CN114441549B - Steel coil quality detection system and method - Google Patents
Steel coil quality detection system and method Download PDFInfo
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- CN114441549B CN114441549B CN202111664616.5A CN202111664616A CN114441549B CN 114441549 B CN114441549 B CN 114441549B CN 202111664616 A CN202111664616 A CN 202111664616A CN 114441549 B CN114441549 B CN 114441549B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 145
- 239000010959 steel Substances 0.000 title claims abstract description 145
- 238000001514 detection method Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 43
- 229910000976 Electrical steel Inorganic materials 0.000 claims abstract description 32
- 238000000137 annealing Methods 0.000 claims abstract description 25
- 230000008054 signal transmission Effects 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 43
- 230000007246 mechanism Effects 0.000 claims description 34
- 238000004364 calculation method Methods 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 14
- 238000010079 rubber tapping Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 5
- 241001442234 Cosa Species 0.000 claims description 4
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- 230000009466 transformation Effects 0.000 claims description 4
- 239000013307 optical fiber Substances 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 11
- 238000005259 measurement Methods 0.000 abstract description 5
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- 238000004519 manufacturing process Methods 0.000 description 3
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- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Abstract
The invention provides steel coil quality detection equipment, which is applied to online detection of coil shape and furnace bottom plate shape of a steel coil after high-temperature annealing of oriented silicon steel, and comprises the following steps: the signal acquisition device is used for acquiring real-time data of the coil shape and the furnace bottom plate shape of the oriented silicon steel after high-temperature annealing and outputting the real-time data; the signal processing device is used for receiving the real-time data, processing the real-time data to obtain furnace bottom plate state and steel coil deformation data, and outputting the furnace bottom plate state and the steel coil deformation data; and the signal transmission device is used for receiving the furnace bottom plate state and the steel coil deformation data and sending the furnace bottom plate state and the steel coil deformation data to an intranet system. The invention provides a steel coil quality detection system and method, which solve the technical problems of inconvenient manual measurement and low precision in the prior art, can quantify characteristic values of plate-shaped defects, improve identification precision and oriented steel yield, and reduce defect yield.
Description
Technical Field
The invention relates to the technical field of measuring equipment, in particular to a steel coil quality detection system and method.
Background
The coiled shape of the oriented silicon steel is changed to a certain extent after the oriented silicon steel is annealed at a high temperature by an annular furnace, and plate-shaped defects such as buckling, side waves, horseshoe marks, wrinkling and the like are often generated, and are mostly generated on the outer ring of the annular furnace, and have a certain relation with the state of collapsing shoulders or cracks of the bottom plate of the steel coil. Because the oriented silicon steel high-temperature annealing furnace equipment has high huge temperature, the traditional three-dimensional profile scanning device is not easy to be directly installed above the steel coil and the furnace bottom plate.
At present, the coil shape of the steel coil after high-temperature annealing is not measured by an effective means, the crack and shoulder collapse amount of the bottom plate of the steel coil are observed by human eyes and manually measured, the temperature of the bottom plate after the bottom plate is discharged out of the furnace is about 200 ℃, and the manual measurement is inconvenient and the precision is lower. Therefore, how to solve the above problems is a technical problem to be solved.
Disclosure of Invention
The invention provides a steel coil quality detection system and method, which solve the technical problems of inconvenient manual measurement and low precision in the prior art, can quantify characteristic values of plate-shaped defects, improve identification precision and oriented steel yield, and reduce defect yield.
The invention provides a steel coil quality detection system, which is applied to online detection of the coil shape and the furnace bottom plate shape of a steel coil after high-temperature annealing of oriented silicon steel, and comprises the following components:
the signal acquisition device is used for acquiring real-time data of the coil shape and the furnace bottom plate shape of the oriented silicon steel after high-temperature annealing and outputting the real-time data;
the signal processing device is used for receiving the real-time data, processing the real-time data to obtain furnace bottom plate state and steel coil deformation data, and outputting the furnace bottom plate state and the steel coil deformation data;
and the signal transmission device is used for receiving the furnace bottom plate state and the steel coil deformation data and sending the furnace bottom plate state and the steel coil deformation data to an intranet system.
