CN115546286A - Method, device and equipment for detecting inclination of raw material blank and readable storage medium - Google Patents
Method, device and equipment for detecting inclination of raw material blank and readable storage medium Download PDFInfo
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- CN115546286A CN115546286A CN202211141473.4A CN202211141473A CN115546286A CN 115546286 A CN115546286 A CN 115546286A CN 202211141473 A CN202211141473 A CN 202211141473A CN 115546286 A CN115546286 A CN 115546286A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30116—Casting
Abstract
The invention relates to a raw material blank inclination detection method, a device, equipment and a readable storage medium, wherein the raw material blank inclination detection method comprises the following steps: collecting point cloud information of two end parts of the raw material blank; building a physical coordinate system so that the lifting direction of the raw material base is in the same direction as the first coordinate axis of the physical coordinate system; according to the point cloud information, finding out coordinates corresponding to two end parts of the raw material blank in a physical coordinate system; comparing coordinate values of two end parts of the raw material blank in the lifting direction of the raw material blank; if the difference of the coordinate values of the two end parts of the raw material blank in the lifting direction of the raw material blank is larger than or equal to a first preset threshold value, the raw material blank inclines. The invention solves the technical problem that the inclination condition of the raw material blank cannot be effectively detected in the lifting process.
Description
Technical Field
The invention relates to the technical field of rod and wire production, in particular to a raw material blank inclination detection method, a device and equipment and a readable storage medium.
Background
At the present stage, in the production process of the rod and wire, a raw material blank (the raw material blank of the rod and wire is usually a square blank, the side length of the cross section is about 20cm, and the length is about 10 meters) which is just continuously cast needs to be conveyed to a furnace roller way from bottom to top through a section of chain elevator so as to perform subsequent production operation. In the lifting process of the raw material blank, due to the equipment problem, the situation that the heights of two end parts of the raw material blank are inconsistent can occur, so that the material falling accident is caused to incline, and further the equipment is damaged.
At present, most of rod and wire production lines are manually checked by operators through monitoring videos, and whether raw material blanks incline in the lifting process is judged. This method has the following disadvantages:
1. the working intensity of operators is very high, the labor is consumed, and large errors exist;
2. the precision and accuracy of manual visual inspection are low;
3. automatic closed-loop control cannot be realized, and the production efficiency is low;
4. the method is not in line with the goal of reducing people and increasing efficiency at the present stage.
Aiming at the problem that the inclination condition of the raw material blank cannot be effectively detected in the lifting process in the related technology, an effective solution is not provided at present.
Therefore, the inventor provides a raw material blank inclination detection method, a device, equipment and a readable storage medium by virtue of experience and practice of related industries for many years, so as to overcome the defects in the prior art.
Disclosure of Invention
The invention aims to provide a raw material blank inclination detection method, a device, equipment and a readable storage medium, which can automatically and accurately detect whether a raw material blank is inclined or not in the raw material blank lifting process by adopting a coordinate system establishing and point cloud data processing mode, can feed back a detection result in time when the raw material blank is detected to be inclined, improves the detection accuracy and efficiency, and provides a technical means for realizing unmanned automatic production.
The purpose of the invention can be realized by adopting the following technical scheme:
the invention provides a raw material blank inclination detection method, which is used for detecting the inclination condition of a raw material blank in the lifting process of the raw material blank, and comprises the following steps:
collecting point cloud information of two end parts of the raw material blank;
building a physical coordinate system so that the lifting direction of the raw material base is in the same direction as the first coordinate axis of the physical coordinate system;
according to the point cloud information, finding out coordinates corresponding to two end parts of the raw material blank in the physical coordinate system;
comparing coordinate values of two end parts of the raw material blank in the lifting direction of the raw material blank;
and if the difference of the coordinate values of the two end parts of the raw material blank in the lifting direction of the raw material blank is greater than or equal to a first preset threshold value, the raw material blank inclines.
