CN114618904A - Aluminum profile initial length measuring device and method for realizing automatic stretching and straightening - Google Patents
Aluminum profile initial length measuring device and method for realizing automatic stretching and straightening Download PDFInfo
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- CN114618904A CN114618904A CN202210160939.9A CN202210160939A CN114618904A CN 114618904 A CN114618904 A CN 114618904A CN 202210160939 A CN202210160939 A CN 202210160939A CN 114618904 A CN114618904 A CN 114618904A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D3/00—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/028—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring lateral position of a boundary of the object
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Abstract
The invention discloses an aluminum profile initial length measuring device and method for realizing automatic stretching and straightening. Two trolleys in the device are respectively arranged at two ends of a track and are respectively provided with a depth camera; a cooling bed is arranged on the side of the track and used for transporting the section bar; a first mobile depth camera detects one end of the profile; the second mobile depth camera moves along with the trolley to detect the other end of the profile, and the absolute encoder records the position of the second mobile stretching trolley relative to the reference. The position of the end of the profile relative to the camera is obtained by a depth camera, and the length of the profile is obtained by calculation for each dimension. The invention can realize the length measurement of the aluminum profile to be straightened in real time and rapidly so as to quantitatively measure the stretching degree of stretching and straightening, and has high efficiency and simple realization.
Description
Technical Field
The invention relates to a length measuring device and a length measuring method in the field of stretching and straightening, in particular to a device and a method for quickly measuring the length of a section bar during stretching and straightening of aluminum or other alloys.
Background
With the development of the industry of China towards greenization, light weight, high speed and modernization, aluminum and aluminum alloy have the advantages of small density, high strength, good corrosion resistance and formability and the like, and the tendency of replacing steel with aluminum is greater, so that the aluminum alloy is widely applied to the industries of aviation, aerospace, weapons, automobiles, ships, naval vessels, mechanical manufacturing, household appliances, electronic communication and the like.
The aluminum profile has strict requirements on size and mechanical property, and the related fields have strict requirements on flatness and straightness. An important link in the manufacturing process of the aluminum profile is extrusion molding, and the extruded aluminum profile needs to be cooled by air cooling, mist cooling or water cooling. After the traction and the rapid cooling of the tractor, the aluminum profile is generally bent and twisted in different degrees, and uneven stress is also generated in the cross section direction. Therefore, in the post-processing zone in the extrusion production of the aluminum profiles, the aluminum profiles need to be stretch-straightened to eliminate the bending and twisting of the aluminum profiles and also eliminate the non-uniformity of the stress of the aluminum profiles in the cross-sectional direction. Therefore, the straightening process is also a non-negligible process.
At present, the domestic stretching and straightening technology and equipment are behind developed countries, although semi-automation is realized, the key processes are still finished manually, for example, the stretching distance of stretching and straightening still depends on manual experience, namely the stretching distance is stretched by feeling, and quantitative control technology is not realized. The main reason is that the section bar is stretched and straightened, the length of the section bar is firstly known according to the stretching amount, and the length of the section bar is obtained due to the complex working condition and certain difficulty. Such as
The length range of the section bar is large (15-25m), the precision and the measuring range of a common displacement sensor cannot be considered, and the use scene is not very suitable.
The common camera is adopted for shooting and measuring in real time, so that the background is complex and the image processing is troublesome; and the profile length range is large, a plurality of cameras are needed, and the cost is greatly increased.
In addition, the aluminum profile is soft, and an axial bending phenomenon exists, so that certain influence is brought to the measurement accuracy.
Disclosure of Invention
Aiming at the full automation of the aluminum profile stretching and straightening production line, the invention aims to realize the length measurement of the aluminum profile to be straightened in real time and rapidly during the design of the full automation production line for stretching and straightening so as to quantitatively guide the stretching degree of the stretching and straightening. Therefore, the invention provides the method for measuring the length of the section bar, which has high efficiency and is simple to realize when the aluminum section bar is stretched and straightened.