Further, the signal acquisition device includes:
the signal acquisition mechanism is used for acquiring real-time data of the coil shape and the furnace bottom plate shape of the oriented silicon steel after high-temperature annealing;
the bracket is vertically arranged on a base, and the upper end of the bracket is fixedly connected with the signal acquisition mechanism so as to support the signal acquisition mechanism;
the controller is connected with the signal acquisition mechanism through an optical fiber and is used for storing the real-time data;
and the signal transmitter is connected with the controller and used for outputting the real-time data.
Further, the signal acquisition mechanism includes:
the area array laser radar is used for measuring the three-dimensional coordinates of each point on the steel coil or the furnace bottom plate after the oriented silicon steel is annealed at high temperature;
the point laser ranging unit is used for guiding the three-dimensional coordinates of the specific part of the steel coil or the bottom plate measured by the calibration area array laser radar;
the area array camera is used for taking a picture of the bottom plate of the furnace;
and the industrial camera is used for identifying whether an operator or an inner cover exists in the detection area.
Further, the signal processing apparatus includes:
a signal receiving mechanism for receiving the real-time data;
the control mechanism is used for processing the real-time data to obtain furnace bottom plate state and steel coil deformation data;
and the storage mechanism is used for storing the hearth plate shape and steel coil deformation data.
Further, the control mechanism includes:
the starting control unit is used for starting the signal acquisition device;
a stop control unit for stopping the signal acquisition device;
the first processing unit is used for converting the data measured by the area array laser radar and the point laser ranging unit into a bottom plate three-dimensional coordinate system which takes a bottom plate of the annular furnace as a horizontal plane and takes the center of a bottom plate support column as a zero point;
the second processing unit is used for identifying the number of cracks of the bottom plate on the bottom plate photo shot by the area array camera;
the third processing unit is used for calculating the coil shape change of the steel coil through three-dimensional coordinate difference values of all parts of the steel coil when the steel coil is fed in and discharged out of the furnace;
and the fourth processing unit is used for calculating the shoulder collapse degree of the bottom plate of the furnace through the three-dimensional point cloud data. The invention also provides a steel coil quality detection method applied to online detection of the coil shape and the furnace bottom plate shape of the steel coil after high-temperature annealing of oriented silicon steel, comprising the following steps:
collecting real-time data of the coil shape and the furnace bottom plate shape of the steel coil after the oriented silicon steel is annealed at high temperature;
processing the real-time data to obtain furnace bottom plate state and steel coil deformation data;
and sending the state of the furnace bottom plate and the steel coil deformation data to an intranet system.
Further, the collecting of real-time data of the coil shape and the furnace bottom plate shape of the steel coil after the high-temperature annealing of the oriented silicon steel comprises the following steps:
measuring the three-dimensional coordinates of each point on the steel coil or the furnace bottom plate after the oriented silicon steel is annealed at high temperature;
guiding the three-dimensional coordinates of the specific part of the steel coil or the bottom plate measured by the calibration area array laser radar;
taking a picture of the bottom plate of the furnace;
identifying whether the detection area has an operator or an inner cover.
Further, the processing the real-time data to obtain the furnace bottom plate state and steel coil deformation data includes:
converting the three-dimensional coordinates of each point on the steel coil or the furnace bottom plate and the three-dimensional coordinates of the specific part of the steel coil or the furnace bottom plate into a bottom plate three-dimensional coordinate system which takes the annular furnace bottom plate as a horizontal plane and takes the center of a bottom plate support column as a zero point through a three-dimensional reconstruction algorithm;
identifying the number of furnace bottom cracks on the furnace bottom photo by a furnace bottom crack identification algorithm;
calculating three-dimensional coordinate differences of all parts of the steel coil after entering and exiting the furnace through a coil deformation evaluation algorithm of all parts of the steel coil before and after annealing, and further obtaining the coil deformation of the steel coil;
and calculating the shoulder collapse degree of the bottom plate of the furnace through the three-dimensional point cloud data.