In a preferred embodiment of the present invention, the acquiring point cloud information of two end portions of the raw material blank includes:
information acquisition points are respectively arranged above the hoisting machine and on two sides of the hoisting machine;
establishing a detection coordinate system by taking the information acquisition point as an origin, so that the direction of a first coordinate axis of the detection coordinate system is the same as the lifting direction of the raw material blank;
respectively acquiring point cloud information of two end parts of the raw material blank through the information acquisition points;
and finding the coordinates of the two end parts of the raw material blank in the detection coordinate system.
In a preferred embodiment of the present invention, during the lifting process of the raw material blank, the information collection points can always collect point cloud information at two end portions of the raw material blank.
In a preferred embodiment of the present invention, the direction of the second coordinate axis of the detection coordinate system is perpendicular to the lifting plane of the raw material block.
In a preferred embodiment of the invention, the first coordinate axis of the physical coordinate system is located in the lifting plane of the raw material blank, and the direction of the first coordinate axis of the physical coordinate system is the same as the lifting direction of the raw material blank; and the direction of the second coordinate axis of the physical coordinate system is vertical to the lifting plane of the raw material blank.
In a preferred embodiment of the present invention, the building a physical coordinate system includes:
carrying out relational mapping on the detection coordinate system and the physical coordinate system;
projecting the coordinates of the two end parts of the raw material blank in the detection coordinate system into the physical coordinate system;
and finding out coordinates corresponding to two end parts of the raw material blank in the physical coordinate system, and forming a first coordinate set.
In a preferred embodiment of the present invention, the finding the coordinates corresponding to the two end portions of the raw material blank in the physical coordinate system includes:
traversing the first coordinate set in the physical coordinate system, obtaining a coordinate value corresponding to a second coordinate axis of the physical coordinate system in the first coordinate set, wherein the coordinate value is larger than a second preset threshold value, and forming a second coordinate set;
and acquiring the middle coordinate of the second coordinate set, namely the lifting position of the raw material blank at present.
The invention provides a raw material blank inclination detection device, which is used for detecting the inclination condition of a raw material blank in the lifting process of the raw material blank, and comprises the following components:
the information acquisition unit is used for acquiring point cloud information of two end parts of the raw material blank;
the building unit is used for building a physical coordinate system so that the lifting direction of the raw material base is in the same direction as the first coordinate axis of the physical coordinate system;
the position determining unit is used for finding out coordinates corresponding to two end parts of the raw material blank in the physical coordinate system according to the point cloud information;
a comparison unit for comparing coordinate values of both end portions of the raw material blank in a lifting direction of the raw material blank;
and the judging unit is used for inclining the raw material blank if the difference of the coordinate values of the two end parts of the raw material blank in the lifting direction of the raw material blank is greater than or equal to a first preset threshold value.
In a preferred embodiment of the present invention, the information collecting unit includes:
the collecting point distributing module is used for respectively distributing information collecting points above the hoister and on two sides of the hoister;
the establishing module is used for establishing a detection coordinate system by taking the information acquisition point as an origin so as to enable the direction of a first coordinate axis of the detection coordinate system to be the same as the lifting direction of the raw material blank;
the information acquisition module is used for respectively acquiring point cloud information of two end parts of the raw material blank through the information acquisition points;
and the first position determining module is used for finding the coordinates of the two end parts of the raw material blank in the detection coordinate system.
In a preferred embodiment of the invention, the constructed unit comprises:
a coordinate system mapping module for performing relation mapping between the detection coordinate system and the physical coordinate system;
the coordinate projection module is used for projecting the coordinates of the two end parts of the raw material blank in the detection coordinate system into the physical coordinate system;
and the second position determining module is used for finding out coordinates corresponding to two end parts of the raw material blank in the physical coordinate system and forming a first coordinate set.
In a preferred embodiment of the present invention, the position determining unit includes:
the first processing module is used for traversing the first coordinate set in the physical coordinate system, obtaining a coordinate value corresponding to a second coordinate axis of the physical coordinate system in the first coordinate set, wherein the coordinate value is larger than a second preset threshold value, and forming a second coordinate set;
and the second processing module is used for acquiring the middle coordinate of the second coordinate set, namely the lifting position of the raw material blank at present.
In a preferred embodiment of the present invention, the collection point arrangement module is at least two line laser scanning devices, the two line laser scanning devices are disposed above the elevator and located at two sides of the elevator, respectively, and the line laser scanning devices can always collect point cloud information at two end portions of the raw material blank during the lifting process of the raw material blank.
