JP6848304B2 - Wall measurement method and wall surface measurement device for carbonization chamber of coke oven - Google Patents

Description

The present invention relates to a wall surface measuring method and a wall surface measuring device for a carbonization chamber of a coke oven.

In the steel industry, a coke oven called a chamber type is generally used. The raw material coal is carbonized by heating at a high temperature of 1000 ° C. or higher for about 20 hours to produce coke.

A coke oven that produces coke by carbonizing coal consists of a carbonization chamber into which coal is charged and a combustion chamber in which fuel gas is burned to keep the carbonization chamber at a high temperature. The carbonization chamber and the combustion chamber are separated by a furnace wall formed by combining refractory bricks and standing substantially perpendicular to the floor surface, and a plurality of carbonization chambers and combustion chambers are arranged alternately. Each coke oven has about 100 carbonization chambers. The produced coke is extruded by an extruder and discharged from the carbonization chamber. For example, one carbonization chamber has a length of 16 m, a height of 6.5 m, and a width of about 0.4 m, which is narrower than the length and height. Coal is dropped from the coal inlet at the top of the carbonization chamber, and when the carbonization is completed, the doors at both ends of the carbonization chamber are opened and coke is extruded in the longitudinal direction (horizontal direction) and taken out.

Coke ovens are usually used for a long period of 30 years or more, but many coke ovens in the domestic steel industry were constructed during the period of high economic growth, and many of them have been in operation for 40 years or more. In addition, if the operation of the coke oven is interrupted and the temperature of the oven is lowered, the strength of the brick structure will be significantly reduced. Be done.

In a coke oven that is maintained at a high temperature for a long period of time, the refractory bricks that make up the furnace chamber (carbonization chamber and combustion chamber) deteriorate due to thermal, chemical, or mechanical factors, and the refractory bricks are partially thinned. Irregularities are generated on the wall surface of the furnace due to the occurrence of corner chips and the like. In operating a coke oven, it is desirable that the extrusion load is small when extruding coke after carbonization. The extrusion load depends on various factors such as the blending / moisture content of coal and the carbonization state, but in particular, the unevenness of the wall surface of the carbonization chamber becomes frictional resistance between the coke and the wall surface and greatly affects the extrusion load. If the extrusion load is high, a situation called "clogging" may occur in which the coke cannot be discharged. In this case, the production of coke may be reduced. In addition, if the brick wall is destroyed due to deterioration of the refractory bricks, a large-scale repair work may have to be performed, and in such a case, the operation of the coke oven will be significantly affected.

Therefore, it is the operation of the coke oven to measure the surface of the wall surface at each point in the depth direction and each point in the height direction of the carbonization chamber to quantitatively grasp and maintain the condition of the unevenness generated on the wall surface. And it is extremely important for equipment management. However, as described above, since the width of the carbonization chamber is only 40 cm and the inside is always at a high temperature of 1000 ° C., it is difficult for a person to enter the carbonization chamber and directly observe the brick wall surface.

For example, as a technique capable of recognizing the position and shape of local unevenness damage occurring on a brick wall surface in a carbonization chamber, a laser beam is irradiated from an oblique vertical direction to a linear field of view of a line CCD (Charge Coupled Device) camera. A wall surface measuring device that measures unevenness by superimposing an image of a laser beam on a wall surface image that emits red heat at a high temperature is disclosed (for example, Patent Document 1). According to the wall surface measuring device, the unevenness of the wall surface is observed as the vertical displacement of the laser beam image (displacement in the height direction of the carbonization chamber) on the image, and the geometry such as the emission angle of the laser beam and the camera viewing angle / viewing size. The amount of unevenness on the wall surface can be obtained from the scientific conditions by the principle of triangulation. Further, according to the wall surface measuring device, a plurality of laser beams are projected along the height direction of the carbonization chamber at substantially the same interval as the bricks, and are irradiated while moving in the depth direction of the carbonization chamber. , The amount of unevenness on the wall surface can be measured over the total length and height of the carbonization chamber. In this way, the wall surface measuring device quantitatively grasps the "image data" that can visually grasp the damaged state of the wall surface and the unevenness generation state only by putting the wall surface measuring device in the carbonization furnace once. It is possible to obtain the "unevenness amount" at the same time, and it is possible to observe the furnace wall in a short time so as not to interfere with the operation of the coke oven as much as possible.

Further, the wall surface of the carbonization chamber may have irregularities due to partial adhesion of carbon as well as irregularities caused by partial wall thinning or chipping of bricks. Specifically, carbon grows when the carbon component of the gas generated during carbonization of coal adheres to the wall surface, and in some cases, forms an irregular uneven shape on the wall surface and is extruded when coke is extruded. It may cause a load. Therefore, similarly to the above-mentioned wall surface measuring device, a furnace wall surface condition determining device for acquiring "image data" of the wall surface and observing the state of carbon adhering to the brick wall surface in the carbonization chamber is disclosed (for example, Patent Document 2).

Japanese Patent No. 3895928 JP-A-2014-187847

In the prior art, as described above, the amount of unevenness on the wall surface is obtained by tracking the laser beam image displayed with high brightness on the image of the wall surface and detecting the amount of displacement above and below the laser beam image. However, recently, the damage to the bricks in the carbonization chamber has progressed more than before, and the number of places where the laser beam image is rapidly displaced up and down due to the large step on the wall surface due to the brick damage is increasing. When the laser beam image is tracked in consideration of such a situation, the brick joints displayed with high brightness on the image may be tracked instead of the laser beam image. Furthermore, the laser beam image may not be properly tracked due to dirt on the wall surface measuring device or the like.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is a wall surface of a carbonization chamber of a coke oven capable of appropriately tracking a laser beam image on a wall surface image. It is an object of the present invention to provide a measuring method and a wall surface measuring device.

In order to solve the above problem, according to a certain viewpoint of the present invention, in the method of measuring the wall surface of the carbonization chamber of the coke oven, while moving in the depth direction of the carbonization chamber with respect to the wall surface of the carbonization chamber of the coke furnace. , The irradiation step of bending and irradiating a plurality of laser beams with a mirror, and the wall surface on which the images of the plurality of laser beams reflected on the mirror are superimposed are continuously photographed, and the plurality of lasers extending in the depth direction. An original image acquisition step of acquiring an original image in which an optical image appears, an image processing step of processing the original image to acquire an image for tracking processing, and tracking the laser light image included in the tracking processing image. The tracking step includes a tracking step of detecting the unevenness of the wall surface based on the position information of the tracked laser beam image in the height direction of the carbonization chamber, and the irradiation step is the laser. The laser beam image is irradiated so that the width of the carbonization chamber in the height direction is narrower than the width of the joints of the bricks constituting the wall surface in the height direction of the carbonization chamber. Shrinks a plurality of laser beam images included in the original image or a plurality of emission line images corresponding to the image of the joint with respect to the original image, and is equal to or less than the width of the laser beam image from the plurality of emission line images. The emission line image having the width of is erased to acquire a contraction-processed image, and the emission line image included in the contraction-processed image is expanded with respect to the contraction-processed image to acquire an expansion-processed image. The difference between the image and the expansion processed image is extracted to obtain an extracted image, and the extracted image has the brightness existing along the depth direction of the carbonization chamber at each position in the height direction in the carbonization chamber. The total sum is calculated, the average brightness in the depth direction of the carbonization chamber is obtained using the obtained sum of the brightness, and the emission line image located at a height having the average brightness higher than the preset threshold is extracted. Provided is a method for measuring the wall surface of a carbonization chamber of a coke oven, which acquires the image for tracking processing by excluding it from the emission line image included in the image.