Further, the three-dimensional reconstruction algorithm obtains a calculation formula of a three-dimensional coordinate system of the bottom plate by taking the bottom plate of the annular furnace as a horizontal plane and taking the center of a column of the bottom plate as a zero point, wherein the calculation formula is as follows:
lx, y is any point in distance matrix data obtained after the area array laser radar scans the bottom plate, x is a matrix column number, and y is a matrix row number; h is the height between the laser radar and the ground; θ x,y For the scanning point L x,y The included angle between the laser line and the horizontal plane of the bottom plate; n is the pixel point distance after the plane array laser radar is calibrated in the horizontal direction; l is the distance from the laser radar to the center of the bottom plate; b (B) x,y The connecting line between the laser radar and the circle center of the bottom plate and the scanning point L between the laser radar x,y An included angle of the connecting lines; x is X z ，Y z ，Z x,y Is the point of the three-dimensional coordinate system matrix of the bottom plate after the coordinate transformation.
Further, the three-dimensional coordinate difference calculation process of each part of the steel coil in and out of the furnace is as follows: r is (r) x,y =Y z /cosA，R = r x1,y1 - r x2,y2 Any point in distance matrix data obtained by scanning steel coils after tapping by an area array laser radar in the middle, wherein x is the matrix column number, y is the matrix row number and r is the matrix row number x,y The distance from the point to the center axis of the inner diameter of the steel coil is the distance; r is (r) x2,y2 Scanning the distance obtained by the steel coil before entering the furnace for the area array laser radar; r is (r) x,y The distance from the point to the center axis of the inner diameter of the steel coil is the distance; r is (r) x2,y2 ，r x1,y1 R is obtained by scanning steel coils before and after furnace feeding and furnace discharging by the area array laser radar respectively x,y Distances x1 and x2 are the matrix column numbers, and y1 and y2 are the matrix row numbers; r is the difference value of three-dimensional coordinates before and after tapping;
the calculation formula of the shoulder collapse amount is as follows: z=max (Z x,y )-min(Z x,y ) Wherein Z is the shoulder collapse amount, and Z is in a matrix obtained by scanning an area array laser radar x,y Subtracting the minimum from the maximum value of (c).
One or more technical solutions provided in the embodiments of the present invention at least have the following technical effects or advantages:
compared with the traditional plate-shaped roller, the steel coil quality detection system and method provided by the application have the advantages that the design cost and the equipment occupation space are greatly reduced, the steel coil quality detection system and method are not contacted with the finished steel belt, and no surface defects are generated; meanwhile, compared with a traditional visual plate shape defect recognition system, the method and the system can quantify the characteristic value of the plate shape defect, greatly improve the recognition precision and the application value, and can greatly improve the yield of the oriented steel and reduce the yield of the defect.
Drawings
Fig. 1 is a field working condition diagram of a steel coil quality detection system in a first embodiment of the invention;
fig. 2 is a front view of a steel coil quality detection system according to the first embodiment of the present invention;
fig. 3 is a top view of a steel coil quality detection system according to a first embodiment of the present invention;
fig. 4 is a side view of a steel coil quality inspection system according to a first embodiment of the present invention.
Detailed Description
Aiming at the problems that the equipment of the oriented silicon steel high-temperature annealing furnace has high huge temperature, a traditional three-dimensional contour scanning device is not easy to be directly installed above a steel coil and a furnace bottom plate and only manual measurement can be relied on, the invention provides the steel coil quality detection system and method.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Example 1
The embodiment of the application provides steel coil quality detection equipment, is applied to the online detection of coil shape and furnace bottom plate shape of a steel coil after the high-temperature annealing of oriented silicon steel, and comprises the following components:
the signal acquisition device is used for acquiring real-time data of the coil shape and the furnace bottom state of the steel coil after the oriented silicon steel is annealed at high temperature and outputting the real-time data;
the signal processing device is used for receiving the real-time data, processing the real-time data to obtain furnace bottom plate state and steel coil deformation data, and outputting the furnace bottom plate state and the steel coil deformation data;
and the signal transmission device is used for receiving the state of the furnace bottom plate and the steel coil deformation data and sending the state of the furnace bottom plate and the steel coil deformation data to the intranet system.