The invention provides computer equipment which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the raw material blank inclination detection method.
The present invention provides a computer-readable storage medium storing a computer program for executing the above-described raw material blank inclination detecting method.
From the above, the raw material blank inclination detection method, device, equipment and readable storage medium of the invention have the characteristics and advantages that: in the raw material blank lifting process, through the collection of point cloud data and the establishment of a coordinate system, the positions of two end parts of a raw material blank in the lifting process can be obtained, the coordinate values of the two end parts of the raw material blank in the lifting direction of the raw material blank are compared, the inclination condition of the raw material blank can be known according to the compared difference value, the detection result is uploaded so that a worker can timely process the detection result, closed-loop control for inclination detection of the raw material blank can be formed through the method, the detection accuracy and the production efficiency can be effectively improved, the labor intensity of operators is greatly reduced, and technical means are provided for realizing automatic lifting of the raw material blank.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.
Wherein:
FIG. 1: is one of the flow charts of the raw material blank inclination detection method of the invention.
FIG. 2: the second flow chart of the raw material blank inclination detection method is shown in the invention.
FIG. 3: is one of the schematic setting positions of the information acquisition points in the raw material blank inclination detection method.
FIG. 4: the second schematic diagram of the arrangement position of the information acquisition point in the raw material blank inclination detection method is shown.
FIG. 5: is a schematic view of the directions of a detection coordinate system and a physical coordinate system in the raw material blank inclination detection method.
FIG. 6: is a third flow chart of the raw material blank inclination detection method.
FIG. 7: the fourth flow chart of the raw material blank inclination detection method is provided.
FIG. 8: is a control schematic diagram of the raw material blank inclination detection method.
FIG. 9: is one of the structural block diagrams of the raw material blank inclination detection device of the invention.
FIG. 10: the second structure block diagram of the raw material blank inclination detection device of the invention.
FIG. 11: the third structural block diagram of the raw material blank inclination detection device is shown.
FIG. 12: the fourth structural block diagram of the raw material blank inclination detecting device of the present invention.
The reference numbers in the invention are;
1. raw material blanks; 2. A hoist;
3. a line laser scanning device; 4. A laser line;
5. calibrating the plate; 6. A switch;
7. a server; 8. A controller;
10. an information acquisition unit; 1001. A collection point distribution module;
1002. establishing a module; 1003. An information acquisition module;
1004. a first position determination module; 20. Building a unit;
2001. a coordinate system mapping module; 2002. A coordinate projection module;
2003. a second position determination module; 30. A position determination unit;
3001. a first processing module; 3002. A second processing module;
40. a comparison unit; 50. And a judging unit.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
Implementation mode one
As shown in fig. 1, the present invention provides a raw material blank inclination detecting method for detecting an inclination of a raw material blank 1 during lifting of the raw material blank 1, the raw material blank inclination detecting method comprising the steps of:
step S1: collecting point cloud information of two end parts of the raw material blank 1;
in an alternative embodiment of the present invention, as shown in fig. 2, step S1 comprises:
step S101: information acquisition points are respectively arranged above the hoisting machine 2 and on two sides of the hoisting machine 2;
specifically, the information collection point may be, but not limited to, a line laser scanning device 3, two line laser scanning devices 3 are respectively and fixedly disposed above the elevator 2 and located at two sides of the elevator 2, and the line laser scanning device 3 projects a laser line 4 on the object to be measured (i.e., two end portions of the raw material blank 1) and can return to all points on the laser line 4.
Further, the setting position of the line laser scanning device 3 needs to satisfy: in the lifting process of the raw material blank 1, the line laser scanning device 3 can always acquire point cloud information at two end parts of the raw material blank 1 so as to ensure that whether the raw material blank 1 is inclined or not can be detected in the whole lifting process.
Further, the hoist 2 is a chain hoist.