In order to solve the above problems, according to a certain viewpoint of the present invention, in the method for measuring the wall surface of the carbonization chamber of the coke oven, while moving in the depth direction of the carbonization chamber with respect to the wall surface of the carbonization chamber of the coke furnace. , The irradiation step of bending and irradiating a plurality of laser beams with a mirror, and the wall surface on which the images of the plurality of laser beams reflected on the mirror are superimposed are continuously photographed, and the plurality of lasers extending in the depth direction. An original image acquisition step of acquiring an original image in which an optical image appears, an image processing step of processing the original image to acquire an image for tracking processing, and tracking the laser light image included in the tracking processing image. The irradiation step includes the tracking step of detecting the unevenness of the wall surface based on the position information of the tracked laser beam image in the height direction of the carbonization chamber, and the irradiation step of the laser. The image processing step of irradiating light so that the width of the carbonization chamber of the laser beam image in the height direction is narrower than the width of the carbonization chamber of the joints of the bricks constituting the wall surface in the height direction. Shrinks a plurality of laser beam images included in the original image or a plurality of emission line images corresponding to the image of the joint with respect to the original image, and is equal to or less than the width of the laser beam image from the plurality of emission line images. The emission line image having the width of is erased to acquire a shrinkage-processed image, and the emission line image included in the shrinkage-processed image is expanded with respect to the shrinkage-processed image to acquire an expansion-processed image. The difference between the image and the expansion processed image is extracted to obtain an extracted image, and the extracted image has the brightness existing along the depth direction of the carbonization chamber at each position in the height direction in the carbonization chamber. The total sum was calculated, the average brightness in the depth direction of the carbonization chamber was obtained using the obtained sum of the brightness, the amount of change in the average brightness adjacent to the height direction of the carbonization chamber was calculated, and set in advance. A method for measuring the wall surface of a carbonization chamber of a coke furnace, in which an image for tracking processing is acquired by excluding an emission line image located at a height having a change amount higher than a threshold value from the emission line image included in the extracted image. Is provided.

Further, in order to solve the above problems, according to another viewpoint of the present invention, in the wall surface measuring device for the carbonization chamber of the coke furnace, the wall surface of the carbonization chamber of the coke furnace is oriented in the depth direction of the carbonization chamber. The irradiation unit that irradiates a plurality of laser beams by bending them with a mirror while moving, and the wall surface on which the images of the plurality of laser beams reflected on the mirror are superimposed are continuously photographed and extends in the depth direction. An imaging unit that acquires an original image in which a plurality of laser light images appear, an image processing unit that processes the original image to acquire an image for tracking processing, and the laser light image included in the tracking processing image. The tracking unit includes a tracking unit for detecting unevenness of the wall surface based on the position information of the traced laser beam image in the height direction of the carbonization chamber, and the irradiation unit is the irradiation unit. The laser beam is irradiated so that the width of the laser beam image in the height direction of the carbonization chamber is narrower than the width of the joints of the bricks constituting the wall surface in the height direction of the carbonization chamber, and the image processing is performed. The unit contracts the plurality of laser beam images included in the original image or the plurality of emission line images corresponding to the images of the joints with respect to the original image, and the width of the laser beam image from the plurality of emission line images. The emission line image having the following width is erased to acquire a contraction-processed image, and the emission line image included in the contraction-processed image is expanded with respect to the contraction-processed image to acquire an expansion-processed image. The difference between the original image and the expansion processed image is extracted to obtain the extracted image, and the brightness existing in the extracted image at each position in the height direction in the carbonization chamber along the depth direction of the carbonization chamber is obtained. The total brightness of the above is calculated, the average brightness in the depth direction of the carbonization chamber is obtained by using the total sum of the obtained brightness, and the emission line image located at a height having the average brightness higher than the preset threshold value is obtained. By excluding from the emission line image included in the extracted image, a wall surface measuring device for a carbonization chamber of a coke furnace is provided, which acquires the tracking processing image.

Further, in order to solve the above problems, according to another viewpoint of the present invention, in the wall surface measuring device for the carbonization chamber of the coke furnace, the wall surface of the carbonization chamber of the coke furnace is oriented in the depth direction of the carbonization chamber. The irradiation unit that irradiates a plurality of laser beams by bending them with a mirror while moving, and the wall surface on which the images of the plurality of laser beams reflected on the mirror are superimposed are continuously photographed and extended in the depth direction. An imaging unit that acquires an original image in which a plurality of laser light images appear, an image processing unit that processes the original image to acquire an image for tracking processing, and the laser light image included in the tracking processing image. It has a tracking unit for tracking and a detection unit for detecting unevenness of the wall surface based on the position information of the tracked laser beam image in the height direction of the carbonization chamber, and the irradiation unit is said to have the same. The image processing is performed by irradiating the laser beam so that the width of the carbonization chamber of the laser beam image in the height direction is narrower than the width of the carbonization chamber of the joints of the bricks constituting the wall surface in the height direction. The unit contracts the plurality of laser beam images included in the original image or the plurality of emission line images corresponding to the images of the joints with respect to the original image, and the width of the laser beam image from the plurality of emission line images. The emission line image having the following width is erased to obtain a shrinkage-processed image, and the emission line image included in the shrinkage-processed image is expanded with respect to the shrinkage-processed image to acquire an expansion-processed image. The difference between the original image and the expansion-processed image is extracted to obtain an extracted image, and for the extracted image, the brightness existing along the depth direction of the carbonization chamber at each position in the height direction in the carbonization chamber. Is calculated, the average brightness in the depth direction of the carbonization chamber is obtained using the obtained sum of the brightness, the amount of change in the average brightness adjacent to the height direction of the carbonization chamber is calculated, and set in advance. The wall surface measurement of the carbonization chamber of the coke furnace is obtained by excluding the emission line image located at a height having the change amount higher than the threshold value from the emission line image included in the extracted image, thereby acquiring the image for tracking processing. Equipment is provided.

As described above, according to the present invention, it is possible to appropriately track the laser beam image on the image of the wall surface.

It is explanatory drawing which shows an example of the appearance of the wall surface measuring apparatus 100 which concerns on one Embodiment of this invention. It is explanatory drawing which shows an example of the arrangement relation of the vertical pillar 102, the mirror tube 104, and the wall surface 12 which concerns on this embodiment. It is explanatory drawing for demonstrating the method of measuring the unevenness amount of the wall surface 12 by the wall surface measuring apparatus 100 which concerns on the same embodiment. It is a figure (image) which shows an example of the wall surface image (original image) 600 obtained by the wall surface measuring apparatus 100 which concerns on the same embodiment. It is an enlarged view (image) of a part of the wall surface image (original image) 600 of FIG. It is a figure (image) which shows an example of the tracking result 620 of the laser beam image 700 obtained by the conventional wall surface measuring apparatus. It is a block diagram which shows an example of the functional structure of the processing unit 110 of the wall surface measuring apparatus 100 which concerns on the same embodiment. It is explanatory drawing for demonstrating an example of the top hat processing which concerns on this embodiment. It is explanatory drawing for demonstrating an example of the detection process of the pseudo laser light image 704 which concerns on this embodiment. It is explanatory drawing for demonstrating another example of the detection process of the pseudo laser light image 704 which concerns on this embodiment. It is a flowchart which shows an example of the wall surface measurement method which concerns on the same embodiment. It is a figure (image) which shows an example of the extracted image 604 obtained by the top hat process which concerns on the same embodiment. As a comparative example, it is a figure (image) which shows an example of the tracking result 622 which tracked the laser light image 700 with respect to the extracted image 604 by the top hat processing of FIG. It is a figure (image) which shows an example of the result 624 obtained by the detection of the pseudo laser light image 704 which concerns on the same embodiment. FIG. 15 is a diagram (image) showing an example of the tracking result 626 in which the laser beam image 700 is tracked based on the result 624 of FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

Further, in the present specification and the drawings, a plurality of components having substantially the same functional configuration may be distinguished by adding different alphabets after the same reference numerals. For example, a plurality of configurations having substantially the same functional configuration or logical significance are distinguished as necessary, such as the translucent plate 106a and the translucent plate 106b. However, if it is not necessary to distinguish each of the plurality of components having substantially the same functional configuration, only the same reference numerals are given. For example, when it is not necessary to distinguish between the light transmitting plate 106a and the light transmitting plate 106b, it is simply referred to as the light transmitting plate 106.

<< Outline of wall surface measuring device 100 and wall surface measuring method >>
The wall surface measuring device 100 and the wall surface measuring method according to the embodiment of the present invention are devices and methods for measuring the unevenness of the wall surface 12 of the carbonization chamber 10 of the coke oven. In the present embodiment, as described above, the laser beam is emitted by the laser floodlight 300 also included in the wall surface measuring device 100 on the wall surface 12 included in the linear field of view of the line CCD camera 200 included in the wall surface measuring device 100. Irradiate. Further, an image (original image) of the wall surface 12 that emits red heat at a high temperature on which the image of the laser beam is superimposed is acquired. Then, in the present embodiment, the vertical displacement of the laser beam image on the acquired original image in the height direction of the carbonization chamber can be observed, and the unevenness amount of the wall surface 12 can be obtained from the displacement amount.