As shown in connection with fig. 1 to 4, the signal acquisition device includes: the system comprises a signal acquisition mechanism, a bracket 6, a controller 5 and a signal emitter 8, wherein the signal acquisition mechanism is used for acquiring real-time data of coil shape and furnace bottom state of the steel coil after high-temperature annealing of oriented silicon steel; the bracket 6 is vertically arranged, the upper end of the bracket is fixedly connected with the signal acquisition mechanism, and the lower end of the bracket is fixedly connected with a base; the controller 5 is used for storing real-time data, and the controller 5 is connected with the signal acquisition mechanism through an optical fiber 7; the signal transmitter 8 is connected to the controller 5 for outputting real-time data.
The signal acquisition mechanism includes: the area array laser radar 1, the point laser ranging unit 2, the area array camera 3 and the industrial camera 4, wherein the area array laser radar 1 is used for measuring the three-dimensional coordinates of each point on a steel coil or a furnace bottom plate after the oriented silicon steel is annealed at high temperature; the point laser ranging unit 2 is used for guiding the three-dimensional coordinates of the specific part of the steel coil or the bottom plate of the furnace measured by the calibration area array laser radar 1; the area array camera 3 is used for taking a picture of the bottom plate of the furnace; the industrial camera 4 is used for identifying whether an operator or an inner cover exists in the detection area.
The signal processing device includes: the system comprises a signal receiving mechanism, a control mechanism and a storage mechanism, wherein the signal receiving mechanism is used for receiving real-time data; the control mechanism is used for processing the real-time data to obtain furnace bottom plate state and steel coil deformation data; the storage mechanism is used for storing the state of the furnace bottom plate and the deformation data of the steel coil.
The control mechanism comprises: the system comprises a starting control unit, a stopping control unit, a first processing unit, a second processing unit, a third processing unit and a fourth processing unit, wherein the starting control unit is used for starting the signal acquisition device; the stop control unit is used for stopping the signal acquisition device; the first processing unit is used for converting the data measured by the area array laser radar 1 and the point laser ranging unit 2 into a bottom plate three-dimensional coordinate system which takes the bottom plate of the annular furnace as a horizontal plane and takes the center of a bottom plate support column as a zero point; the second processing unit is used for identifying the number of cracks of the bottom plate on the bottom plate photo shot by the area array camera 3; the third processing unit is used for calculating the coil shape change of the steel coil through the three-dimensional coordinate difference value of each part of the steel coil which is fed in and discharged out of the furnace; the fourth processing unit is used for calculating the shoulder collapse degree of the bottom plate of the furnace through the three-dimensional point cloud data.
Example two
The embodiment of the application provides a steel coil quality detection method, which is applied to online detection of the coil shape and the furnace bottom plate shape of a steel coil after high-temperature annealing of oriented silicon steel, and comprises the following steps:
step S1: collecting real-time data of the coil shape and the furnace bottom plate shape of the steel coil after the oriented silicon steel is annealed at high temperature;
step S2: processing the real-time data to obtain furnace bottom plate state and steel coil deformation data;
step S3: and sending the state of the furnace bottom plate and the deformation data of the steel coil to an intranet system.
The step S1 is to collect real-time data of coil shape and furnace bottom plate shape of the steel coil after high-temperature annealing of the oriented silicon steel, and comprises the following steps:
step S11: measuring the three-dimensional coordinates of each point on the steel coil or the furnace bottom plate after the oriented silicon steel is annealed at high temperature;
step S12: guiding the three-dimensional coordinates of the specific part of the steel coil or the bottom plate measured by the calibration area array laser radar 1;
step S13: taking a bottom plate picture;
step S14: identifying whether the detection area has an operator or an inner cover.
Step S2, processing the real-time data to obtain furnace bottom plate state and steel coil deformation data comprises the following steps:
step S21: converting the three-dimensional coordinates of each point on the steel coil or the furnace bottom plate and the three-dimensional coordinates of the specific part of the steel coil or the furnace bottom plate into a bottom plate three-dimensional coordinate system which takes the annular furnace bottom plate as a horizontal plane and takes the center of a bottom plate support column as a zero point through a three-dimensional reconstruction algorithm;
the three-dimensional reconstruction algorithm obtains a calculation formula of a three-dimensional coordinate system of the bottom plate by taking the bottom plate of the annular furnace as a horizontal plane and taking the center of a bottom plate support as a zero point, wherein the calculation formula is as follows:
in which L x,y Any point in distance matrix data obtained after the area array laser radar 1 scans the bottom plate is represented by x, which is a matrix column number, and y, which is a matrix row number; h is the height between the laser radar and the ground; θ x,y For the scanning point L x,y The included angle between the laser line and the horizontal plane of the bottom plate; n is the pixel point distance after the plane array laser radar 1 is calibrated in the horizontal direction; l is the distance from the laser radar to the center of the bottom plate; b (B) x,y The connecting line between the laser radar and the circle center of the bottom plate and the scanning point L between the laser radar x,y An included angle of the connecting lines; x is X z ，Y z ，Z x,y Is the point of the three-dimensional coordinate system matrix of the bottom plate after the coordinate transformation.
