JPH06201348A - Steel plate camber detection device of iron manufacturing heat rolling line - Google Patents
Steel plate camber detection device of iron manufacturing heat rolling lineInfo
- Publication number
- JPH06201348A JPH06201348A JP114593A JP114593A JPH06201348A JP H06201348 A JPH06201348 A JP H06201348A JP 114593 A JP114593 A JP 114593A JP 114593 A JP114593 A JP 114593A JP H06201348 A JPH06201348 A JP H06201348A
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- Prior art keywords
- steel plate
- image
- line
- camber
- edge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Processing Or Creating Images (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、製鉄熱延ラインの鋼板
キャンバ検出装置に関し、ロール反射光ノイズを除去し
て正確なキャンバ量を検出できるようにしたものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steel plate camber detecting device for a hot rolling line for iron making, which is capable of detecting an accurate camber amount by removing noise of light reflected from a roll.
【０００２】[0002]
【従来の技術】従来のキャンバ検出装置を、図３を使っ
て説明する。同図に示すように製鉄熱延ラインでは、圧
延機２で圧延された鋼板１は、加熱されて自発光してお
り、搬送ロール３上に載置されて進行方向Ａに沿い送ら
れる。２台の二次元カメラ４，４は、それぞれ、鋼板１
の各サイドのエッジ部を撮影するように取り付けられて
いる。各々の二次元カメラ４，４は、各サイドの鋼板エ
ッジ部を撮影して、映像信号を画像処理装置５に送る。
画像処理装置５は、鋼板１が一定距離進む度に映像信号
を取り込んでデジタル化する。2. Description of the Related Art A conventional camber detecting device will be described with reference to FIG. As shown in the figure, in the hot-rolling line for iron making, the steel plate 1 rolled by the rolling mill 2 is heated and emits light by itself, and is placed on the transport roll 3 and fed along the traveling direction A. The two two-dimensional cameras 4 and 4 are each a steel plate 1
It is attached so that the edge of each side can be photographed. Each of the two-dimensional cameras 4 and 4 photographs the steel plate edge portion on each side and sends a video signal to the image processing device 5.
The image processing device 5 captures a video signal and digitizes it every time the steel plate 1 advances a certain distance.
【０００３】画像処理装置５では、取り込んだ１枚１枚
の鋼板画像データに対し、幅方向に設定したラインに関
し明るさ変化が一番大きい位置をエッジ点として検出し
てその位置座標を求める。この処理を画像内の全ての幅
方向ラインについて行って、多数のエッジ点を求めこれ
らエッジ点を連続させたエッジ線を求める。以上の処理
をエッジ形状検出処理と称する。The image processing device 5 detects, as an edge point, a position having the largest brightness change with respect to the line set in the width direction for each of the captured steel plate image data, and obtains the position coordinates. This process is performed for all width-direction lines in the image to obtain a large number of edge points, and an edge line that connects these edge points is obtained. The above processing is called edge shape detection processing.
【０００４】更に画像処理装置では、取り込んだ全ての
枚数分の鋼板画像データに対して、エッジ形状検出処理
をする。そして、鋼板画像データの枚数に応じて得られ
る複数のエッジ線をつなぎ合せて鋼板全長分のエッジ線
を得る。Further, in the image processing apparatus, edge shape detection processing is performed on all of the captured steel plate image data. Then, a plurality of edge lines obtained according to the number of pieces of steel plate image data are connected to obtain an edge line for the entire length of the steel plate.
【０００５】そして、図４に示すように、鋼板全長分の
２本のエッジ線Ｅ，Ｅの中央を通る中央線Ｌを求める。
この中央線Ｌから、鋼板１の横曲り、即ち中央線Ｌの横
曲りであるキャンバ量Ｃを求める。Then, as shown in FIG. 4, a center line L passing through the centers of the two edge lines E, E for the entire length of the steel plate is obtained.