First, the outline of the wall surface measuring device 100 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is an explanatory view showing an example of an external configuration of the wall surface measuring device 100 according to the present embodiment. In detail, FIG. 1 shows a state when the wall surface measuring device 100 is inserted from one side of the carbonization chamber 10 along the depth direction of the carbonization chamber 10. The straight lines extending from the translucent plates 106a to 106d shown in FIG. 1 are the transmissive plates 106a to 106d of the line CCD cameras (photographing units) 200a to 200d provided inside the wall surface measuring device 100, respectively. Shows the viewing range through. Further, the straight line extending from the light transmitting plates 108a to 108b shown in FIG. 1 is irradiated from the laser floodlights (irradiating unit) 300a to 300b provided inside the wall surface measuring device 100 via the light transmitting plates 108a to 108b. A part of the optical path of the laser beam is shown. Further, FIG. 2 is an explanatory view showing an example of the arrangement relationship between the vertical column 102, the mirror tube 104, and the wall surface 12 according to the present embodiment. Specifically, the vertical column 102 and the mirror tube 104 are shown. It is explanatory drawing which shows the outline of the cross section at the time of cutting along the direction perpendicular to the axis. The arrow reaching from the vertical column 102 to the wall surface 12b via the mirror tube 104 indicates the optical path of the laser beam emitted from the laser floodlight 300.

As shown in FIG. 1, the wall surface measuring device 100 mainly includes a vertical pillar 102 in which a plurality of line CCD cameras 200 and a plurality of laser floodlights 300 are built, and a mirror tube 104 having a mirror 400 on the side surface. There is. The vertical pillar 102 and the mirror pipe 104 have a double pipe structure, and by flowing cooling water between the inner pipe and the outer pipe constituting the double pipe structure, the inside of each of the vertical pillar 102 and the mirror pipe 104 is passed. Is prevented from being exposed to high heat. Further, the vertical column 102 and the mirror tube 104 are integrally formed so that the inside of the carbonization chamber 10 can move together along the depth direction of the carbonization chamber 10. Further, the wall surface measuring device 100 has a processing unit (image processing unit) 110 (see FIG. 7) (see FIG. 7) (not shown in FIG. 1). The processing unit 110 is a unit having a plurality of functional units for processing an image acquired by the wall surface measuring device 100, and the details thereof will be described later.

As shown in FIG. 1, light transmitting plates 106a to 106d are provided on the front surface of the vertical pillar 102 at predetermined intervals in the height direction. The plurality of line CCD cameras 200a to 200d provided inside the vertical pillar 102 capture an image projected on the mirror 400 of the mirror tube 104 via the light transmitting plates 106a to 106d, respectively, and the original image of the wall surface 12 is taken. To get. The line CCD camera 200 can acquire an image of the wall surface 12 of the carbonization chamber 10 having an extremely narrow width with high accuracy by photographing the image projected on the mirror 400. In the present embodiment, in order to capture images of a plurality of laser beams projected in a row in the height direction of the furnace wall, it is preferable to use a line CCD camera instead of an area camera as the photographing device. Further, in the line CCD camera 200, the wall surface measuring device 100 can obtain a two-dimensional image of the wall surface 12 by moving the inside of the carbonization chamber 10 along the depth direction of the carbonization chamber 10.

Further, as shown in FIG. 1, light transmitting plates 108a and 108b are provided between the light transmitting plate 106a and the light transmitting plate 106b and between the light transmitting plate 106c and the light transmitting plate 106d, respectively. .. Further, each of the laser floodlights 300a and 300b provided inside the vertical column 102 has, for example, a plurality of semiconductor lasers 302 (see FIG. 3). The laser floodlights 300a and 300b emit a plurality of laser beams having a wavelength of, for example, about 690 nm to the outside of the vertical column 102 via the light transmitting plates 108a and 108b with respect to the floor surface (not shown) of the carbonization chamber 10. Irradiate the light so that the optical path is tilted (see FIG. 3). The optical path of the laser beam irradiated to the outside is bent by the reflection of the mirror tube 104 by the mirror 400, and reaches the field of view of the line CCD cameras 200a to 200d on the wall surface 12 of the carbonization chamber 10. By such irradiation, a plurality of laser beam images located at substantially equal intervals along the height direction appear on the wall surface 12. For example, the laser floodlight 300a can create a plurality of laser beam images taken by the line CCD camera 200a above the laser projector 300a on the wall surface 12. Further, the laser floodlight 300b can create a plurality of laser beam images taken by the line CCD camera 200b below the laser projector 300b on the wall surface 12.

In the laser floodlight, when the wall surface 12 is substantially flat, the plurality of laser beam images are at intervals substantially equal to the height distance (for example, 130 mm) of the wall surface 12 of the refractory bricks, and the joints and joints of the refractory bricks. The irradiation angle of the laser beam can be adjusted so that it appears between and.

Further, in the present embodiment, the line CCD camera 200 and the laser floodlight 300 have a configuration in which the tube axis of the vertical column 102 can be rotated together as a rotation axis. By rotating the line CCD camera 200 and the laser floodlight 300 together, one wall surface 12a and the other wall surface 12b of the carbonization chamber 10 can be observed. Further, as shown in FIG. 2, the mirror tube 104 includes a mirror 400a for observing one wall surface 12a of the carbonization chamber 10 from the front and a mirror for observing the other wall surface 12b of the carbonization chamber 10 from the front. 400b is provided. These mirrors 400a and 400b can be formed, for example, by mirror-polishing the surface of the stainless steel outer tube of the mirror tube 104 to make it a mirror surface, and then applying chrome plating. Further, these mirrors 400a and 400b are installed at an angle of approximately 45 ° with respect to the optical axis of the laser beam emitted from the laser floodlight 300.

Next, the outline of the wall surface measurement method according to the present embodiment will be described with reference to FIGS. 2 to 4. FIG. 3 is an explanatory diagram for explaining a method of measuring the amount of unevenness of the wall surface 12 by the wall surface measuring device 100 according to the present embodiment. Specifically, the vertical pillar 102 and the mirror tube 104 are attached to their axes. It is explanatory drawing which shows the outline of the cross section at the time of cutting along the direction of. Further, FIG. 4 is a diagram (image) showing an example of the wall surface image (original image) 600 obtained by the wall surface measuring device 100 according to the present embodiment.

For example, as shown in FIGS. 2 and 3, when the line CCD camera 200 and the laser floodlight 300 are swiveled to a position aimed at the wall surface 12b, a plurality of laser beams emitted from the laser floodlight 300 are generated in the mirror 400b. It is reflected and reaches the wall surface 12b. As a result, a laser beam image appears on the wall surface 12b. For example, in the present embodiment, a plurality of laser beam images having a width of about 2 mm appear on the linear field of view of the line CCD camera 200. As described above, each laser floodlight 300 is composed of a plurality of semiconductor lasers 302, and by irradiating each laser floodlight 300, as many laser beam images as the number of semiconductor lasers 302 are displayed on the wall surface 12b at the height of the carbonization chamber 10. Appears along the direction. As described above, the width of the laser beam image is about 2 mm, whereas the width of the refractory brick joints constituting the carbonization chamber 10 along the height direction of the carbonization chamber 10 is about 4 mm to 5 mm. Is. As described above, in the present embodiment, the difference in width between the laser beam image appearing on the wall surface 12 and the joints of the refractory bricks is set to exceed 1 mm. The details will be described later, but by doing so, the laser beam image and the image of the refractory brick joint can be distinguished on the image.

As described above, the image of the wall surface 12 on which the laser beam image is superimposed is taken by the line CCD camera 200. At this time, the wall surface measuring device 100 is moved at a constant speed (for example, 7.5 m / min) along the depth direction. Specifically, every time the wall surface measuring device 100 moves by a predetermined distance (for example, 1 mm), the line CCD camera 200 takes a picture, and the taken image is stored in a storage unit (not shown) in the wall surface measuring device 100. By repeating this, the original image of the wall surface 12 over the substantially overall length of the carbonization chamber 10 in the depth direction can be acquired. For example, the original image 600 of the wall surface 12 as shown in FIG. 4 can be acquired. In FIG. 4, a laser beam image 700 extending in the depth direction of the carbonization chamber 10 appears on the original image 600. Further, the original image 600 includes an image 702 of a refractory brick joint extending in the depth direction. The image appearing on the original image 600 will be described in detail later.