The technical scheme of the invention is as follows:
the utility model provides a length measurement device of aluminium alloy when aluminium alloy is tensile alignment:
the device comprises a first movable stretching trolley, a second movable stretching trolley, a stay wire displacement sensor, an absolute encoder, a cooling bed, a first movable depth camera, a second movable depth camera, a proximity switch, a track and a positioning cylinder; the second movable stretching trolley and the first movable stretching trolley are respectively arranged at two ends of the track, the second movable stretching trolley and the first movable stretching trolley are movably arranged on the track along the track, a second movable depth camera is arranged on the second movable stretching trolley, and a first movable depth camera is fixed beside the side of the first movable stretching trolley; a cooling bed is arranged on the side of the track, a plurality of sectional materials to be straightened are transported on the cooling bed, the plurality of sectional materials to be straightened stretch and then span the plurality of cooling beds and are transported by the cooling bed, each sectional material to be straightened is arranged in parallel with the track, and the sectional materials to be straightened move horizontally on the cooling bed from a position far away from the track to a position close to the track; the second mobile depth camera and the first mobile depth camera face the section bar to be straightened on the cooling bed.
And a proximity switch is arranged on the cooling bed and close to the side part of the track, and the proximity switch is used for detecting whether the section bar to be straightened is fed to the position.
The first moving depth camera is positioned above the end part of the section to be straightened, which is close to one end of the first moving stretching trolley.
The first movable stretching trolley is connected with the stay wire displacement sensor, and the moving distance of the first movable stretching trolley along the track is detected through the stay wire displacement sensor;
the second movable stretching trolley is connected with the absolute encoder, and the distance of the second movable stretching trolley moving along the track is detected through the absolute encoder.
And a positioning cylinder is arranged on the side part of the cooling bed close to the track, and the positioning cylinder blocks the limit position of the section bar to be straightened, which is transported by the cooling bed.
Secondly, a method for measuring the length of the aluminum profile during stretching and straightening of the aluminum profile comprises the following steps:
setting two reference positions, measuring the position of the initial starting point of the second movable stretching trolley as a second reference position through an absolute encoder, measuring the position of the initial starting point of the first movable stretching trolley as a first reference position through a stay wire displacement sensor, measuring in advance to obtain a distance X0 between the second reference position and the first reference position, a length X5 of the second movable stretching trolley, and a distance X2 of the position of the first movable depth camera relative to the first reference position, wherein the position of the first movable depth camera is fixed, and therefore the distance relative to the first reference position is fixed;
when the proximity switch 9 detects that the sectional material to be straightened is carried to the material loading position of the cooling bed, the industrial personal computer starts to control the second mobile depth camera and the first mobile depth camera to acquire and shoot images near two ends of the sectional material to be straightened in real time; the profile end part on one side of the first mobile depth camera can be always in the visual field of the lens, the profile end part can be directly detected, the position of the end part on the other side of the profile needs to be detected along with the movement of the trolley on one side of the second mobile depth camera, and the trolley stops moving when the end part is detected.
The second mobile depth camera is arranged on one side of the second mobile stretching trolley close to the first mobile depth camera, the second mobile depth camera moves along with the second mobile stretching trolley 2, the first mobile depth camera is positioned right above the end part of the section bar to be straightened, in the moving process of the second moving stretching trolley, the moving distance X6 between the second moving stretching trolley and the second reference position is acquired in real time through the absolute encoder, the industrial personal computer is communicated with the PLC immediately, the data of the absolute encoder 4, namely X6, is read, and the distance X1 between the end part of the section bar to be straightened, which is close to one end of the second movable stretching trolley, and the second movable stretching trolley is obtained through the analysis and the processing of the image collected and shot by the second movable depth camera, acquiring a distance X3 between one end part of the section to be straightened, which is close to the first movable stretching trolley, and the first movable stretching trolley by a first movable depth camera in real time and carrying out image analysis processing on the acquired and shot images;
and finally, obtaining the length L of the section bar to be straightened through formula processing as follows:
L＝X0-X2-X3-X1-X5-X6。
the second moving depth camera and the first moving depth camera are used for shooting a plurality of images of the end part, close to one end of the second moving depth camera and the first moving depth camera, of the section to be straightened, the second moving depth camera and the first moving depth camera are used for shooting images downwards, the images comprise RGB (red, green and blue) frames, the images shot by the first moving depth camera are subjected to image analysis processing to position the end part of the section to be straightened, the second moving depth camera moves along with a second moving stretching trolley, the second moving depth camera moves along the length direction of the section to be straightened, shoots the images in real time while moving along the track in the direction parallel to the length direction of the section to be straightened, and carries out real-time image analysis processing to track and position the end part of the section to be straightened.