Step S22: identifying the number of cracks of the bottom plate on the bottom plate photo by a bottom plate crack identification algorithm; the method comprises the steps of shooting a large number of bottom plate photos by using an industrial camera, marking bottom plate cracks on each photo by using a marking tool, establishing a bottom plate crack target recognition model, using the marked photos as a model training set, and then training the model.
Step S23: calculating three-dimensional coordinate difference values of all parts of the steel coil which is fed in and discharged out of the furnace by using a coil deformation evaluation algorithm of all parts of the steel coil before and after annealing, and further obtaining the coil shape change of the steel coil, wherein the concrete calculation process is as follows: r is (r) x,y =Y z /cosA，R = r x1,y1 - r x2,y2 Any point in distance matrix data obtained by scanning steel coils after discharging by the medium area array laser radar 1, wherein x is the matrix column number, and y is the matrix column numberMatrix row number, r x,y The distance from the point to the center axis of the inner diameter of the steel coil is the distance; r is (r) x2,y2 Scanning the distance obtained by the steel coil before entering the furnace for the area array laser radar 1; r is (r) x,y The distance from the point to the center axis of the inner diameter of the steel coil is the distance; r is (r) x2,y2 ，r x1,y1 R is obtained by scanning steel coils before and after furnace feeding and furnace discharging respectively for the area array laser radar 1 x,y Distance x 1 、x 2 For the matrix column number, y 1 、y 2 The matrix row number; r is the difference value of three-dimensional coordinates before and after tapping.
Step S24: and calculating the shoulder collapse degree of the bottom plate of the furnace through the three-dimensional point cloud data.
The calculation formula of the shoulder collapse amount is as follows: z=max (Z x,y )-min(Z x,y ) Wherein Z is the shoulder collapse amount, and Z is in a matrix obtained by scanning the area array laser radar 1 x,y Subtracting the minimum from the maximum value of (c).
Example III
The embodiment is special for the annular furnace unit and is used for detecting the coil shape change and the bottom plate equipment state before and after high-temperature annealing during the production of the silicon steel from each coil.
Step A1: the bracket 6 has six-axis adjusting function, and the bracket 6 is adjusted to lead the signal acquisition device to be aligned with the trolley to be tested and lock the signal acquisition mechanism;
step A2: the industrial camera 4 starts to capture pictures after being connected with a 24V power supply, and a signal acquisition device is dormant if an inner cover exists in the visual field of the picture or an operator exists in the visual field of the picture; if only the bottom plate is in the visual field, starting a second processing unit furnace bottom plate detection program; if the steel coil exists in the visual field, a steel coil shape detection program of the third processing unit is started; when no operator exists in the picture and no inner cover exists, a detection instruction is automatically sent out, a laser radar start control program of a start control unit is automatically started, and detection is started;
step A3: the area array laser radar 1 receives a detection start instruction, starts scanning, acquires three-dimensional point cloud data and transmits the three-dimensional point cloud data to the controller 5, and in the embodiment of the application, the area array laser radar 1 uses a plurality of high-resolution area array solid-state laser radars to project low-power near infrared invisible laser to steel coils and furnace bottom plates from different directions, so that depth images and depth point cloud data of different directions are measured, and the used laser is class1 (human eye safety level).
Step A4: the point laser ranging unit 2 starts to move to a specific point location ranging according to the coordinates of the bottom plate in the photo and is guided by the vision system, and the result is transmitted to the controller 5.