Here, with reference to FIG. 3, a method of observing the vertical displacement of the laser beam image 700 on the acquired image in the height direction of the carbonization chamber 10 and determining the unevenness amount of the wall surface 12 from the displacement amount. explain. For example, when the wall surface 12 has a recess, the distance between the mirror 400 and the wall surface 12 increases as compared with the case where the wall surface 12 is flat (for example, point A in FIG. 3). In this case, the laser beam image 700 shifts upward by the length B on the acquired image. This is because the laser floodlight 300 irradiates the floor surface (not shown) of the carbonization chamber 10 at an angle from below the line CCD camera 200. On the other hand, for example, when the wall surface 12 has a convex portion, the distance between the mirror 400 and the wall surface 12 is reduced as compared with the case where the wall surface 12 is flat. Therefore, the laser beam image 700 shifts downward on the acquired image. The shifting direction of the laser beam image 700 is determined according to the irradiation angle of the laser beam emitted by the laser projector 300. For example, when the irradiation angle is inclined upward with respect to the direction of the floor surface of the carbonization chamber 10 as shown in FIG. 3, the laser beam image 700 shifts upward due to the presence of the concave portion, and due to the presence of the convex portion. Shift downwards. On the other hand, when the irradiation angle is tilted downward with respect to the direction of the floor surface of the carbonization chamber 10, the laser beam image 700 shifts downward due to the presence of the concave portion and upward due to the presence of the convex portion. ..

Therefore, in the present embodiment, the laser beam 700 on the acquired image is tracked, and the position information of the laser beam 700, that is, the vertical displacement in the height direction is measured based on the tracking result. Further, based on the position information obtained by the measurement, the emission angle of the laser light corresponding to the laser light image 700, and the geometric conditions such as the viewing angle and the viewing size of the line CCD camera 200, the triangulation is performed. In principle, the amount of unevenness on the wall surface 12 can be obtained.

<< Background that led to the creation of the embodiment of the present invention >>
However, recently, damage to the furnace wall bricks of the carbonization chamber 10 has progressed as compared with the past, and the number of places where the laser beam image 700 is rapidly displaced vertically due to a large step on the wall surface 12 due to the brick defect is increasing. In such a situation, when the laser beam image 700 is sequentially tracked on the image, an image such as a joint may be mistakenly tracked instead of the laser beam image 700. The details will be described below with reference to FIGS. 5 and 6. FIG. 5 is an enlarged view (image) of a part of the wall surface image (original image) 600 of FIG. Further, FIG. 6 is a diagram (image) showing an example of the tracking result of the laser beam image 700 obtained by the conventional wall surface measuring device.

Specifically, the original image 602 shown in FIG. 5 includes three laser beam images 700 used for measuring the amount of unevenness of the wall surface 12 (thin extending along the depth direction in FIG. 5). Bright line image). Further, a part of these laser beam images 700 is shifted downward by the recesses of the wall surface 12 (region C in FIG. 5). Further, the original image 602 includes a plurality of thick emission line images extending along the depth direction as in the laser light image 700. This thick bright line image is the image 702 of the joint of the furnace wall brick. The image 702 of the joint becomes a brighter image than the image of the background of the brick due to the carbon component adhering to the joint, and appears as a bright line image as shown in FIG.

Further, the image of FIG. 5 includes a thin emission line image 704 extending to the left and right (a thin emission line image extending to the left and right located at the lower side in FIG. 5). In the following description, the emission line image is referred to as a "pseudolaser light image" 704. This pseudo laser light image 704 appears in the original image because the laser light is reflected on the mirror 400 itself when the mirror 400 of the mirror tube 104 of the wall surface measuring device 100 is slightly soiled or dusty. .. The pseudo-laser light image 704 that appears in the image in this way is not the laser light image 700 used for the original measurement, but an image of unnecessary light. However, since the inside of the carbonization chamber 10 of the coke oven is an environment in which dust is suspended at a high temperature of 1000 ° C., the surface of the mirror 400 may be gradually oxidized or dust may adhere to the mirror 400. It is difficult to avoid this, and the pseudo-laser light image 704 on the original image 602 as described above frequently occurs.

With respect to such an original image 602, the laser beam image 700 on the original image is tracked. For example, the operator sets a starting point at the left edge of the original image 602 to start tracking, and from the set starting point from left to right on the original image 602, a emission line image along the depth direction of the carbonization chamber 10. To track. Specifically, first, the pixel with the highest brightness in a predetermined height range on the right side of the start point is selected, and then the selected pixel is used as a new starting point to search for the pixel with the highest brightness on the right side as well. To do. This process is sequentially advanced to the right (depth direction of the carbonization chamber) to track high-intensity pixels. At this time, the range in the height direction for searching for the next high-intensity pixel is set so that the laser beam image can be followed even if the laser beam image is discontinuously displaced due to unevenness, which is a step on the furnace wall. When the laser beam image 700 is traced to the original image 602 of FIG. 5 including the joint image 702 and the pseudo laser beam image 704 using such a conventional wall surface measuring device, for example, it is shown in FIG. Such tracking results 620 could be obtained.

Specifically, in the tracking result 620 shown in FIG. 6, three tracking lines 706a, 706b, and 706c showing the result of tracking the laser beam image 700 on the original image of FIG. 5 are shown in the original image 602. It is shown to be stacked. Specifically, since the tracking line 706a located at the top in FIG. 6 overlaps the laser light image 700a located at the top in FIG. 6, it is appropriate for the laser light image 700a. You can see that the tracking is done. On the other hand, the tracking line 706b located in the middle stage of FIG. 6 partially overlaps the laser beam image 700b located in the middle stage of FIG. 6, but the region D (white) located on the right side in FIG. Since it does not overlap the laser beam image 700 in the region surrounded by the frame), it can be seen that the laser beam image 700b is not properly tracked. Further, since the tracking line 706b overlaps with the joint image 702 in the region D, it can be seen that the joint image 702 is tracked as the laser beam image 700. In the following description, a case where another emission line image (joint image 702, etc.) is tracked outside the laser beam image 700 that should be originally tracked, as in this region D, is referred to as “missing tracking”. Further, although the tracking line 706c located at the bottom in FIG. 6 partially overlaps the laser beam image 700c located at the bottom in FIG. 6, the region E located on the right side in FIG. 6 Since it does not overlap the laser beam image 700c in (the area surrounded by the white frame), it can be seen that "tracking off" has occurred and the laser beam image 700c is not properly tracked. .. Further, in the region E, the tracking line 706c overlaps with the sham laser light image 704, and it can be seen that the sham laser light image 704 is tracked as the laser light image 700.

Thus, when the laser beam 700 is tracked using a conventional wall surface measuring device, the location where the "true" laser beam 700 and the joint image 702 or sham laser beam 704 are in close proximity. In, "tracking off" may occur. That is, if there is a bright line image near the "true" laser beam 700, even slightly brighter, the conventional wall surface measuring device will produce a joint image 702 or pseudo-laser beam 704 at that location. It may be recognized as a laser beam image 700 to be tracked. As a result, in the conventional wall surface measuring device, when the laser beam image 700 is sequentially tracked on the image, the emission line image other than the laser beam image 700 that should be originally tracked is erroneously tracked. It may not be possible to track the light image 700. In such a case, since the laser beam image 700 cannot be properly tracked, the amount of unevenness on the wall surface 12 cannot be appropriately measured.

Therefore, the present inventor has come to create an embodiment of the present invention in view of the above circumstances. According to the embodiment of the present invention, the laser beam image 700 on the image of the wall surface can be appropriately tracked. Hereinafter, the wall surface measuring device 100 and the wall surface measuring method according to the embodiment of the present invention will be described in detail in order.

<< Embodiment of the present invention >>
<Details of processing unit 110>
As described above, the wall surface measuring device 100 according to the present embodiment has a processing unit (image processing unit) 110 including a plurality of functional units for processing the image acquired by the wall surface measuring device 100. The processing unit 110 according to the present embodiment will be described below with reference to FIG. 7. FIG. 7 is a block diagram showing an example of the functional configuration of the processing unit 110 included in the wall surface measuring device 100 according to the embodiment of the present invention. Since each component of the wall surface measuring device 100 other than the processing unit 110 has been described above, the description thereof will be omitted here.