Traversing the depth frame pixels of the image shot by the first mobile depth camera after background removal and interference removal, finding out the pixel coordinates of the end part of the profile to be straightened, and converting the pixel coordinates into camera coordinates by using the distortion parameters and conversion parameters of the RGB lens to complete positioning.
The image analysis processing process specifically comprises the following steps:
firstly, carrying out coordinate alignment on a depth frame and an RGB frame;
secondly, identifying and positioning the profile to be straightened which is firstly extruded on the cooling bed, intercepting the depth frame which comprises the profile to be straightened and the areas on the two sides of the profile to be straightened which are parallel to the direction of the profile to be straightened, and acquiring a detection area corresponding to the profile to be straightened so as to avoid the interference of other profiles to be straightened;
then, background removal is carried out by utilizing the depth frame information, and then interference is removed;
and finally, identifying and positioning the end part of the sectional material to be straightened, and converting the pixel coordinates of the end part of the sectional material to be straightened in the image into the coordinates of the camera taking the camera as a space origin by using the distortion parameters and the coordinate conversion parameters corresponding to RGB inside the camera.
When the image shot by the second mobile depth camera is subjected to background removal, the method specifically comprises the following steps:
in a depth frame of the second mobile depth camera, only pixels with pixel values within a range of (D-delta, D + beta) are reserved, wherein D represents the distance between a camera lens and a cooling bed surface, delta is a parameter value larger than the maximum thickness of the section bar to be straightened, and beta is a section bar droop reference threshold to be straightened, and the threshold is set by considering the hanging droop of the end part of the section bar to be straightened, so that the end part of the section bar to be straightened can be detected; the depth frame is binarized accordingly, and the result of binarization is dot-multiplied with the RGB frame to remove most of the background.
When the image shot by the first mobile depth camera is subjected to background removal, the method specifically comprises the following steps:
invalid pixels in a detection area of a depth frame are removed, namely, a multiple N is preset, pixel values of pixels with original pixel values of 0 are changed into values which are larger than the distance D between a camera lens and a cold bed surface by traversing the pixels, and therefore the minimum value in the valid pixel values is highlighted.
Traversing the pixels again, and finding out the minimum value S of the effective pixel values;
traversing the pixels again, screening and reserving the pixels with the pixel values being (S, S + delta + beta), wherein the pixel values of the rest pixels are all changed into 0, delta is a parameter value larger than the maximum thickness of the section bar to be straightened, and beta is a droop reference threshold of the section bar to be straightened, and the droop reference threshold is a threshold set by considering the end part of the section bar to be straightened hanging and drooping, so that the end part of the section bar to be straightened can be detected; the depth frame is binarized accordingly and the result of binarization is multiplied by the RGB frame points (pixels corresponding to coordinate positions) to remove most of the background.
The interference elimination is to eliminate the interference of the random-in object and the noise interference by a method of eliminating a small connected domain and a method of Gaussian filtering, mean filtering and the like when the interference elimination is to be carried out on the depth frame.
The interference removal of the second mobile depth camera specifically comprises:
removing small-area connected regions, namely, firstly performing image segmentation, removing a part of small-area connected regions in an image by using geometrical characteristics (area), and simultaneously obtaining the external rectangles of each residual connected region to obtain the pixel width of the y-direction connected regions parallel to the length direction of the sectional material to be straightened;
and then converting the pixel width into a camera coordinate through the distortion parameter and the coordinate conversion parameter of the RGB frame to obtain the actual width of a communication area, and removing the communication area with the actual width of the communication area smaller than epsilon times of the width of the cooling bed, wherein epsilon is a safety factor to ensure that the interference can be completely removed, and the value of epsilon can be between (1.5 and 2).
In this way, the interference caused by the cooling bed when the section bar is not in the visual field of the second mobile depth camera can be removed aiming at the second mobile depth camera.