Step S102: establishing a detection coordinate system (a three-dimensional coordinate system (x, y, z)) by taking the information acquisition point as an origin, so that the direction of a first coordinate axis of the detection coordinate system is the same as the lifting direction of the raw material blank 1;
furthermore, the direction of the second coordinate axis of the detection coordinate system is vertical to the lifting plane of the raw material blank 1 (namely, the plane through which the raw material blank 1 passes in the lifting process), thereby facilitating the simplification of calculation. Certain error can be allowed between the direction of the second coordinate axis of the detection coordinate system and the lifting plane of the raw material blank 1, and the error range is less than 10 degrees.
Specifically, as shown in fig. 3 and 4, the detection coordinate system is based on the position of the line laser scanning device 3, the X-axis of the detection coordinate system (i.e., the first coordinate axis of the detection coordinate system) is oriented in the same direction as the lifting direction of the raw material billet 1, the Z-axis of the detection coordinate system (i.e., the second coordinate axis of the detection coordinate system) is perpendicular to the lifting plane of the raw material billet 1 and faces below the line laser scanning device 3, and the Y-axis of the detection coordinate system is perpendicular to the first coordinate axis and the second coordinate axis of the detection coordinate system, respectively.
Step S103: respectively collecting point cloud information of two end parts of the raw material blank 1 through information collecting points, wherein the collected point cloud information respectively corresponds to each coordinate point in a detection coordinate system;
step S104: the coordinates of both end portions of the raw material 1 are found in the detection coordinate system.
Step S2: constructing a physical coordinate system (three-dimensional coordinate system (x ', y ', z ')) so that the lifting direction of the raw material blank 1 is in the same direction with the first coordinate axis of the physical coordinate system;
further, a first coordinate axis of the physical coordinate system is positioned in the lifting plane of the raw material blank 1, and the direction of the first coordinate axis of the physical coordinate system is the same as the lifting direction of the raw material blank 1; the direction of the second coordinate axis of the physical coordinate system is perpendicular to the lifting plane of the raw material blank 1.
In an alternative embodiment of the present invention, as shown in fig. 5 and 6, step S2 includes:
step S201: carrying out relation mapping on the detection coordinate system and the physical coordinate system;
specifically, for the building of the physical coordinate system and the relational mapping between the detection coordinate system and the physical coordinate system, as shown in fig. 4 and 5, a rectangular calibration plate 5 is arranged at a position close to the lifting plane of the lifter 2, the length of the calibration plate 5 is equal to the movement distance of the raw material blank 1 on the lifter 2, and meanwhile, the laser scanning device 3 can be ensured to be completely projected on the calibration plate 5. The X ' axis of the physical coordinate system (namely, the first coordinate axis of the physical coordinate system) is in the same direction as the lifting direction of the raw material blank 1, the Z ' axis of the physical coordinate system (namely, the second coordinate axis of the physical coordinate system) is vertical to the lifting plane of the raw material blank 1 and opposite to the Z axis direction of the detection coordinate system, and the Y ' axis of the physical coordinate system is respectively vertical to the first coordinate axis and the second coordinate axis of the physical coordinate system.
Step S202: projecting the coordinates of the two end parts of the raw material blank 1 in the detection coordinate system into a physical coordinate system;
specifically, as shown in fig. 4, a coordinate point (x) in the coordinate system is detected 1 ，0，z 1 ) Corresponding to the bottom position of the hoist 2 in the physical coordinate system (i.e.: an origin in a physical coordinate system (0,0,0); detecting a coordinate point (x) in a coordinate system 2 ，0，z 2 ) The top position of the hoist 2 in the corresponding physical coordinate system (i.e.: a point (L, 0,0) in the physical coordinate system, where L is the measured length of the hoist 2 in the direction of motion).
Step S203: the coordinates corresponding to both ends of the raw material 1 are found in the physical coordinate system, and a first coordinate set is formed.
Further, the coordinates of the detection coordinate system are projected in the physical coordinate system by the following formula, and a first coordinate set P of both end portions of the raw material 1 in the physical coordinate system is obtained.