Step A5: in the embodiment of the application, the signal transmitter 8 adopts a high-power 5G wireless data transmission signal transmitter, so that the signal receiving mechanism adopts a high-speed wireless network card, 5G wireless data can be received, the signal transmitter 8 transmits real-time data stored in the controller 5 to the signal processing device, after receiving the transmitted real-time data, the control mechanism calculates three-dimensional coordinates of each part of the bottom plate through a three-dimensional reconstruction algorithm and a single-point ranging result, calculates the shoulder collapse amount, stores the shoulder collapse amount in a database of the storage mechanism and transmits the data to a server of the signal transmitting device.
Step A6: the server inquires the current car number and the steel coil number from the secondary machine of the unit, starts the evaluation algorithm of the coil deformation of each part of the steel coil before and after annealing, calculates the coil shape change through the three-dimensional coordinate difference value of each part of the steel coil which is fed in and discharged out of the furnace, and stores the data into a database.
Step A7: the area camera 3 receives the starting instruction, takes the bottom plate photo, and the bottom plate crack recognition algorithm recognizes the number of bottom plate cracks on the bottom plate photo taken by the area camera 3 and stores the data into a database.
Step A8: the server distributes information to the factory intranet, and staff can inquire the state of the bottom plate of each trolley and the deformation of the produced steel coil by inquiring the webpage.
One or more technical solutions provided in the embodiments of the present invention at least have the following technical effects or advantages:
the method adopts the high-resolution area array solid-state laser radar, combines a high-definition industrial camera, adopts a three-dimensional reconstruction algorithm, a furnace bottom crack recognition algorithm and the like which are suitable for the oriented silicon steel high-temperature annealing machine set based on multi-mesh laser radar point cloud data, can automatically and safely detect the coiled shape and the furnace bottom plate state of the steel coil after high-temperature annealing on line, realizes the on-line detection of the machining state of the oriented silicon steel annular furnace machine set, has small system volume, does not need large-scale mechanical arm system manufacturing or maintenance cost to be greatly reduced, does not need shutdown or deceleration in the detection process, effectively ensures the production efficiency, solves the technical problems of inconvenient manual measurement and lower precision in the prior art, realizes the detection automation unmanned, can quantify the characteristic value of the plate-shaped defect, improves the recognition precision and the yield of the oriented steel, and reduces the defect yield.
Finally, it should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to make additional changes and modifications to the preferred embodiments of the invention once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (2)
1. The steel coil quality detection equipment is applied to online detection of coil shape and furnace bottom state of a steel coil after high-temperature annealing of oriented silicon steel, and is characterized by comprising the following components:
the signal acquisition device is used for acquiring real-time data of the coil shape and the furnace bottom plate shape of the oriented silicon steel after high-temperature annealing and outputting the real-time data;
the signal processing device is used for receiving the real-time data, processing the real-time data to obtain furnace bottom plate state and steel coil deformation data, and outputting the furnace bottom plate state and the steel coil deformation data;
the signal transmission device is used for receiving the furnace bottom plate state and steel coil deformation data and sending the furnace bottom plate state and steel coil deformation data to an intranet system;
wherein, the signal acquisition device includes:
the signal acquisition mechanism is used for acquiring real-time data of the coil shape and the furnace bottom plate shape of the oriented silicon steel after high-temperature annealing;
the bracket is vertically arranged on a base, and the upper end of the bracket is fixedly connected with the signal acquisition mechanism so as to support the signal acquisition mechanism;
the controller is connected with the signal acquisition mechanism through an optical fiber and is used for storing the real-time data;
the signal transmitter is connected with the controller and used for outputting the real-time data;
the signal acquisition mechanism includes:
the industrial camera is used for identifying whether an operator or an inner cover exists in the detection area;
the area array laser radar is used for measuring the three-dimensional coordinates of each point on the steel coil or the furnace bottom plate after the oriented silicon steel is annealed at high temperature;
the point laser ranging unit is used for guiding the three-dimensional coordinates of the specific part of the steel coil or the bottom plate measured by the calibration area array laser radar;