If there is still a communication zone left after the above operation, i.e. indicating that the profile 6 is already in view, it is very likely that the cooling bed 5 and the profile 6 form a large communication zone, which is detrimental to the reading of the pixel coordinates of the end position of the profile 6. Therefore, the pixel width of the x direction of the connected domain is detected firstly, the side length of the circumscribed rectangle in the x direction can be calculated, and if the pixel width is smaller than the width of the x direction of the A region, only the section bar in the visual field is indicated. If the number of the aluminum profile 6 and the number of the cooling bed 5 are equal, the interference of the cooling bed 5 needs to be removed in the visual field at the same time, and the aluminum profile 6 is silvery white, and the cooling bed surface is dark gray, so the RGB graph processed to be the last in the claim 9 is converted into a gray graph and subjected to histogram equalization, and the binarization is performed by adopting the maximum inter-class variance method, and the interference of the cooling bed 5 can be removed according to the brightness characteristic at this time.
The image shot by the second mobile depth camera is subjected to image analysis, processing, tracking and positioning in the end part of the profile to be straightened:
if the sectional material to be straightened does not exist in the detection area of the image at first, namely the pixels are all 0, the second movable stretching trolley is controlled to move on the track along the direction (the-y direction in figure 2) which is parallel to the sectional material to be straightened and is close to the rear end of the first movable depth camera until the pixel point of the sectional material to be straightened appears in the detection area, then the second movable stretching trolley is controlled to stop moving, the pixels in the image shot by the second movable depth camera are traversed, the pixel coordinate of the end part of the sectional material to be straightened is obtained and converted into the camera coordinate, and therefore the position of the end part of the sectional material to be straightened relative to the depth camera is obtained, and positioning is completed;
if the profile to be straightened is present in the detection region of the initial image, but the end of the profile to be straightened coincides with the boundary of the detection region of the depth frame (fig. 3), this means that the profile to be straightened has spread over the entire monitoring region in the y-direction,
and controlling the second movable stretching trolley to move on the track along the direction (the + y direction in the figure 2) parallel to the profile to be aligned and the rear end of the first movable depth camera in principle until the end of the profile to be aligned is positioned in the boundary of the detection area, which represents that the end of the profile to be aligned is positioned in the detection area, controlling the second movable stretching trolley to stop moving, starting traversing pixels in an image shot by the second movable depth camera, obtaining the pixel coordinates of the end of the profile to be aligned and converting the pixel coordinates into camera coordinates, thereby obtaining the position of the end of the profile to be aligned relative to the depth camera and completing the positioning.
The two depth cameras can detect the pixel coordinates of the end parts at the two sides in the camera vision field, and the pixel coordinates are converted into the camera coordinates through the distortion parameters and the coordinate conversion parameters of the cameras, so that the position of the end part of the profile relative to the cameras is obtained. Each dimension will form a closed loop so that the length of the profile can be obtained by distance calculation.
The invention has the beneficial effects that:
the invention can preliminarily measure the original length of the profile, is a key step of the design of an automatic production line for stretching and straightening the profile, can quickly measure the length of the profile to be straightened in real time, and can quantitatively measure the stretching degree of stretching and straightening.
Drawings
FIG. 1 is a layout diagram of a length measuring part of a stretching and straightening production line;
FIG. 2 is a simplified method measurement of the structure of FIG. 1;
FIG. 3 is a system composition diagram of a measurement structure.
In the figure: the system comprises a first movable stretching trolley 1, a second movable stretching trolley 2, a wire pulling displacement sensor 3, an absolute encoder 4, a cooling bed 5, a section bar 6, a first movable depth camera 7, a second movable depth camera 8, a proximity switch 9, a track 10 and a positioning cylinder 11.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, the device comprises a first mobile stretching trolley 1, a second mobile stretching trolley 2, a stay wire displacement sensor 3, an absolute encoder 4, a cooling bed 5, a first mobile depth camera 7, a second mobile depth camera 8, a proximity switch 9, a track 10 and a positioning cylinder 11; the second movable stretching trolley 2 and the first movable stretching trolley 1 are respectively arranged at two ends of the track 10, the second movable stretching trolley 2 and the first movable stretching trolley 1 can be movably arranged on the track 10 along the track 10, the second movable stretching trolley 2 is provided with a second movable depth camera 8, and a first movable depth camera 7 is fixed beside the side of the first movable stretching trolley 1; a plurality of cooling beds 5 are arranged on the side of the track 10, each cooling bed 5 is provided with a conveyor belt, a plurality of sectional materials 6 to be straightened are conveyed on the cooling beds 5, the plurality of sectional materials 6 to be straightened are stretched and then arranged across the plurality of cooling beds 5 and are conveyed by the cooling beds 5, each sectional material 6 to be straightened is arranged in parallel to the track 10, and the sectional materials 6 to be straightened are translated on the cooling beds 5 from a position far away from the track 10 to a position close to the track 10; the second mobile depth camera 8 and the first mobile depth camera 7 are both towards the section bar 6 to be straightened on the cooling bed 5, and the two cameras are vertically downward and are positioned at a certain height above the cooling bed.