Y′＝Y (2)
Wherein, the formula (1) is a calculation formula for detecting the coordinate value of the coordinate point on the X axis of the coordinate system projected on the corresponding X' axis in the physical coordinate system; formula (2) is a calculation formula for detecting coordinate values of coordinate points on the Y axis of the coordinate system projected on the corresponding Y' axis in the physical coordinate system; formula (3) is a calculation formula for detecting coordinate values of coordinate points on the Z axis of the coordinate system projected on the corresponding Z' axis in the physical coordinate system; l is the actual measurement length of the hoister 2 in the moving direction (namely the moving distance of the raw material blank 1); h is the distance between the line laser scanning device and the calibration plate.
As can be seen from the above, after the coordinates of the detection coordinate system are projected on the physical coordinate system, the Z 'axis direction data of the physical coordinate system can be used to determine whether the raw material blank 1 exists in the current detection range, and when the calibration plate 5 is measured, the Z' axis coordinates of all coordinate points in the physical coordinate system are 0; if the raw material 1 exists in the detection range, the Z' -axis coordinate of a coordinate point in the range of the raw material 1 in the physical coordinate system is increased (far larger than a possible error value); the data in the X' axis direction in the physical coordinate system can be used to judge the moving position of the raw material 1.
Further, since the positions of the two end portions of the blank 1 need to be detected, the calibration plates 5 may be disposed on the two sides of the hoist 2, respectively, or the calibration plates 5 may extend to the movement plane of the whole hoist 2, so as to project the coordinates in the detection coordinate system established by the two line laser scanning devices 3, respectively.
And step S3: according to the point cloud information, finding out coordinates corresponding to two end parts of the raw material blank 1 in a physical coordinate system;
in an alternative embodiment of the present invention, as shown in fig. 7, step S3 comprises:
step S301: traversing a first coordinate set in the physical coordinate system, obtaining a coordinate value corresponding to a second coordinate axis of the physical coordinate system in the first coordinate set, wherein the coordinate value is larger than a second preset threshold value, and forming a second coordinate set;
specifically, all coordinate points in a first coordinate set P in the physical coordinate system are traversed, a section of point cloud data of each coordinate point in which the Z' -axis coordinate of the coordinate point in the physical coordinate system is significantly increased is found, the set of the section of point cloud data is a second coordinate set, and a position corresponding to the section of point cloud data (i.e., a position corresponding to the coordinate point in the second coordinate set) can be considered as an area where the raw material blank 1 is located.
Step S302: and acquiring a middle value of the X' -axis direction coordinate in the second coordinate set, namely the lifting position of the current raw material blank 1.
The specific algorithm of the step S3 is as follows: establishing an empty queue Q, traversing all coordinate points in the first coordinate set P along the X ' -axis direction, obtaining the Z ' -axis coordinate of each coordinate point, considering the coordinate point as the position of the raw material blank 1 when the Z ' -axis coordinate value is larger than sigma (sigma can be selected according to the section size of the raw material blank 1 and can be 10 cm), and adding the coordinate point into the queue Q; and when the Z 'axis coordinate is less than 0.5 sigma, the coordinate point is not the position of the raw material blank 1, the X' axis coordinates of all the coordinate points in the queue Q are obtained, the intermediate value d is obtained, and the d is the current movement position of the raw material blank 1.
And step S4: comparing coordinate values of two end parts of the raw material blank 1 in the lifting direction of the raw material blank 1;
step S5: if the difference between the coordinate values of the two end portions of the raw material billet 1 in the lifting direction of the raw material billet 1 is greater than or equal to the first preset threshold value, the raw material billet 1 is inclined.
Specifically, step S4 and step S5 are: the positions d1 and d2 of the two end portions of the raw material blank 1 are obtained from the data of the two end portions of the raw material blank 1 obtained by the algorithm in step S3. When | d1-d2| < theta (theta is a first preset threshold value, theta can be selected according to the actual situation on site and can be 10 cm), judging that the raw material blank 1 does not incline; when | d1-d2| ≧ θ, it can be judged that the raw material block 1 is tilted.
In an alternative embodiment of the present invention, as shown in fig. 8, two line laser scanning devices 3 are respectively connected to a server 7 and a controller 8 through a switch 6, the two line laser scanning devices 3 respectively transmit the acquired data to the server 7, and the server 7 determines whether the raw material blank 1 is tilted by using the above method; if the raw material blank 1 is inclined, the server 7 generates an alarm signal and transmits the alarm signal to the controller 8, and the controller 8 completes subsequent processing. Wherein, the controller 8 can be but is not limited to a PLC controller.