From this center line L, the amount of camber C, which is the lateral bend of the steel plate 1, that is, the lateral bend of the center line L, is determined.
【０００６】[0006]
【発明が解決しようとする課題】ところで上記従来技術
において二次元カメラ４，４は鋼板エッジ部を撮影して
いるため、鋼板１のみならず搬送ロール３も撮影画像に
入ってきてしまう。鋼板１は約１０００℃に加熱されて
おり自発光が強く、このため映像は明るい鋼板部と暗い
搬送ロール部に分かれる。しかし、搬送ロール３におい
ても工場の天井ライト等の反射光で明るい部分があり、
エッジ検出においては誤差発生要因となり、従来ではキ
ャンバ検出の誤差が大きかった。この結果、各鋼板画像
のエッジ形状検出処理において、図５の様にエッジ線の
つなぎ目でロール反射光ノイズにより乱れが発生すると
誤差が累積し、キャンバ検出精度が劣化する。なお図５
において、Ｅは検出したエッジ線、Ｅ0 は実際のエッジ
線、Ｌは検出した中央線、Ｌ0 は実際の中央線、Ｃは検
出したキャンバ量、Ｃ0 は実際のキャンバ量、Ｍはロー
ル反射による誤差発生部である。By the way, in the above-mentioned prior art, since the two-dimensional cameras 4 and 4 photograph the steel plate edge portion, not only the steel plate 1 but also the transport roll 3 comes into the photographed image. The steel plate 1 is heated to about 1000 ° C. and emits a large amount of light, so that the image is divided into a bright steel plate part and a dark transport roll part. However, even in the transport roll 3, there is a bright portion due to the reflected light from the factory ceiling light,
In the edge detection, it causes an error, and in the past, the error in the camber detection was large. As a result, in the edge shape detection processing of each steel plate image, if disturbance occurs due to roll reflected light noise at the joint of the edge lines as shown in FIG. 5, errors accumulate and the camber detection accuracy deteriorates. Note that FIG.
, E is the detected edge line, E 0 is the actual edge line, L is the detected center line, L 0 is the actual center line, C is the detected camber amount, C 0 is the actual camber amount, and M is the roll. This is an error generation unit due to reflection.
【０００７】本発明は、上記従来技術に鑑み、ロール反
射光があっても正確にエッジ線を求めて正確なキャンバ
量を求めることのできる製鉄熱延ラインの鋼板キャンバ
検出装置を提供することを目的とする。In view of the above-mentioned prior art, the present invention provides a steel plate camber detection device for a hot rolling line for iron making, which can accurately obtain the edge line even when there is reflected light from the roll and thereby obtain the accurate camber amount. To aim.
【０００８】[0008]
【課題を解決するための手段】上記課題を解決する本発
明の構成は、製鉄熱延ラインの搬送ロール上に載置され
て送られる鋼板の横曲りであるキャンバを検出する鋼板
キャンバ検出装置であって、搬送ローラ上で送られる鋼
板の各サイドのエッジ部を撮影するよう取り付けた２台
の二次元カメラと、鋼板が送られていないときに前記二
次元カメラで撮影して得た画像である背景画像があらか
じめ記憶されており、鋼板が送られているときに前記二
次元カメラで撮影して得た画像である鋼板画像と、前記
背景画像について画素単位で輝度値を比較し、両輝度値
がほぼ等しい画素では鋼板画像の輝度値から背景画像の
輝度値を差し引き、差し引いて得た新たな鋼板画像に対
して幅方向に関し、明るさ変化の最大点をエッジ点とし
て検出し、更にエッジ点を長さ方向に連続してエッジ線
を求め、２本のエッジ線の中央を通る中央線を求め、中
央線の横曲りからキャンバ量を求める画像処理装置と、
を有することを特徴とする。A structure of the present invention for solving the above-mentioned problems is a steel plate camber detecting device for detecting a camber which is a lateral bending of a steel plate placed and sent on a conveying roll of a hot rolling line for iron making. There are two 2D cameras attached so that the edges of each side of the steel sheet sent on the transport roller are photographed, and images obtained by the 2D camera when the steel sheet is not fed. A certain background image is stored in advance, and a steel plate image that is an image obtained by shooting with the two-dimensional camera when the steel plate is being sent is compared with a brightness value in pixel units for the background image, and both brightnesses are compared. For pixels with almost the same value, the brightness value of the background image is subtracted from the brightness value of the steel plate image, and the maximum brightness change point is detected as an edge point in the width direction for the new steel plate image obtained by subtraction. Seeking edge line continuously di points in the longitudinal direction, it obtains a center line passing through the center of the two edge line, and an image processing apparatus for determining the camber quantity from the side bending of the center line,
It is characterized by having.