The cooling bed 5 is provided with a proximity switch 9 at the side part close to the track 10, the proximity switch 9 is used for detecting whether the section bar 6 to be straightened is fed to the position, namely whether the section bar reaches the position on the cooling bed 5 at the side close to the track 10, and when the feeding is detected to be in the position, the two cameras start to simultaneously acquire data. The first mobile depth camera 7 is positioned above the end part of the section bar 6 to be straightened, which is close to one end of the first mobile stretching trolley 1.
The first movable stretching trolley 1 is used for moving in a small range and is connected with the stay wire displacement sensor 3, and the distance of the first movable stretching trolley 1 moving along the track 10 is detected through the stay wire displacement sensor 3; the second mobile stretching trolley 2 is used for large-scale movement and is connected with an absolute encoder 4, and the distance of the second mobile stretching trolley 2 moving along the track 10 is detected through the absolute encoder 4.
And a positioning cylinder 11 is arranged on the cooling bed 5 at the side part close to the track 10, and the positioning cylinder 11 is used for blocking the limiting position of the section bar 6 to be straightened, which is transported by the cooling bed 5.
The absolute encoder adopts an encoder of a roller structure, and specifically can adopt a meter wheel which rolls along the track 10 for detection.
The first movable stretching trolley 1 provides stretching force and stretching displacement, and the second movable stretching trolley 2 is used for clamping one end of the section bar for fixing. A first mobile depth camera 7 is fixed on the ground for detecting the end position of this side profile end. Second mobile depth camera 8 years old second mobile stretching trolley 2 moves to identify and locate the position of the profile end on this side.
The cooling bed 5 is arranged on one side of the track 10 and used for carrying and placing the section bar, and the proximity switch 9 is used for detecting whether the section bar 6 to be straightened is carried to a position to be loaded by the cooling bed 5. Each conveyor belt side of the cooling bed 5 is provided with a positioning cylinder 11 (for positioning but not limited to air cylinder) and in a straight line, the section bar 6 to be straightened is positioned, and the section bar 6 is blocked by the positioning cylinder 11 on each cooling bed 5 when being transported to the end nearest to the track 10 by each cooling bed 5, so that the section bar 6 is kept in a straight line during length measurement.
As shown in figure 3, in the concrete implementation, still include industrial computer, PLC, relay, first removal degree of depth camera, industrial computer, PLC, relay, proximity switch and stay wire displacement sensor are located first removal tensile dolly one side, and the position is relatively fixed, and the location cylinder equipartition under the relay control is on the cold bed. The first mobile depth camera is directly connected with the industrial personal computer, the proximity switch and the stay wire displacement sensor are connected to the PLC, and the PLC and the industrial personal computer can communicate with each other. The second mobile depth camera, the remote I/O module and the encoder are located on the second mobile stretching trolley, the second mobile depth camera is connected with the industrial personal computer through the wireless receiving and transmitting device, and the remote I/O module is connected with the PLC through the wireless module to avoid the trouble of wiring. The absolute encoder is connected to the remote I/O module.
The measuring process of the invention for the length of the section bar is as follows, as shown in figure 2:
two reference positions are established, the distance between the reference positions being X0. The distance X6 of the second mobile stretching carriage 2 from the second reference position is recorded by the absolute encoder 4, the carriage length being X5. The first mobile depth camera 7 is fixed in position and its distance from the first reference position is fixed, X2.
When the proximity switch 9 detects that the profile 6 is conveyed to a position to be loaded, the industrial personal computer starts to acquire data of the two depth cameras. The first moving depth camera 7 side directly detects the pixel coordinates of the end of the profile and then converts the pixel coordinates into camera coordinates by the distortion parameters and coordinate conversion parameters of the camera, thereby obtaining the distance of the end of the profile on this side with respect to the camera, i.e., X3.