The method for detecting the inclination of the raw material blank has the characteristics and advantages that;
according to the raw material blank inclination detection method, in the lifting process of a raw material blank 1, through the acquisition of point cloud data and the detection of a coordinate system, the establishment of a physical coordinate system, the positions of two end parts of the raw material blank 1 in the lifting process can be obtained, the coordinate values of the two end parts of the raw material blank 1 in the lifting direction of the raw material blank 1 are compared, the inclination condition of the raw material blank 1 can be known according to the compared difference value, the detection result is uploaded so that a worker can timely process the detection result, closed-loop control over inclination detection of the raw material blank 1 in the lifting process can be formed through the method, the detection accuracy and the production efficiency can be effectively improved, the labor intensity of operators is greatly reduced, and technical means are provided for realizing automatic lifting of the raw material blank.
Second embodiment
As shown in fig. 9, the present invention provides a raw material blank inclination detection apparatus for detecting an inclination condition of a raw material blank 1 during a lifting process of the raw material blank 1, the raw material blank inclination detection apparatus comprising an information acquisition unit 10, a building unit 20, a position determination unit 30, a comparison unit 40, and a judgment unit 50, wherein:
the information acquisition unit 10 is used for acquiring point cloud information of two end parts of the raw material blank 1;
the building unit 20 is used for building a physical coordinate system so that the lifting direction of the raw material blank 1 is the same as the first coordinate axis of the physical coordinate system;
the position determining unit 30 is used for finding out coordinates corresponding to two end parts of the raw material blank 1 in a physical coordinate system according to the point cloud information;
a comparison unit 40 for comparing coordinate values of both end portions of the raw material billet 1 in the lifting direction of the raw material billet 1;
and a determining unit 50 for tilting the raw material billet 1 if the difference between the coordinate values of the two end portions of the raw material billet 1 in the lifting direction of the raw material billet 1 is greater than or equal to a first preset threshold value.
In an alternative embodiment of the present invention, as shown in fig. 10, the information collecting unit 10 includes a collecting point arranging module 1001, a building module 1002, an information collecting module 1003 and a first position determining module 1004, wherein:
an acquisition point arrangement module 1001 for arranging information acquisition points above the hoist 2 and on both sides of the hoist 2, respectively;
specifically, the information collection point may be, but not limited to, a line laser scanning device 3, two line laser scanning devices 3 are respectively and fixedly disposed above the elevator 2 and located at two sides of the elevator 2, and the line laser scanning device 3 projects a laser line 4 on the object to be measured (i.e., two end portions of the raw material blank 1) and can return to all points on the laser line 4.
The establishing module 1002 is configured to establish a detection coordinate system by using the information acquisition point as an origin, so that a direction of a first coordinate axis of the detection coordinate system is the same as a lifting direction of the raw material blank 1;
further, the direction of the second coordinate axis of the detection coordinate system is perpendicular to the lifting plane of the raw material blank 1 (i.e., the plane through which the raw material blank 1 passes during lifting), thereby facilitating the simplification of calculation.
The information acquisition module 1003 is used for respectively acquiring point cloud information of two end parts of the raw material blank 1 through the information acquisition points;
and a first position determining module 1004 for finding the coordinates of both end portions of the raw material blank 1 in the detection coordinate system.
In an alternative embodiment of the present invention, as shown in fig. 11, the construction unit 20 comprises a coordinate system mapping module 2001, a coordinate projection module 2002, and a second position determination module 2003, wherein:
a coordinate system mapping module 2001, configured to perform relational mapping between the detection coordinate system and the physical coordinate system;
a coordinate projection module 2002 for projecting the coordinates of the two end portions of the raw material blank 1 in the detection coordinate system into the physical coordinate system;
and a second position determining module 2003 for finding the coordinates corresponding to the two end portions of the raw material mat 1 in the physical coordinate system and forming a first coordinate set.