【０００９】[0009]
【作用】本発明では、鋼板を撮影した鋼板画像から、天
井ライト等によるロール反射光ノイズを除く処理が、画
像処理装置により次のように行なわれる。According to the present invention, the image processing apparatus performs the following processing to remove the noise of the light reflected by the roll due to the ceiling light or the like from the image of the steel plate obtained by photographing the steel plate.
【００１０】鋼板が走行していない状態でカメラ撮影
し、つまり、ロール反射光ノイズだけの画像（以下「背
景画像」と呼ぶ）を撮影し、画像処理装置の画像メモリ
に保持しておく。Images are taken by the camera while the steel sheet is not running, that is, an image of only roll reflected light noise (hereinafter referred to as "background image") is taken and stored in the image memory of the image processing apparatus.
【００１１】キャンバ検出のために鋼板画像を撮影し、
画像処理装置のメモリに取り込む。従来は、これで得ら
れた鋼板画像に対してエッジ検出処理を行なっていた
が、本発明では保持している背景画像を使って鋼板画像
のロール反射光ノイズを以下に述べる処理で除去する。A steel plate image is taken for camber detection,
Captured in the memory of the image processing device. Conventionally, edge detection processing was performed on the steel plate image obtained in this way, but in the present invention, the roll reflected light noise of the steel plate image is removed by the processing described below using the background image that is held.
【００１２】まず鋼板画像と背景画像について、画像単
位で輝度値を比較する。両者がある誤差範囲内で一致し
ていれば、その画素点は鋼板画像における搬送ロール部
分とみなす。First, the brightness values of the steel plate image and the background image are compared in image units. If the two coincide with each other within a certain error range, the pixel point is regarded as the transport roll portion in the steel plate image.
【００１３】鋼板画像内の画素のうち搬送ロール部分と
みなした画素においては、鋼板画像の輝度値から背景画
像の輝度値を差し引く。そして差し引いて得た新たな鋼
板画像に対してエッジ形状検出処理を行い、エッジ線、
中央線を求めてキャンバ量を求める。かくて、搬送ロー
ルのロール反射光ノイズを除去して正確なキャンバ量を
得ることができる。Among the pixels in the steel plate image, the pixels regarded as the transport roll portion subtract the brightness value of the background image from the brightness value of the steel plate image. Then, the edge shape detection processing is performed on the new steel plate image obtained by subtraction, the edge line,
The center line is calculated and the camber amount is calculated. Thus, it is possible to obtain the accurate camber amount by removing the roll reflected light noise of the transport roll.
【００１４】[0014]
【実施例】以下に本発明の実施例を図面に基づき詳細に
説明する。Embodiments of the present invention will be described below in detail with reference to the drawings.