The processing unit 110 has, for example, a personal computer or the like, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), an image input / output board, and various interfaces. It is a device that has been used. As shown in FIG. 7, the processing unit 110 of the wall surface measuring device 100 has the original image acquisition unit 500, the extracted image acquisition unit 510, the tracking processing image acquisition unit 520, the tracking unit 530, and the unevenness as functional blocks. It mainly has an amount calculation unit (detection unit) 540 and an uneven amount display unit 550.

(Original image acquisition unit 500)
The original image acquisition unit 500 acquires the original image of the wall surface 12 described above from the line CCD camera 200, and stores the acquired original image. For example, in the operation of the original image acquisition unit 500, the data of the original image is received from the line CCD camera 200 via the communication interface (not shown) of the processing unit 110, and the CPU of the processing unit 110 (not shown) is a computer. This can be realized by storing the received original image data in the HDD (not shown) of the processing unit 110 according to the program.

(Extracted image acquisition unit 510)
On the original image, the extracted image acquisition unit 510 follows the width of the laser beam image 700 along the height direction of the carbonization chamber 10 and the width of the refractory brick joint image 702 along the height direction of the carbonization chamber 10. Taking advantage of the fact that the width is different, an emission line image having a width equal to or less than the width of the laser beam image 700 is extracted. The extracted emission line image includes a laser beam image 700 having a width narrower than the width of the refractory brick joint image 702. By extracting the laser beam image 700 by the extracted image acquisition unit 510, the joint image 702 can be excluded from the image to be tracked, so that it is possible to avoid accidentally tracking the joint image 702. it can. For example, in the operation of the extracted image acquisition unit 510, the CPU (not shown) reads the original image acquired by the original image acquisition unit 500 from the HDD (not shown) according to a computer program, and the read original image is subjected to the operation. It is realized by processing.

Here, the difference between the width of the laser beam image 700 and the width of the refractory brick joint image 702 indicates that the number of pixels corresponding to these widths is different. For example, the difference between the width of the laser beam image 700 and the width of the refractory brick joint image 702 may be "1" as the number of pixels. However, considering that the width of the laser beam image 700 and the width of the refractory brick joint image 702 are not strictly constant, the difference may be "2" or "3" or more as the number of pixels. preferable. Specifically, the width of the image 702 of the refractory brick joint is actually about 4 to 5 mm, which corresponds to about 5 to 7 pixels on the image. On the other hand, the width of the laser beam image 700 is actually about 2 mm, which corresponds to about 2 to 3 pixels on the image. Further, in the present embodiment, the resolution of the image is, for example, about 1 mm in the depth direction and about 0.7 mm in the height direction.

-Top hat processing-
Here, an example of the extraction process for extracting the emission line image having a width equal to or less than the width of the laser beam image 700 by the extraction image acquisition unit 510 will be described. The extracted image acquisition unit 510 extracts an emission line image having a width equal to or less than the width of the laser beam image 700 by performing top hat processing on the original image, and acquires the extracted image. The top hat process will be described below with reference to FIG. FIG. 8 is an explanatory diagram for explaining an example of the top hat process according to the present embodiment, and in detail, FIG. 8 includes FIGS. 8 (a) to 8 (f) in order. Each shows the state of the image at each stage in the top hat processing.

In the top hat process, only a specific linear image is extracted by performing a shrinkage process, an expansion process, or the like on the image based on a predetermined rule. In the present embodiment, the contraction process and the expansion process are sequentially executed to extract an emission line image having a width equal to or less than the width of the laser beam image 700. As described above, the width of the laser beam image 700 is designed to be 2 to 3 pixels thick on the image. On the other hand, the width of the joint image 702 is 5 to 7 pixels or more on the image. The extracted image acquisition unit 510 pays attention to such a difference in width and performs processing.

As shown in FIG. 8A, which is a state before the top hat processing, the original image 800 includes bright line images 820, 822, and 824 having a width of 6 pixels and a bright line image 830 having a width of 3 pixels. The emission line images 820, 822, and 824 correspond to the joint image 702, and the emission line image 830 corresponds to the laser beam image 700.

Next, the original image 800 is subjected to a contraction process in which a emission line image having a width equal to or less than the width of the laser beam image 700 is contracted and disappears. For example, the shrinkage process by the rectangular kernel of 3 × 3 pixels (the process of selecting the pixel value of the darkest brightness of 3 × 3 pixels is performed with all the pixels of the original image 800 as the pixels of interest) is executed twice (FIG. 8 (b) and FIG. 8 (c)). As a result, a shrink-processed image as shown as the image 804 of FIG. 8C can be obtained. As can be seen from FIG. 8C, in the image 804, the bright line image 830 having a width of 3 pixels disappears, whereas the bright line images 820, 822, and 824 having a width of 6 pixels have a width of 2 pixels. It remains as a thin emission line image.

Next, the image 804 is subjected to an expansion process for expanding the emission line image. For example, expansion processing by a rectangular kernel of 3 × 3 pixels (processing opposite to the above-mentioned contraction processing. Here, attention is paid to all pixels of image 804 in the processing of selecting the brightest pixel value of 3 × 3 pixels. The process performed as a pixel) is executed twice (FIGS. 8 (d) and 8 (e)). Then, an expansion-processed image as shown as the image 808 of FIG. 8 (e) can be obtained. As can be seen from FIG. 8E, the bright line images 820, 822, and 824 having a width of 6 pixels in the original image 800 are restored to the bright line images having the original width, whereas the width lost by the shrinkage process is 3 pixels. The emission line image 830 is not restored.

Next, the pixel value of the original image 800 and the pixel value of the expansion processed image 808 (see FIG. 8E) obtained after performing the contraction processing and the expansion processing correspond to the pixels of the original image 800. Find the difference from the pixel value of the pixel to be used. Then, the extracted image 810 as shown in FIG. 8 (f) can be obtained. As can be seen from FIG. 8 (f), in the extracted image 810, only the emission line image 830 having a width of 3 pixels in the original image 800 is extracted.

In the above processing, even if there is a bright line image having a width narrower than 3 pixels in the original image 800, it is clear that the bright line image is extracted by the top hat processing. In this way, it is possible to extract only the emission line image having a specific width or less by the top hat treatment. In the above description, the contraction treatment and the expansion treatment are described as being carried out in two steps each, but the present embodiment is not limited to this, and may be one step or three or more steps. However, it may be appropriately selected according to the size of the kernel, the width of the emission line image to be extracted, and the like. Further, in the present embodiment, the processing rules for the shrinkage treatment and the expansion treatment are similarly appropriately selected according to the width of the emission line image to be extracted and the like.

(Image acquisition unit 520 for tracking processing)
Next, returning to FIG. 7, which is a block diagram showing an example of the functional configuration of the processing unit 110, the tracking processing image acquisition unit 520 will be described. The tracking processing image acquisition unit 520 determines the linearity of a plurality of emission line images included in the image extending in the depth direction of the carbonization chamber 10, and processes the image based on the determination of the linearity. Acquire an image for tracking processing. Specifically, the tracking processing image acquisition unit 520 detects the pseudo-laser light image 704 by detecting the emission line image determined to be a highly linear emission line image and deleting the detected luminance image from the image. Perform the deletion process. Since the false laser light image 704 is excluded from the image to be tracked by the tracking processing image acquisition unit 520 performing such processing, the false laser light image 704 is erroneously tracked. Can be avoided. Here, the bright line image having high linearity means a bright line image in which there is no vertical fluctuation or very little vertical fluctuation along the height direction of the carbonization chamber 10 on the image. Further, in the operation of the tracking processing image acquisition unit 520, the CPU (not shown) reads the image processed by the extraction image acquisition unit 510 from the HDD (not shown) according to the computer program, and the read image is relative to the read image. It is realized by performing the above processing.

-Fake laser light image detection and deletion processing-
Here, an example of the detection and deletion processing of the false laser light image 704 by the tracking processing image acquisition unit 520 will be described with reference to FIGS. 9 and 10. 9 and 10 are explanatory views for explaining an example of the extraction process of the pseudo-laser light image 704 according to the present embodiment, and in detail, the horizontal axis corresponds to the height direction of the carbonization chamber 10. From the left to the right in the figure, the carbonization chamber 10 proceeds from above to the floor surface (not shown). The vertical axes of FIGS. 9 and 10 correspond to the average brightness in the horizontal direction and the amount of change in the average brightness in the horizontal direction at each position in the height direction of the horizontal axis, respectively.