In an alternative embodiment of the present invention, as shown in fig. 12, the position determination unit 30 comprises a first processing module 3001 and a second processing module 3002, wherein:
the first processing module 3001 is configured to traverse a first coordinate set in the physical coordinate system, obtain a coordinate value corresponding to a second coordinate axis of the physical coordinate system in the first coordinate set, where the coordinate value is greater than a second preset threshold, and form a second coordinate set;
the second processing module 3002 is configured to obtain a middle coordinate of the second coordinate set, that is, the lifting position of the current blank.
In an optional embodiment of the present invention, as shown in fig. 3, the collection point distribution module is at least two line laser scanning devices, the two line laser scanning devices are disposed above the elevator and located at two sides of the elevator, respectively, and the line laser scanning devices can collect point cloud information of two end portions of the raw material blank all the time in the raw material blank lifting process.
The raw material blank inclination detection device has the characteristics and advantages that;
whether the raw material blank 1 is inclined or not needs to be detected in the lifting process, but closed-loop control cannot be formed due to the lack of an effective detection means, and the detection is mostly finished in a manual visual inspection mode at present. Aiming at the problem, the invention can acquire the positions of the two end parts of the raw material blank 1 in the lifting process by acquiring point cloud data and constructing a detection coordinate system and a physical coordinate system, compares the coordinate values of the two end parts of the raw material blank 1 in the lifting direction of the raw material blank 1, and can acquire the inclination condition of the raw material blank 1 according to the compared difference value, thereby effectively improving the detection accuracy and the working efficiency and providing a technical means for realizing unmanned automatic production.
Third embodiment
The invention provides computer equipment which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the raw material blank inclination detection method.
In particular, the computer device may be a computer terminal, a server or a similar computing device.
Embodiment IV
The present invention provides a computer-readable storage medium storing a computer program for executing the above-described raw material bank inclination detecting method.
In particular, computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable storage medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, 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, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided 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.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the invention should fall within the protection scope of the invention.
Claims (14)
1. A raw material blank inclination detection method is used for detecting the inclination condition of a raw material blank in the lifting process of the raw material blank, and the raw material blank inclination detection method comprises the following steps:
collecting point cloud information of two end parts of the raw material blank;
building a physical coordinate system so that the lifting direction of the raw material base is in the same direction as the first coordinate axis of the physical coordinate system;
according to the point cloud information, finding out coordinates corresponding to two end parts of the raw material blank in the physical coordinate system;
comparing coordinate values of two end parts of the raw material blank in the lifting direction of the raw material blank;
and if the difference of the coordinate values of the two end parts of the raw material blank in the lifting direction of the raw material blank is greater than or equal to a first preset threshold value, the raw material blank inclines.
2. The method for detecting the inclination of the material blank according to claim 1, wherein the step of acquiring the point cloud information of the two end portions of the material blank comprises the steps of:
information acquisition points are respectively arranged above the hoisting machine and on two sides of the hoisting machine;
establishing a detection coordinate system by taking the information acquisition point as an origin, so that the direction of a first coordinate axis of the detection coordinate system is the same as the lifting direction of the raw material blank;
respectively acquiring point cloud information of two end parts of the raw material blank through the information acquisition points;
and finding the coordinates of the two end parts of the raw material blank in the detection coordinate system.
3. The method for detecting the inclination of the blank according to claim 2, wherein the point cloud information at both ends of the blank is always acquired by the information acquisition point during the lifting of the blank.
4. The method of detecting a tilt of a preform according to claim 2, wherein the second coordinate axis of the detection coordinate system is oriented perpendicular to the lifting plane of the preform.
5. The method of detecting an inclination of a dough according to claim 4, wherein the first coordinate axis of the physical coordinate system is located in the lifting plane of the dough and the direction of the first coordinate axis of the physical coordinate system is in the same direction as the lifting direction of the dough; and the direction of the second coordinate axis of the physical coordinate system is vertical to the lifting plane of the raw material blank.
6. The raw material blank inclination detection method according to claim 5, wherein the building of the physical coordinate system comprises:
carrying out relational mapping on the detection coordinate system and the physical coordinate system;
projecting the coordinates of the two end parts of the raw material blank in the detection coordinate system into the physical coordinate system;
and finding out coordinates corresponding to two end parts of the raw material blank in the physical coordinate system, and forming a first coordinate set.