the area array camera is used for taking a picture of the bottom plate of the furnace;
the signal processing device includes:
a signal receiving mechanism for receiving the real-time data;
the control mechanism is used for processing the real-time data to obtain furnace bottom plate state and steel coil deformation data;
the storage mechanism is used for storing the hearth plate shape and steel coil deformation data;
the control mechanism includes:
the starting control unit is used for starting the signal acquisition device;
a stop control unit for stopping the signal acquisition device;
the first processing unit is used for converting the data measured by the area array laser radar and the point laser ranging unit into a bottom plate three-dimensional coordinate system which takes an annular furnace bottom plate as a horizontal plane and takes the center of a bottom plate support column as a zero point, converting the three-dimensional coordinates of each point on the steel coil or the furnace bottom plate and the three-dimensional coordinates of a specific part of the steel coil or the furnace bottom plate into a bottom plate three-dimensional coordinate system which takes the annular furnace bottom plate as the horizontal plane and takes the center of the bottom plate support column as the zero point through a three-dimensional reconstruction algorithm, and the calculation formula is as follows:
in which L x,y Any point in distance matrix data obtained after the area array laser radar scans the bottom plate is represented by x, a matrix column number and y, a matrix row number; h is the height between the laser radar and the ground; θ x,y For the scanning point L x,y The included angle between the laser line and the horizontal plane of the bottom plate; n is the pixel point distance after the plane array laser radar is calibrated in the horizontal direction; l is the distance from the laser radar to the center of the bottom plate; b (B) x,y The connecting line between the laser radar and the circle center of the bottom plate and the scanning point L between the laser radar x,y An included angle of the connecting lines; x is X z ，Y z ，Z x,y The points are points of a three-dimensional coordinate system matrix of the bottom plate after coordinate transformation;
the second processing unit is used for identifying the number of cracks of the bottom plate on the bottom plate photo shot by the area array camera;
the third processing unit is used for calculating the coil shape change of the steel coil through three-dimensional coordinate difference values of all parts of the steel coil when the steel coil is in and out of the furnace, and the three-dimensional coordinate difference value calculation process of all parts of the steel coil when the steel coil is in and out of the furnace is as follows: r is (r) x,y =Y z /cosA，R = r x1,y1 - r x2,y2 Any point in distance matrix data obtained by scanning steel coils after tapping by an area array laser radar in the middle, wherein x is the matrix column number, y is the matrix row number and r is the matrix row number x,y The distance from the point to the center axis of the inner diameter of the steel coil is the distance; r is (r) x2,y2 ，r x1,y1 R is obtained by scanning steel coils before and after furnace feeding and furnace discharging by the area array laser radar respectively x,y The distance x1 and x2 are the matrix row number, and y1 and y2 are the matrix row number; r is the difference value of three-dimensional coordinates before and after tapping;
the fourth processing unit is used for calculating the shoulder collapse degree of the bottom plate of the furnace through three-dimensional point cloud data, and the calculation formula of the shoulder collapse amount is as follows: z=max (Z x,y )-min(Z x,y ) Wherein Z is the shoulder collapse amount, which is formed byZ in matrix obtained by scanning area array laser radar x,y Subtracting the minimum value from the maximum value of (2);
when the power supply is switched on, the industrial camera starts to capture a picture, the signal acquisition device is dormant if an inner cover exists in the picture visual field of the industrial camera or an operator exists in the picture visual field, the second processing unit furnace bottom plate detection program is started if only the bottom plate exists in the picture visual field, the third processing unit steel coil shape detection program is started if the steel coil exists in the picture visual field, a detection instruction is automatically sent when no operator exists in the picture and no inner cover exists in the picture visual field, the start control unit laser radar start control program is automatically started, and detection is started;
the area array laser radar receives a detection start instruction, starts scanning, acquires three-dimensional point cloud data and transmits the three-dimensional point cloud data to the controller, and uses a plurality of high-resolution area array solid-state laser radars to project low-power near infrared invisible laser to steel coils and furnace bottom plates from different directions, so as to measure depth images and depth point cloud data in different directions.