First, before explaining the detection and deletion processing of the pseudo-laser light image 704, the features of the pseudo-laser light image 704 will be described. In the wall surface measuring device 100 according to the present embodiment, since the positional relationship between the line CCD camera 200 and the mirror 400 is unchanged, the laser beam is reflected on the mirror 400 itself due to dirt or the like adhering to the mirror 400. The generated pseudo-laser light image 704 is characterized in that there is no vertical fluctuation along the height direction on the image, or the image is highly linear with very little vertical fluctuation. On the other hand, the "true" laser beam image 700 on the image moves up and down along the height direction of the carbonization chamber 10 due to the unevenness of the wall surface 12, the meandering and shaking of the wall surface measuring device 100 moving in the carbonization chamber 10. Displace in the direction. Therefore, the present inventor detects the pseudo-laser light image 704 by detecting a highly linear emission line image having no vertical fluctuation on the image by utilizing the characteristics of the pseudo-laser light image 704. I devised a method to do it independently. Then, by detecting the false laser light image 704 by the tracking processing image acquisition unit 520 and excluding the detected false laser light image 704, the tracking processing image that does not include the false laser light image 704 can be acquired. It is possible to avoid accidentally tracking the pseudo-laser light image 704.

First, the tracking processing image acquisition unit 520 performs projection processing along the depth direction of the carbonization chamber 10 with respect to the image after the top hat processing by the extraction image acquisition unit 510 (at each position in the carbonization chamber 10 in the height direction). Calculate the total brightness of the images distributed along the depth direction), calculate the average value in the depth direction using the calculated total brightness, and obtain the average brightness at each position in the height direction. .. For example, the result of the transition of the average brightness with respect to the height calculated by the projection process in the depth direction described above is shown as shown in FIG. As described above, the horizontal axis of FIG. 9 corresponds to the height direction of the carbonization chamber 10, and from the left to the right in the figure, from above the carbonization chamber 10 to the floor surface (not shown). It will proceed.

FIG. 9 includes a plurality of peaks 900, 902, 904, 910, but the height of the peak 910 is extremely high and sharp as compared with the other peaks 900, 902, 904. The peak 910 is a peak caused by the pseudo-laser light image 704 and shows a high average brightness. As described above, since the sham laser light image 704 is a highly linear emission line image without vertical displacement, the average brightness has a high value at the height corresponding to the sham laser light image 704, and the sham laser light image 704 has a high value. It will have a steep peak. On the other hand, the other peaks 900, 902, 904 are caused by the "true" laser light image 700, and the "true" laser light image 700 is caused by the false laser light image 704 because it has a vertical displacement. The peak is lower and wider than the peak 910. Therefore, the position of the pseudo-laser light image 704 with high linearity is specified by detecting a peak having an average brightness of a numerical value higher than a preset threshold value (predetermined value) from the average brightness calculated in this way. can do. Further, the tracking processing image acquisition unit 520 can acquire a tracking processing image that does not include the pseudo laser light image 704 by excluding the emission line image existing at the position based on the specified position from the image. ..

Further, in the present embodiment, in order to more reliably identify the position of the pseudo-laser light image 704, the result of the average luminance of FIG. 9 is subjected to differential processing (of the two adjacent average luminance values in FIG. 9). The absolute value of the change amount of the average brightness (calculating the difference (change amount)) may be calculated, and the calculated absolute value may be standardized by the standard deviation of all the data in FIG. For example, the result of the transition of the amount of change in the average luminance with respect to the height calculated by the above-mentioned differential processing or the like is shown as shown in FIG. As described above, the horizontal axis of FIG. 10 corresponds to the height direction of the carbonization chamber 10, and from the left to the right in the figure, from above the carbonization chamber 10 to the floor surface (not shown). It will proceed.

FIG. 10 includes a plurality of peaks 920, 922, and 930, but the height of the peak 930 is extremely high and sharp as compared with the other peaks 920 and 922. Similar to the result of FIG. 9, the peak 930 is a peak caused by the sham laser light image 704, and the peak 910 caused by the sham laser light image 704 in FIG. 9 due to the rapidly changing amount of change in brightness. Compared to, the peak becomes more prominent and steep. By performing the above processing, the peak caused by the pseudo-laser light image 704 can be emphasized as a steeper peak, and the standardization makes it more reliable without being affected by the overall brightness of the image. The position of the pseudo-laser light image 704 can be specified. Then, the position of the pseudo-laser light image 704 in the height direction is specified by detecting a peak having a change amount having a high numerical value equal to or higher than a preset threshold value (predetermined value) from the change amount calculated in this way. can do. Further, as in FIG. 9, the tracking processing image acquisition unit 520 excludes the emission line image existing at the position based on the specified position from the image, so that the tracking processing image does not include the false laser light image 704. Can be obtained.

That is, in the present embodiment, the tracking processing image acquisition unit 520 determines the linearity of a plurality of emission line images included in the image extending in the depth direction by using the values related to the brightness with respect to the height, and straight lines are obtained. Based on the determination of sex, a luminance image having high linearity is detected as a false laser light image 704, and a process of excluding the detected false laser light image 704 from the image is performed. Therefore, in the present embodiment, it is possible to acquire an image for tracking processing that does not include the pseudo laser light image 704. As a result, since the sham laser light image 704 is excluded from the image to be tracked, it is possible to avoid erroneously tracking the sham laser light image 704.

In the above description, in the example of FIG. 9, the average value of the brightness is calculated, and the peak having the average brightness of a numerical value higher than the threshold value (predetermined value) is detected, so that the pseudo-laser light having high linearity is detected. Although it was supposed to detect the image 704, the present embodiment is not limited to this. For example, the pseudo laser light image 704 may be detected by directly using the total brightness value. Further, in the present embodiment, for example, the pseudo-laser light image 704 may be detected by mathematically calculating the autocorrelation value of each of the plurality of emission line images included in the image. Specifically, for each luminance image, how well the shape of the luminance image in a certain region and the shape of the luminance image in the region shifted in the depth direction by a predetermined distance from the region match. Calculate the autocorrelation as a measure of whether or not. Since the sham laser light image 704 has higher linearity than the laser light image 700, its shape is consistent no matter how it is shifted, and the autocorrelation value is higher than that of the laser light image 700. Will have. Therefore, the pseudo-laser light image 704 with high linearity can be detected by calculating the autocorrelation value and detecting the luminance image having a high correlation value. Further, in the present embodiment, in addition to such mathematical processing, the pseudo laser light image 704 may be detected by using pattern matching or the like. That is, in the present embodiment, the method of detecting the pseudo-laser light image 704 by detecting the high linear luminance image based on the determination of the linearity of each luminance image is limited to the above-mentioned method. However, it can be appropriately selected depending on the state of the laser light image 700 or the pseudo laser light image 704 on the image, the desired detection accuracy, and the like.

(Tracking unit 530)
Next, the tracking unit 530 will be described by returning to FIG. 7, which is a block diagram showing an example of the functional configuration of the processing unit 110. The tracking unit 530 performs tracking processing for tracking the laser beam image 700 in the image after the processing is performed by the above-mentioned extracted image acquisition unit 510 and the tracking processing image acquisition unit 520. In the present embodiment, for example, the image of the wall surface 12 after the above processing is displayed on a display device (not shown) such as a liquid crystal display, and the operator operates the user interface to track the image with reference to the display. The starting point to start is specified on the image. The tracking unit 530 tracks the emission line image on the image from the designated start point along the depth direction. The designation of the start point is not limited to the manual operation by the operator, and the processing unit 110 may analyze the image or the like and automatically specify the start point. Further, in the operation of the tracking unit 530, for example, the image after the CPU (not shown) has been processed by the extracted image acquisition unit 510 and the tracking processing image acquisition unit 520 according to the computer program is displayed on the HDD (not shown). ), And the conditions and the like used for tracking the laser beam image 700 are read from the HDD, and the read image is tracked.