The second mobile depth camera 8 on the other side can move along with the second mobile stretching trolley 2 until the profile 6 is detected to be in the camera visual field, at the moment, the trolley stops moving, and the industrial personal computer is communicated with the PLC immediately to read the data of the absolute encoder 4, namely X6.
Meanwhile, the industrial personal computer also determines the pixel coordinates of the profile end on the side in the second mobile depth camera 8, and then converts the pixel coordinates into camera coordinates through the distortion parameters and coordinate conversion parameters of the camera, so as to obtain the distance between the profile end on the side and the camera, namely X1. At this time, the relevant data are obtained, and the length L of the section bar can be obtained through a formula as follows:
L＝X0-X2-X3-X1-X5-X6
in one embodiment, the first mobile stretching carriage is located at a distance X4 from the second reference position, and X4 can be used to further guide the handling tool on the first mobile stretching carriage to grasp the side profile end.
Claims (10)
1. The utility model provides a length measurement device of aluminium alloy when aluminium alloy is stretched and is straightened which characterized in that:
the device comprises a first movable stretching trolley (1), a second movable stretching trolley (2), a stay wire displacement sensor (3), an absolute encoder (4), a cooling bed (5), a first movable depth camera (7), a second movable depth camera (8), a proximity switch (9), a track (10) and a positioning cylinder (11); the second movable stretching trolley (2) and the first movable stretching trolley (1) are respectively arranged at two ends of the track (10), the second movable stretching trolley (2) and the first movable stretching trolley (1) can be movably mounted on the track (10) along the track (10), the second movable stretching trolley (2) is provided with a second movable depth camera (8), and a first movable depth camera (7) is fixed beside the side of the first movable stretching trolley (1); a cooling bed (5) is arranged on the side of the track (10), a plurality of sectional materials (6) to be straightened are transported on the cooling bed (5), the plurality of sectional materials (6) to be straightened stretch and then span the plurality of cooling beds (5) and are transported by the cooling bed (5), each sectional material (6) to be straightened is arranged in parallel to the track (10), and the sectional material (6) to be straightened is translated on the cooling bed (5) from a position far away from the track (10) to a position close to the track (10); the second mobile depth camera (8) and the first mobile depth camera (7) face the section bar (6) to be straightened on the cooling bed (5).
2. The aluminum profile length measuring device during stretching and straightening of the aluminum profile as claimed in claim 1, is characterized in that: and a proximity switch (9) is arranged on the cooling bed (5) and close to the side part of the track (10), and the proximity switch (9) is used for detecting whether the section bar (6) to be straightened is fed in place.
3. The aluminum profile length measuring device during stretching and straightening of the aluminum profile as claimed in claim 1, is characterized in that: the first moving depth camera (7) is positioned above the end part of the section bar (6) to be straightened, which is close to one end of the first moving stretching trolley (1).
4. The aluminum profile length measuring device during aluminum profile stretching and straightening as claimed in claim 1, characterized in that: the first mobile stretching trolley (1) is connected with the stay wire displacement sensor (3), and the moving distance of the first mobile stretching trolley (1) along the track (10) is detected through the stay wire displacement sensor (3);
the second movable stretching trolley (2) is connected with the absolute encoder (4), and the moving distance of the second movable stretching trolley (2) along the track (10) is detected through the absolute encoder (4).
5. The aluminum profile length measuring device during stretching and straightening of the aluminum profile as claimed in claim 1, is characterized in that: and a positioning cylinder (11) is arranged on the side part of the cooling bed (5) close to the track (10), and the limiting position of the section bar (6) to be straightened, which is transported by the cooling bed (5), is blocked by the positioning cylinder (11).