2. A method of detecting a steel coil quality detecting apparatus as set forth in claim 1, comprising:
collecting real-time data of the coil shape and the furnace bottom plate shape of the steel coil after the oriented silicon steel is annealed at high temperature;
processing the real-time data to obtain furnace bottom plate state and steel coil deformation data;
transmitting the state of the furnace bottom plate and the deformation data of the steel coil to an intranet system;
wherein, gather the real-time data of coil of strip shape and stove bottom plate form after the high temperature annealing of orientation silicon steel includes:
identifying whether an operator or an inner cover exists in a detection area, when a power supply is connected, starting to capture a picture by an industrial camera, wherein a signal acquisition device is dormant if the inner cover exists in the photo visual field of the industrial camera or the operator exists in the photo visual field, a second processing unit furnace bottom plate detection program is started if only a bottom plate exists in the visual field, a third processing unit steel coil roll detection program is started if a steel coil exists in the visual field, a detection instruction is automatically sent when no operator exists in the picture and no inner cover exists in the picture, and a start control unit laser radar start control program is automatically started to detect;
measuring three-dimensional coordinates of each point on the steel coil or the furnace bottom plate after the oriented silicon steel is annealed at high temperature, starting scanning by the area array laser radar after receiving a detection starting instruction, acquiring three-dimensional point cloud data, and transmitting the three-dimensional point cloud data to the controller, wherein the area array laser radar uses a plurality of high-resolution area array solid-state laser radars to project low-power near infrared invisible laser onto the steel coil and the furnace bottom plate from different directions, and measuring depth images and depth point cloud data in different directions;
guiding the three-dimensional coordinates of the specific part of the steel coil or the bottom plate measured by the calibration area array laser radar;
taking a picture of the bottom plate of the furnace;
the step of processing the real-time data to obtain furnace bottom plate state and steel coil deformation data comprises the following steps:
converting the three-dimensional coordinates of each point on the steel coil or the furnace bottom plate and the three-dimensional coordinates of the specific part of the steel coil or the furnace bottom plate into a bottom plate three-dimensional coordinate system which takes the annular furnace bottom plate as a horizontal plane and takes the center of a bottom plate support column as a zero point through a three-dimensional reconstruction algorithm;
identifying the number of furnace bottom cracks on the furnace bottom photo by a furnace bottom crack identification algorithm;
calculating three-dimensional coordinate differences of all parts of the steel coil after entering and exiting the furnace through a coil deformation evaluation algorithm of all parts of the steel coil before and after annealing, and further obtaining the coil deformation of the steel coil;
calculating the shoulder collapse degree of the bottom plate of the furnace through the three-dimensional point cloud data;
the three-dimensional reconstruction algorithm obtains a calculation formula of a three-dimensional coordinate system of the bottom plate by taking the bottom plate of the annular furnace as a horizontal plane and taking the center of a bottom plate support column as a zero point, wherein the calculation formula is as follows:
in which L x,y Any point in distance matrix data obtained after the area array laser radar scans the bottom plate is represented by x, a matrix column number and y, a matrix row number; h is laser radar and groundThe height of the face; θ x,y For the scanning point L x,y The included angle between the laser line and the horizontal plane of the bottom plate; n is the pixel point distance after the plane array laser radar is calibrated in the horizontal direction; l is the distance from the laser radar to the center of the bottom plate; b (B) x,y The connecting line between the laser radar and the circle center of the bottom plate and the scanning point L between the laser radar x,y An included angle of the connecting lines; x is X z ，Y z ，Z x,y The points are points of a three-dimensional coordinate system matrix of the bottom plate after coordinate transformation;
the three-dimensional coordinate difference value calculation process of each part of the steel coil when the steel coil is in or out of the furnace is as follows: r is (r) x,y =Y z /cosA，R = r x1,y1 - r x2,y2 Any point in distance matrix data obtained by scanning steel coils after tapping by an area array laser radar in the middle, wherein x is the matrix column number, y is the matrix row number and r is the matrix row number x,y The distance from the point to the center axis of the inner diameter of the steel coil is the distance; r is (r) x2,y2 ，r x1,y1 R is obtained by scanning steel coils before and after furnace feeding and furnace discharging by the area array laser radar respectively x,y The distance x1 and x2 are the matrix row number, and y1 and y2 are the matrix row number; r is the difference value of three-dimensional coordinates before and after tapping;
the calculation formula of the shoulder collapse amount is as follows: z=max (Z x,y )-min(Z x,y ) Wherein Z is the shoulder collapse amount, and Z is in a matrix obtained by scanning an area array laser radar x,y Subtracting the minimum from the maximum value of (c).
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