(Concavo-convex amount calculation unit 540)
The unevenness calculation unit 540 is based on the tracking result of the laser beam image 700 obtained by the tracking unit 530, the emission angle of the laser beam, and geometric conditions such as the viewing angle and the viewing size of the line CCD camera 200. , The amount of unevenness of the wall surface 12 is calculated by the principle of triangulation. As described above, when the wall surface 12 has an uneven portion, the laser beam image 700 shifts up and down in the height direction of the carbonization chamber 10. Therefore, by using the tracking result of the laser beam image 700, the amount of unevenness can be detected over the entire wall surface 12. For example, in the operation of the uneven amount calculation unit 540, the CPU (not shown) reads the tracking result of the laser beam image 700 of the tracking unit 530 from the RAM (not shown) or the like according to a computer program, and geometric conditions are met. Is read from the HDD (not shown) or the like and processed.

(Concavo-convex amount display unit 550)
The unevenness amount display unit 550 displays data indicating the unevenness amount of the wall surface 12 calculated by the unevenness amount calculation unit 540 on a display device (not shown) such as a liquid crystal display. For example, in the operation of the unevenness amount display unit 550, the CPU (not shown) reads the unevenness amount of the wall surface 12 from the RAM (not shown) or the like according to a computer program to generate display data of the unevenness amount, and the above. It is realized by outputting to the display device.

<Wall measurement method>
Next, the wall surface measurement method according to the present embodiment will be described with reference to FIGS. 5, 11 to 15. FIG. 11 is a flowchart showing an example of the wall surface measuring method according to the present embodiment. FIG. 12 is a diagram (image) showing an example of the extracted image 604 obtained by the top hat process according to the present embodiment. FIG. 13 is a diagram (image) showing an example of a tracking result 622 obtained by tracking the laser beam image 700 with respect to the extracted image 604 by the top hat processing of FIG. 12 as a comparative example. FIG. 14 is a diagram (image) showing an example of the result 624 obtained by detecting the pseudo-laser light image 704 according to the present embodiment. FIG. 15 is a diagram (image) showing an example of the tracking result 626 in which the laser beam image 700 is tracked based on the result 624 of FIG.

As shown in FIG. 11, the wall surface measuring method according to the present embodiment mainly includes six steps from steps S100 to S150.

(Step S100)
The wall surface measuring device 100 irradiates the wall surface 12 of the carbonization chamber 10 with laser light while moving in the depth direction (irradiation step), and after continuously photographing the wall surface 12 on which the laser beam image 700 is superimposed, The original image acquisition unit 500 acquires the original image of the wall surface 12 obtained by the wall surface measuring device 100 (original image acquisition step). For example, the original image acquired in step S100 is like the original image 602 as shown in FIG. The original image 602 includes a laser beam image 700, a joint image 702, and a pseudo laser beam image 704.

(Step S110)
The extracted image acquisition unit 510 performs the top hat process as described above on the original image 602 acquired in step S100. By performing the top hat treatment, an emission line image having a width equal to or less than the width of the laser beam image 700 is extracted. For example, by the process in step S110, the extracted image 604 as shown in FIG. 12 can be acquired. Although the extracted image 604 includes the laser light image 700 and the pseudo laser light image 704, the image 702 of the joint having a width wider than the width of the laser light image 700 is not included.

By the way, as a comparative example with respect to the present embodiment, when the tracking process of the laser beam image 700 is performed on the extracted image 604 obtained in step S110, the extracted image obtained in step S110 has a pseudo laser beam image. Since 704 is included, it may not be possible to properly track the laser beam image 700. For example, in the tracking result 622 of the comparative example shown in FIG. 13, three tracking lines 706d, 706e, and 706f, which are the results of tracking the laser beam image 700 based on the extracted image 604 of FIG. 12, are the original. It is shown to be overlaid on image 602. Specifically, the tracking lines 706d and 706e located at the top and middle stages in FIG. 13 are the laser light image 700d located at the top of FIG. 13 and the laser light image 700e located at the middle stage of FIG. It can be seen that the laser beam images 700d and 700e are properly tracked. On the other hand, the tracking line 706f located at the bottom in FIG. 13 partially overlaps the laser beam image 700f located at the bottom in FIG. 13, but is on the right side in FIG. In the located region F (the region surrounded by the white frame), since it does not overlap the laser beam image 700f, "tracking off" occurs, and the laser beam image 700f is properly tracked. You can see that it is not. Further, in the region F, it can be seen that the tracking line 706f overlaps the sham laser light image 704a, that is, the sham laser light image 704a is tracked as the laser light image 700. Therefore, in the present embodiment, the next step S120 is performed in order to appropriately track the laser beam image 700.

(Step S120)
The tracking processing image acquisition unit 520 determines the linearity of the extracted image 604 after the top hat processing obtained in step S110 with respect to the plurality of emission line images included in the extracted image 604 extending in the depth direction. , The pseudo-laser light image 704 is detected based on the determination of linearity. For example, by the process in step S120, the result 624 as shown in FIG. 14 can be obtained. Specifically, the tracking processing image acquisition unit 520 detects a highly linear emission line image as a sham laser light image 704a, and surrounds the detected sham laser light image 704a with a frame 940 located at the lower side of FIG. Indicates the detection result. Then, the tracking processing image acquisition unit 520 excludes the detected pseudo laser light image 704a from the extracted image 604, and acquires the tracking processing image for the tracking processing in the next step S130.

(Step S130)
The tracking unit 530 performs tracking processing for tracking the laser beam image 700 with respect to the tracking processing image obtained in step S120 (tracking step). For example, by the process in step S130, the tracking result 626 as shown in FIG. 15 can be obtained. Specifically, in the tracking result 626 shown in FIG. 15, three tracking lines 706g and 706h, which are the results of tracking the laser beam image 700 based on the tracking processing image obtained in step S120, The 706i is shown to be superimposed on the original image 602. These three tracking lines 706g, 706h, and 706i overlap with the laser beam images 700g, 700h, and 700i in FIG. 15, respectively, and it can be seen that the laser beam images 700g, 700h, and 700i are appropriately tracked. .. According to the present embodiment, by performing tracking processing on the tracking processing image that has undergone the processing in steps S110 and S120 described above, the “true” laser light image 700 is performed without causing “tracking loss”. Can be tracked.

(Step S140)
The unevenness calculation unit 540 detects the unevenness of the wall surface 12 based on the tracking result of the laser beam image 700 obtained in step S130, and calculates the unevenness amount (detection step).

(Step S150)
The unevenness amount display unit 550 causes a display device (not shown) to display data indicating the unevenness amount of the wall surface 12 calculated in step S140.

The embodiment of the present invention has been described above. In the present embodiment, since the emission line image having a width equal to or less than the width of the laser beam image 700 can be extracted by performing the top hat processing, the joint image 702 can be excluded from the tracking processing image. .. Further, in the present embodiment, tracking processing is performed by determining the linearity of a plurality of emission line images included in the image extending in the depth direction and detecting the pseudo laser light image 704 based on the determination of the linearity. The pseudo-laser light image 704a can be excluded from the image. Therefore, according to the present embodiment, the laser light image 700 can be tracked with respect to the tracking processing image excluding the joint image 702 and the pseudo laser light image 704, so that “tracking loss” occurs. Without having to properly track the "true" laser beam image 700. As a result, according to the present embodiment, the amount of unevenness on the wall surface 12 can be appropriately measured.

<< Supplement >>
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to such examples. It is clear that a person having ordinary knowledge in the field of technology to which the present invention belongs can come up with various modifications or modifications within the scope of the technical idea described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

Also, each step in the method of the above-described embodiment does not necessarily have to be processed in the order described. For example, each step may be processed in an appropriately reordered manner. Further, each step may be partially processed in parallel or individually instead of being processed in chronological order. Further, the processing method of each step does not necessarily have to be processed according to the described method, and may be processed by, for example, another functional unit.

Further, at least a part of the methods according to the above-described embodiment can be configured by software as an information processing program for operating a computer, and when configured by software, at least a part of these methods can be configured. The program to be realized may be stored in a recording medium such as a flexible disk or a CD (Compact Disc) -ROM, read by a wall surface measuring device 100 or the like, or a device other than the wall surface measuring device 100 and executed. The recording medium is not limited to a removable one such as a magnetic disk or an optical disk, and may be a fixed recording medium such as a hard disk device or a memory. Further, a program that realizes at least a part of these methods may be distributed via a communication line (including wireless communication) such as the Internet. Further, the program may be encrypted, modulated, compressed, and distributed via a wired line or wireless line such as the Internet, or stored in a recording medium.