6. A method for measuring the length of an aluminum profile during stretching and straightening of the aluminum profile, which is applied to the device of any one of claim 4, is characterized in that: measuring the position of the initial starting point of the second mobile stretching trolley (2) as a second reference position through an absolute encoder (4), measuring the position of the initial starting point of the first mobile stretching trolley (1) as a first reference position through a stay wire displacement sensor (3), and measuring in advance to obtain a distance X0 between the second reference position and the first reference position, a length X5 of the second mobile stretching trolley (2), and a distance X2 of the position of the first mobile depth camera (7) relative to the first reference position;
when the proximity switch 9 detects that the sectional material (6) to be straightened is conveyed to the material loading position of the cooling bed (5), the second movable depth camera (8) and the first movable depth camera (7) collect and shoot images near two ends of the sectional material (6) to be straightened in real time;
the second moving depth camera (8) moves along with the second moving stretching trolley (2), in the moving process of the second moving stretching trolley (2), the moving distance X6 between the second moving stretching trolley (2) and a second reference position is acquired in real time through an absolute encoder (4), the distance X1 between one end part, close to the second moving stretching trolley (2), of the section bar (6) to be straightened and the second moving stretching trolley (2) is obtained through image analysis processing acquired and shot by the second moving depth camera (8), and the distance X3 between one end part, close to the first moving stretching trolley (1), of the section bar (6) to be straightened and the first moving stretching trolley (1) is obtained through image analysis processing acquired and shot by the first moving depth camera (7) in real time;
and finally, obtaining the length L of the section bar (6) to be straightened through formula processing as follows:
L＝X0-X2-X3-X1-X5-X6。
7. the method for measuring the length of the aluminum profile during stretching and straightening the aluminum profile according to claim 6, is characterized in that: the second moving depth camera (8) and the first moving depth camera (7) shoot a plurality of images of the end part, close to one end of the second moving depth camera, of the section bar (6) to be straightened, the images shot by the first moving depth camera (7) are subjected to image analysis processing to position the end part of the section bar (6) to be straightened, the second moving depth camera (8) moves along with the second moving stretching trolley (2), the second moving depth camera moves along the length direction of the section bar (6) to be straightened on the track (2), and simultaneously shoots the images in real time and carries out real-time image analysis processing, tracking and positioning on the end part of the section bar (6) to be straightened.
8. The method for measuring the length of the aluminum profile during stretching and straightening the aluminum profile according to claim 7, is characterized in that: the image analysis processing process specifically comprises the following steps:
firstly, carrying out coordinate alignment on a depth frame and an RGB frame;
secondly, intercepting a depth frame including the section bar (6) to be straightened and areas on two sides of the section bar to be straightened, which are parallel to the direction of the section bar (6) to be straightened, and acquiring a detection area corresponding to the section bar to be straightened;
then, background removal is carried out by utilizing the depth frame information, and then interference is removed;
and finally, identifying and positioning the end part of the sectional material to be straightened, and converting the pixel coordinates of the end part of the sectional material to be straightened in the image into the coordinates of the camera taking the camera as a space origin by using the distortion parameters and the coordinate conversion parameters corresponding to RGB inside the camera.
9. The method for measuring the length of the aluminum profile during stretching and straightening the aluminum profile according to claim 8, characterized in that: when the image shot by the second mobile depth camera (8) is subjected to background removal, the method specifically comprises the following steps:
and in the depth frame of the second mobile depth camera (8), only keeping pixels with pixel values within a range of (D-delta, D + beta), wherein D represents the distance between a camera lens and the surface of the cooling bed, delta is a parameter value larger than the maximum thickness of the section bar (6) to be straightened, and beta is a section bar droop reference threshold value to be straightened, accordingly, binarizing the depth frame, and performing dot multiplication on the binarized result and the RGB frame to remove the background.
10. The method for measuring the length of the aluminum profile during stretching and straightening the aluminum profile according to claim 8, characterized in that: when the image shot by the first mobile depth camera (7) is subjected to background removal, the method specifically comprises the following steps:
firstly, removing invalid pixels in a detection area of a depth frame, namely presetting a multiple N, traversing pixels, and changing the pixel value of a pixel with the original pixel value of 0 into a value which is larger than the N times of the distance D between a camera lens and a cold bed surface;
traversing the pixels again, and finding out the minimum value S of the effective pixel values;
traversing the pixels again, screening and reserving the pixels with the pixel values of (S, S + delta + beta), changing the pixel values of the rest pixels into 0, wherein delta is a parameter value larger than the maximum thickness of the section bar (6) to be straightened, beta is a droop reference threshold value of the section bar to be straightened, binarizing the depth frame according to the value, and performing dot multiplication on the binarization result and the RGB frame) to remove the background.
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