【００１５】図１は、本発明の一実施例を示す全体構成
図である。同図において１は圧延機２で圧延された鋼板
であり、搬送ロール３により速度数m/sec でＡ方向に進
行する。圧延下流位置には、二次元カメラ４を２台、板
幅間隔で設置する。２台の二次元カメラ４は、各々、鋼
板各サイドのエッジ部を撮影し、映像信号を画像処理装
置５に送る。FIG. 1 is an overall configuration diagram showing an embodiment of the present invention. In the figure, reference numeral 1 denotes a steel plate rolled by a rolling mill 2, which advances in the A direction at a speed of several m / sec by a conveyor roll 3. Two two-dimensional cameras 4 are installed at plate width intervals at the rolling downstream position. Each of the two two-dimensional cameras 4 photographs the edge portion on each side of the steel plate and sends a video signal to the image processing device 5.
【００１６】画像処理装置５には、鋼板１が送られてい
ないときに二次元カメラ４，４で撮影して得た画像（つ
まり「背景画像」）が、あらかじめ取り込んで画像メモ
リに保持されている。また画像処理装置５は、鋼板がカ
メラ視野内の搬送ロール３上にのるとＯＮする鋼板検出
スイッチ６の鋼板検出信号６ａが入力されると画像取り
込みを開始し、映像信号を画像メモリに取り込む。この
ようにして取り込んだ画像を鋼板画像と称する。以降
は、搬送ロール３の回転速度を換算して得られる圧延速
度センサ７の圧延速度信号７ａをカウントし、鋼板がカ
メラ長手視野の例えば半分長さ進むたびに、映像信号
（鋼板画像）を画像メモリに取り込む。そして鋼板検出
信号６がＯＦＦになるまで鋼板画像の取り込みを続け
る。In the image processing device 5, an image (that is, a "background image") obtained by photographing with the two-dimensional cameras 4 and 4 when the steel plate 1 is not sent is previously stored and held in the image memory. There is. Further, the image processing device 5 starts image capturing when the steel plate detection signal 6a of the steel plate detection switch 6 which is turned on when the steel plate is placed on the transport roll 3 within the field of view of the camera is input, and stores the video signal in the image memory. . The image thus captured is called a steel plate image. After that, the rolling speed signal 7a of the rolling speed sensor 7 obtained by converting the rotation speed of the transport roll 3 is counted, and the video signal (steel plate image) is imaged every time the steel plate advances by, for example, half the length of the camera longitudinal field of view. Capture in memory. Then, the steel plate image is continuously captured until the steel plate detection signal 6 is turned off.
【００１７】画像処理装置５は、画像メモリに取り込ん
だ複数枚の鋼板画像に対して、まずロール反射光による
ノイズを除去する処理を行う。即ち鋼板画像と予め保持
している背景画像とを画素単位で輝度値を比較する。あ
る範囲内で一致していればその時の画素は鋼板画像にお
ける搬送ロール部であるから、鋼板画像の輝度値から背
景画像の輝度値を差し引き、ロール反射光ノイズを除去
する。こうして得られた新たな鋼板画像には、ロール反
射光ノイズは含まれていない。The image processing apparatus 5 first performs a process of removing noise due to the reflected light from the rolls on the plurality of steel plate images captured in the image memory. That is, the brightness value is compared in pixel units between the steel plate image and the background image held in advance. If there is a match within a certain range, the pixel at that time is the transport roll portion in the steel plate image, so the brightness value of the background image is subtracted from the brightness value of the steel plate image to remove roll reflected light noise. The new steel plate image thus obtained does not include roll reflected light noise.
【００１８】次に画像処理装置５は新たな鋼板画像に対
して、幅方向に設定したラインに対し明るさ変化の一番
大きい位置をエッジ位置とし、これを全ての幅方向ライ
ンについて行い、カメラ視野内のエッジ線を全画像につ
いて求める。Next, the image processing device 5 sets the position where the brightness change is the largest for the line set in the width direction for the new steel plate image as an edge position, and performs this for all the width direction lines. Edge lines in the field of view are obtained for all images.
