vision-based method for identifying the oblique steel in the heating furnace according to claim 3, wherein before calculating the inclination angle of the target steel billet, the method further comprises:
establishing a coordinate system according to the billet image in the heating furnace;
acquiring the position coordinates of each steel billet in the heating furnace in the coordinate system, wherein the position coordinates comprise: billet (n) ═ yn1,xn1,yn2,xn2]；
Determining the position coordinates of the target steel billet in the coordinate system according to the position coordinates of each steel billet, wherein the method comprises the following steps: bille _ tapping [ y ]min,xmin,ymax,xmax]，xmax＝max(xn2)；
Calculating the inclination angle of the target steel billet based on the position coordinates of the target steel billet in the coordinate system;
wherein billt (n) is the position coordinate of the nth billet in the heating furnace in the coordinate system;
(xn1,yn1) The coordinate of the upper left corner of the nth billet in the heating furnace in the coordinate system is shown;
(xn2,yn2) The coordinate of the lower right corner of the nth billet in the heating furnace in the coordinate system;
billt _ tapping is the position coordinate of the target billet in the coordinate system;
(xmin,ymin) The coordinates of the upper left corner of the target billet in the coordinate system are obtained;
(xmax,ymax) And coordinates of the lower right corner of the target billet in the coordinate system are shown.
5. The machine vision-based method for identifying the oblique steel in the heating furnace according to claim 4, wherein the step of judging whether the target steel billet is the oblique steel comprises the steps of:
calculating the inclination angle of the target steel billet by the following steps:
comparing the calculated inclination angle with a preset inclination angle threshold value, and judging whether the target steel billet is the inclined steel or not, wherein the steps of:
wherein, angle is the inclination angle of the target steel billet;
xmax-xminthe transverse distance of the target steel billet in the steel billet image in the heating furnace is taken as the transverse distance;
ymax-yminthe longitudinal distance of the target steel billet in the steel billet image in the heating furnace is taken as the longitudinal distance;
the slant _ alarm represents the judgment of whether the target steel billet is inclined steel or not;
angle > pre _ angle represents that the target steel billet is subjected to oblique steel;
the angle is less than or equal to pre _ angle, which indicates that the target billet is not subjected to inclined steel;
pre _ angle represents a preset tilt angle threshold.
6. The machine vision-based method for identifying the inclined steel in the heating furnace according to claim 3 or 4, wherein the method further comprises the following steps:
acquiring a billet image in the heating furnace shot at the current moment, and determining an image frame corresponding to a target billet as an initial identification frame according to the position coordinate of the target billet in the billet image in the heating furnace at the current moment;
acquiring a billet image in the heating furnace shot at the next moment, and determining a billet identification frame with the distance from the initial identification frame within a preset range according to the position coordinates of all billets in the billet image in the heating furnace at the next moment to serve as a candidate identification frame;
and extracting the characteristics of the candidate identification frame, matching the candidate identification frame with the initial identification frame, and determining the motion state and the motion track of the target steel billet.
7. The machine vision-based method for identifying the oblique steel in the heating furnace according to claim 6, wherein the process of determining the candidate identification frame comprises the following steps:
calculating the distance between the initial identification frame and the billet identification frame, and comprising the following steps: distance (n) ═ l (x)n1+xn2)/2-(xmin+xmax)/2|；
Judging whether the distance between the initial identification frame and the billet identification frame is within a preset range or not, and including:
wherein, distance (n) is the distance between the initial identification frame and the billet identification frame;
if _ candidate (n) indicates the result of determination as to whether or not the billet identification frame is a candidate identification frame;
distance (n) < pre _ distance indicates that the billet recognition frame is taken as a candidate recognition frame;
the distance (n) is not less than pre _ distance and indicates that the billet recognition frame is not used as a candidate recognition frame.
8. A system for identifying oblique steel in a heating furnace based on machine vision is characterized by comprising:
the image acquisition module is used for acquiring a pre-shot billet image in the heating furnace;
the image identification module is used for identifying the image of the steel billet in the heating furnace and acquiring the position coordinates of all the steel billets in the heating furnace;
the billet detection module is used for determining a detection area and taking the billet in the detection area as the billet to be identified according to the position coordinate of each billet;
the steel billet identification module is used for calculating the inclination angle of the steel billet to be identified, comparing the inclination angle with a preset inclination angle threshold value and judging whether the steel billet to be identified is the steel billet; and when the inclination angle is larger than the preset inclination angle threshold value, judging that the steel billet to be identified is the inclined steel.
9. The utility model provides a skew steel discernment equipment in heating furnace based on machine vision which characterized in that includes:
a processor; and
a computer readable medium having stored thereon instructions that, when executed by the processor, cause the apparatus to perform the method of any of claims 1 to 7.
10. A computer-readable medium having stored thereon instructions which are loaded by a processor and which perform the method of any one of claims 1 to 7.
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