10 Carbonization chamber 12, 12a, 12b Wall surface 100 Wall surface measuring device 102 Vertical column 104 Mirror tube 106, 106a to 106d, 108, 108a to 108b Translucent plate 110 Processing unit 200, 200a to 200d Line CCD camera 300, 300a to 300b Laser Floodlight 302 Semiconductor laser 400, 400a, 400b Mirror 500 Original image acquisition unit 510 Extraction image acquisition unit 520 Tracking processing image acquisition unit 530 Tracking unit 540 Concavo-convex amount calculation unit 550 Concavo-convex amount display unit 600, 602, 604 Image 620, 622, 624, 626 Results 700, 700a-700f Laser light image 702 Joint image 704, 704a False laser light image 706, 706a-706i Tracking line 800, 802, 804, 806, 808, 810 Image 820, 822, 824, 830 Bright line Image 900, 902, 904, 910, 920, 922, 930 Peak 940 Frame

Claims (4)

In the method of measuring the wall surface of the carbonization chamber of a coke oven,
An irradiation step of irradiating the wall surface of the carbonization chamber of the coke oven by bending a plurality of laser beams with a mirror while moving in the depth direction of the carbonization chamber.
An original image acquisition step of continuously photographing the wall surface on which the images of the plurality of laser beams reflected on the mirror are superimposed, and acquiring an original image in which the plurality of laser light images extending in the depth direction appear.
An image processing step of processing the original image to acquire an image for tracking processing, and
A tracking step for tracking the laser beam image included in the tracking processing image, and
A detection step of detecting the unevenness of the wall surface based on the position information of the traced laser beam image in the height direction of the carbonization chamber.
Have,
In the irradiation step, the width of the laser beam in the height direction of the carbonization chamber of the laser beam image is narrower than the width of the carbonization chamber of the brick joint constituting the wall surface in the height direction. Irradiate and
The image processing step is
A plurality of laser beam images included in the original image or a plurality of emission line images corresponding to the images of the joints are contracted with respect to the original image, and the width of the plurality of emission line images is equal to or less than the width of the laser beam image. The emission line image having the above-mentioned emission line image is erased, and a contraction processed image is acquired.
The bright line image included in the contraction-processed image is expanded with respect to the contraction-processed image to obtain an expansion-processed image.
The difference between the original image and the expansion processed image is extracted, and the extracted image is acquired.
With respect to the extracted image, the total brightness existing along the depth direction of the carbonization chamber is calculated for each position in the height direction in the carbonization chamber, and the total brightness obtained is used in the depth direction of the carbonization chamber. The tracking processing image is acquired by acquiring the average brightness in the above and excluding the emission line image located at a height having the average brightness higher than a preset threshold value from the emission line image included in the extracted image. , How to measure the wall surface of the carbonization chamber of a coke oven. In the method of measuring the wall surface of the carbonization chamber of a coke oven,
An irradiation step of irradiating the wall surface of the carbonization chamber of the coke oven by bending a plurality of laser beams with a mirror while moving in the depth direction of the carbonization chamber.
An original image acquisition step of continuously photographing the wall surface on which the images of the plurality of laser beams reflected on the mirror are superimposed, and acquiring an original image in which the plurality of laser light images extending in the depth direction appear.
An image processing step of processing the original image to acquire an image for tracking processing, and
A tracking step for tracking the laser beam image included in the tracking processing image, and
A detection step of detecting the unevenness of the wall surface based on the position information of the traced laser beam image in the height direction of the carbonization chamber.
Have,
In the irradiation step, the width of the laser beam in the height direction of the carbonization chamber of the laser beam image is narrower than the width of the carbonization chamber of the brick joint constituting the wall surface in the height direction. Irradiate and
The image processing step is
A plurality of laser beam images included in the original image or a plurality of emission line images corresponding to the images of the joints are contracted with respect to the original image, and the width of the plurality of emission line images is equal to or less than the width of the laser beam image. The emission line image having the above-mentioned emission line image is erased, and a contraction processed image is acquired.
The bright line image included in the contraction-processed image is expanded with respect to the contraction-processed image to obtain an expansion-processed image.
The difference between the original image and the expansion processed image is extracted, and the extracted image is acquired.
With respect to the extracted image, the total brightness existing along the depth direction of the carbonization chamber is calculated for each position in the height direction in the carbonization chamber, and the total brightness obtained is used in the depth direction of the carbonization chamber. The average brightness in the above is obtained, the amount of change in the average brightness adjacent to each other in the height direction of the carbonization chamber is calculated, and the emission line image located at a height having the amount of change higher than a preset threshold is extracted. A method for measuring the wall surface of a carbonization chamber of a coke oven, which acquires the image for tracking processing by excluding it from the emission line image included in the image. In the wall surface measuring device of the carbonization chamber of the coke oven
An irradiation unit that irradiates the wall surface of the carbonization chamber of the coke oven by bending a plurality of laser beams with a mirror while moving in the depth direction of the carbonization chamber.
An imaging unit that continuously photographs the wall surface on which the images of the plurality of laser beams reflected on the mirror are superimposed, and acquires an original image in which the plurality of laser beam images extending in the depth direction appear.
An image processing unit that processes the original image and acquires an image for tracking processing,
A tracking unit that tracks the laser beam image included in the tracking processing image, and
A detection unit that detects the unevenness of the wall surface based on the position information of the tracked laser beam image in the height direction of the carbonization chamber.
Have,
The irradiation unit emits the laser beam so that the width of the laser beam image in the height direction of the carbonization chamber is narrower than the width of the brick joint forming the wall surface in the height direction of the carbonization chamber. Irradiate and
The image processing unit
A plurality of laser beam images included in the original image or a plurality of emission line images corresponding to the images of the joints are contracted with respect to the original image, and the width of the plurality of emission line images is equal to or less than the width of the laser beam image. The emission line image having the above-mentioned emission line image is erased, and a contraction processed image is acquired.
The bright line image included in the contraction-processed image is expanded with respect to the contraction-processed image to obtain an expansion-processed image.
The difference between the original image and the expansion processed image is extracted, and the extracted image is acquired.
With respect to the extracted image, the total brightness existing along the depth direction of the carbonization chamber is calculated for each position in the height direction in the carbonization chamber, and the total brightness obtained is used in the depth direction of the carbonization chamber. The tracking processing image is acquired by acquiring the average brightness in the above and excluding the emission line image located at a height having the average brightness higher than a preset threshold value from the emission line image included in the extracted image. , Wall measuring device for carbonization chamber of coke oven. In the wall surface measuring device of the carbonization chamber of the coke oven
An irradiation unit that irradiates the wall surface of the carbonization chamber of the coke oven by bending a plurality of laser beams with a mirror while moving in the depth direction of the carbonization chamber.
An imaging unit that continuously photographs the wall surface on which the images of the plurality of laser beams reflected on the mirror are superimposed, and acquires an original image in which the plurality of laser beam images extending in the depth direction appear.
An image processing unit that processes the original image and acquires an image for tracking processing,
A tracking unit that tracks the laser beam image included in the tracking processing image, and
A detection unit that detects the unevenness of the wall surface based on the position information of the tracked laser beam image in the height direction of the carbonization chamber.
Have,
The irradiation unit emits the laser beam so that the width of the laser beam image in the height direction of the carbonization chamber is narrower than the width of the brick joint forming the wall surface in the height direction of the carbonization chamber. Irradiate and
The image processing unit
A plurality of laser beam images included in the original image or a plurality of emission line images corresponding to the images of the joints are contracted with respect to the original image, and the width of the plurality of emission line images is equal to or less than the width of the laser beam image. The emission line image having the above-mentioned emission line image is erased, and a contraction processed image is acquired.
The bright line image included in the contraction-processed image is expanded with respect to the contraction-processed image to obtain an expansion-processed image.
The difference between the original image and the expansion processed image is extracted, and the extracted image is acquired.
With respect to the extracted image, the total brightness existing along the depth direction of the carbonization chamber is calculated for each position in the height direction in the carbonization chamber, and the total brightness obtained is used in the depth direction of the carbonization chamber. The average brightness in the above is obtained, the amount of change in the average brightness adjacent to each other in the height direction of the carbonization chamber is calculated, and the emission line image located at a height having the amount of change higher than a preset threshold is extracted. A wall surface measuring device for a carbonization chamber of a coke oven, which acquires an image for tracking processing by excluding it from a luminance line image included in the image.

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