【００１９】更に画像処理装置５は、図２に示す方法で
エッジ線を連結する。即ち１画面目の尾端側の例えば半
分のエッジ線と２画面目の先端側の例えば半分のエッジ
線を各々直線近似し、両直線が一致するように２画面目
を動かし、エッジ線を連結する。これが図２中の画像連
結(1)である。これにより１画面目から２画面目の撮影
の間に発生した蛇行成分は除去される。次に連結結果の
尾端側の例えば半画面分のエッジ線と３画面目の先端側
の例えば半分のエッジ線を各々直線近似し、同様にエッ
ジ線を連結する。これが図２中の画像連結(2)であり、
以降全画面分繰り返す。これを鋼板の両サイドについて
行い、両サイドについて鋼板全長分のエッジ形状を求め
る。Further, the image processing apparatus 5 connects the edge lines by the method shown in FIG. That is, for example, a half edge line on the tail end side of the first screen is approximated to a half edge line on the tip end side of the second screen, respectively. To do. This is the image connection (1) in FIG. As a result, the meandering component generated during the shooting of the first screen to the second screen is removed. Next, for example, a half screen edge line on the tail end side of the connection result and a half edge line on the tip end side of the third screen are linearly approximated, and the edge lines are similarly connected. This is the image connection (2) in Figure 2,
After that, the whole screen is repeated. This is performed for both sides of the steel sheet, and the edge shape for the entire length of the steel sheet is obtained for both sides.
【００２０】そして最後に画像処理装置５は、鋼板両サ
イドのエッジ形状を足して２で割り、鋼板中心位置形状
（中央線）を求め、中央線の曲り量を基に鋼板１の横曲
り量であるキャンバ量を求める。Finally, the image processing apparatus 5 adds the edge shapes on both sides of the steel plate and divides by 2 to obtain the steel plate center position shape (center line), and based on the bending amount of the center line, the lateral bending amount of the steel plate 1. Then, the camber amount is calculated.
【００２１】[0021]
【発明の効果】以上実施例と共に具体的に説明したよう
に本発明によれば、画素単位で鋼板画像と背景画像の輝
度が等しいときには、鋼板画像の輝度値から背景画像の
輝度値を差し引いてロール反射光ノイズを除去し、ロー
ル反射光ノイズの無い鋼板画像を基にキャンバ量を求め
るので、正確にキャンバ量を求めることができる。According to the present invention as specifically described in connection with the above embodiments, when the steel plate image and the background image have the same brightness on a pixel-by-pixel basis, the brightness value of the background image is subtracted from the brightness value of the steel plate image. Since the roll reflected light noise is removed and the camber amount is obtained based on the steel plate image having no roll reflected light noise, the camber amount can be accurately obtained.
【図１】本発明の実施例に係る鋼板キャンバ検出装置を
示す構成図。FIG. 1 is a configuration diagram showing a steel plate camber detection device according to an embodiment of the present invention.
【図２】本発明の画像処理装置においてエッジ線を連続
させる手法を示す説明図。FIG. 2 is an explanatory diagram showing a method of making edge lines continuous in the image processing apparatus of the present invention.
【図３】従来の鋼板キャンバ検出装置を示す構成図。FIG. 3 is a configuration diagram showing a conventional steel plate camber detection device.
【図４】従来のキャンバ検出方法を示す説明図。FIG. 4 is an explanatory diagram showing a conventional camber detection method.
【図５】ロール反射光ノイズによる誤差発生を示す説明
図。FIG. 5 is an explanatory diagram showing an error occurrence due to roll reflected light noise.
１ 鋼板 ２ 圧延機 ３ 搬送ロール ４ 二次元カメラ ５ 画像処理装置 ６ 鋼板検出スイッチ ７ 圧延速度センサ 1 Steel plate 2 Rolling mill 3 Conveying roll 4 Two-dimensional camera 5 Image processing device 6 Steel plate detection switch 7 Rolling speed sensor
───────────────────────────────────────────────────── フロントページの続き (72)発明者 田崎 澄晴 広島県広島市西区観音新町四丁目６番22号 三菱重工業株式会社広島製作所内 (72)発明者 加藤 智之 東京都千代田区丸の内一丁目１番２号 日 本鋼管株式会社内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Sumiharu Tazaki 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries Ltd. Hiroshima Works (72) Inventor Tomoyuki Kato 1-1, Marunouchi, Chiyoda-ku, Tokyo No. 2 Nihon Steel Pipe Co., Ltd.