7. The method for detecting the inclination of the raw material billet according to claim 6, wherein the finding of the coordinates corresponding to the both end portions of the raw material billet in the physical coordinate system comprises:
traversing the first coordinate set in the physical coordinate system, obtaining a coordinate value corresponding to a second coordinate axis of the physical coordinate system in the first coordinate set, wherein the coordinate value is larger than a second preset threshold value, and forming a second coordinate set;
and acquiring the middle coordinate of the second coordinate set, namely the lifting position of the raw material blank at present.
8. An apparatus for detecting a tilt of a raw material blank during lifting of the raw material blank, comprising:
the information acquisition unit is used for acquiring point cloud information of two end parts of the raw material blank;
the building unit is used for building a physical coordinate system so as to enable the lifting direction of the raw material blank to be in the same direction as the first coordinate axis of the physical coordinate system;
the position determining unit is used for finding out coordinates corresponding to two end parts of the raw material blank in the physical coordinate system according to the point cloud information;
a comparison unit for comparing coordinate values of both end portions of the raw material blank in a lifting direction of the raw material blank;
and the judging unit is used for inclining the raw material blank if the difference of the coordinate values of the two end parts of the raw material blank in the lifting direction of the raw material blank is greater than or equal to a first preset threshold value.
9. The apparatus for detecting inclination of a raw material blank according to claim 8, wherein said information collecting unit comprises:
the collecting point distributing module is used for respectively distributing information collecting points above the hoister and on two sides of the hoister;
the establishing module is used for establishing a detection coordinate system by taking the information acquisition point as an origin so as to enable the direction of a first coordinate axis of the detection coordinate system to be the same as the lifting direction of the raw material blank;
the information acquisition module is used for respectively acquiring point cloud information of two end parts of the raw material blank through the information acquisition points;
and the first position determining module is used for finding the coordinates of the two end parts of the raw material blank in the detection coordinate system.
10. The raw material blank inclination detection apparatus according to claim 8, wherein said building unit includes:
a coordinate system mapping module for performing relation mapping between the detection coordinate system and the physical coordinate system;
the coordinate projection module is used for projecting the coordinates of the two end parts of the raw material blank in the detection coordinate system into the physical coordinate system;
and the second position determining module is used for finding out coordinates corresponding to two end parts of the raw material blank in the physical coordinate system and forming a first coordinate set.
11. The blank inclination detecting apparatus according to claim 8, wherein said position determining unit includes:
the first processing module is used for traversing a first coordinate set in the physical coordinate system, obtaining a coordinate value corresponding to a second coordinate axis of the physical coordinate system in the first coordinate set, wherein the coordinate value is larger than a second preset threshold value, and forming a second coordinate set;
and the second processing module is used for acquiring the middle coordinate of the second coordinate set, namely the lifting position of the raw material blank at present.
12. The blank inclination detecting device according to claim 9, wherein the collecting point arranging module is at least two line laser scanning devices, the two line laser scanning devices are disposed above the elevator and located at two sides of the elevator respectively, and the line laser scanning devices can collect point cloud information of two end portions of the blank all the time in the blank elevating process.
13. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the raw blank inclination detection method of any one of claims 1 to 7 when executing the computer program.
14. A computer-readable storage medium storing a computer program for executing the stock blank inclination detecting method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211141473.4A CN115546286A (en) | 2022-09-20 | 2022-09-20 | Method, device and equipment for detecting inclination of raw material blank and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211141473.4A CN115546286A (en) | 2022-09-20 | 2022-09-20 | Method, device and equipment for detecting inclination of raw material blank and readable storage medium |
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| Publication Number | Publication Date |
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| CN115546286A true CN115546286A (en) | 2022-12-30 |
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| CN202211141473.4A Pending CN115546286A (en) | 2022-09-20 | 2022-09-20 | Method, device and equipment for detecting inclination of raw material blank and readable storage medium |
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| Country | Link |
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| CN (1) | CN115546286A (en) |
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- 2022-09-20 CN CN202211141473.4A patent/CN115546286A/en active Pending
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