Claims (1)
れて送られる鋼板の横曲りであるキャンバを検出する鋼
板キャンバ検出装置であって、 搬送ローラ上で送られる鋼板の各サイドのエッジ部を撮
影するよう取り付けた２台の二次元カメラと、 鋼板が送られていないときに前記二次元カメラで撮影し
て得た画像である背景画像があらかじめ記憶されてお
り、鋼板が送られているときに前記二次元カメラで撮影
して得た画像である鋼板画像と、前記背景画像について
画素単位で輝度値を比較し、両輝度値がほぼ等しい画素
では鋼板画像の輝度値から背景画像の輝度値を差し引
き、差し引いて得た新たな鋼板画像に対して幅方向に関
し、明るさ変化の最大点をエッジ点として検出し、更に
エッジ点を長さ方向に連続してエッジ線を求め、２本の
エッジ線の中央を通る中央線を求め、中央線の横曲りか
らキャンバ量を求める画像処理装置と、 を有することを特徴とする製鉄熱延ラインの鋼板キャン
バ検出装置。1. A steel plate camber detection device for detecting a camber which is a lateral bend of a steel plate placed and sent on a conveyor roll of a hot-rolling iron-making line, wherein each side edge of the steel plate sent on a conveyor roller. Two two-dimensional cameras attached so as to photograph the part and a background image, which is an image obtained by the two-dimensional camera when the steel plate is not sent, are stored in advance, and the steel plate is sent. When the steel plate image is an image obtained by shooting with the two-dimensional camera when it is, the brightness value is compared in pixel units for the background image. The maximum brightness change point is detected as an edge point in the width direction of the new steel plate image obtained by subtracting the luminance value, and the edge point is continuously obtained in the length direction to obtain an edge line. book of Seeking a central line through the center of Tsu di line, steel camber detection device steel hot-rolled line, characterized in that it has a an image processing apparatus for determining the camber quantity from the side bending of the center line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP114593A JPH06201348A (en) | 1993-01-07 | 1993-01-07 | Steel plate camber detection device of iron manufacturing heat rolling line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP114593A JPH06201348A (en) | 1993-01-07 | 1993-01-07 | Steel plate camber detection device of iron manufacturing heat rolling line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06201348A true JPH06201348A (en) | 1994-07-19 |
Family
ID=11493276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP114593A Withdrawn JPH06201348A (en) | 1993-01-07 | 1993-01-07 | Steel plate camber detection device of iron manufacturing heat rolling line |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06201348A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000043433A (en) * | 1998-12-29 | 2000-07-15 | 이구택 | Method and device for measuring curvature of sheet in online using one-dimensional charge coupled device |
| JP2002202290A (en) * | 2001-01-05 | 2002-07-19 | Daido Steel Co Ltd | Fluorescent magnetic particle examination method and flaw detection device |
| KR20190078009A (en) * | 2017-12-26 | 2019-07-04 | 주식회사 포스코 | Detecting apparatus of the strip head shape |
-
1993
- 1993-01-07 JP JP114593A patent/JPH06201348A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000043433A (en) * | 1998-12-29 | 2000-07-15 | 이구택 | Method and device for measuring curvature of sheet in online using one-dimensional charge coupled device |
| JP2002202290A (en) * | 2001-01-05 | 2002-07-19 | Daido Steel Co Ltd | Fluorescent magnetic particle examination method and flaw detection device |
| KR20190078009A (en) * | 2017-12-26 | 2019-07-04 | 주식회사 포스코 | Detecting apparatus of the strip head shape |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20000307 |