KR19980068600A - Automatic material turning device using image recognition device - Google Patents

Abstract

The present invention relates to an automatic material turning device using an image recognition device for controlling a turntable to take a picture of a material with an image recognition device, calculate a position and angle of the material, and change the direction of the material according to the calculation result. And a turning table comprising a plurality of turning rolls installed on front and rear surfaces of a rolling mill and a first and second motors for driving the turning rolls, comprising: photographing means for photographing a rolled material transferred onto a turntable; After image processing the image output from the photographing means, image grabbing means for extracting the edge of the material from the image data to obtain the angle between the edge and the rolling progress direction, and the image processed by the image grabbing means In addition, the table allows the driver to know the angle and progression between the obtained material edge and rolling direction. And a man machine interface (MMI) means for communicating a driver's request to each device, communication means for controlling data exchange between the image grabbing means and the man machine interface means and the motor drive control means, and the image grabbing means. And a motor drive control means for rotating the first and second motors in opposite directions until the angle between the edge of the raw material and the rolling advancing direction falls within an appropriate range.

Description

Automatic material turning device using image recognition device

The present invention relates to a material turning device provided on the front and rear surfaces of a rolling mill of steel equipment, and more particularly, an image recognition device that recognizes a material using an image recognition device and calculates the position and rotation angle of the material to turn the material. It relates to a material automatic turning device using.

In general, there is a rolling process in which steel materials are sandwiched between two rolls of a material such as ingots or slabs and are gradually or thinly formed by continuously applying force while gradually narrowing the width between the rolls. Depending on the arrangement, it is classified into continuous rolling that arranges several rolling mills in a straight line and completes the process from charging the material to the product, and reversible rolling which repeatedly rolls the raw materials in one rolling mill.

As shown in FIG. 1, the rolling equipment shown in the embodiment is a thick plate rolling equipment, which is formed of a plurality of turning rolls on the front and rear surfaces of a double rolling mill 10 including a work roll and a backup roll. Turn tables 13 for transferring 14 to the rolling mill 10 or for rotating the material 14 are provided.

The thick plate rolling process is composed of even, breading, length rolling (pass), the scarfing material and the uneven plate is subjected to even rolling, the other plate until the target width value is reached After explosive rolling, length rolling is performed. In addition, since the rolling direction is always constant when the length rolling is to be performed after the width rolling, the rolling direction must be changed to 90 ° in the width direction of the material.

Therefore, when rolling the material extracted from the heating furnace, it is determined how to change direction in the rolling, and based on this, the operator of the rolling equipment performs rolling-explosion-length rolling.

The turning in the above is made in the turntable 14, as shown in FIG. The rolls are arranged staggered. Further, even-numbered rolls (or odd-numbered rolls) of the plurality of turning rolls disposed on the turntable 13 are driven by the first motor 15, and the remaining odd-numbered rolls (or even-numbered rolls) are driven by the first motor 15. Second rolls) are driven by the first motor 16. Thus, adjacent rolls are driven by different motors. Here, when the rotation directions of the first motor 15 and the second motor 16 are reversed, adjacent rolls of the turntable 13 rotate in opposite directions to each other, whereby the direction of the material 14 is switched. For example, when the first motor 15 is rotated counterclockwise and the first motor 16 is rotated clockwise, the material 14 rotates counterclockwise, and conversely, the first motor 15 is clocked. Direction and the second motor 16 rotates counterclockwise, the workpiece 14 rotates clockwise.

By the way, in the prior art, the driver determines the rotational direction and operates the turntable while the worker keeps checking the position of the work.

As described above, in the related art, since the direction of the continuously repeated material is relied on by the driver's manual operation, there is a problem in that a burden is given to the driver, thereby lowering the accuracy of driving, and eventually the work efficiency is lowered.

The present invention has been made to solve the above-described problems, the object of which is to shoot the material with an image recognition device to calculate the position and angle of the material, so that the appropriate direction change of the material is made according to the calculation result The present invention provides an automatic material turning device using an image recognition device for controlling and operating a turntable.

1 is a schematic view showing the structure of a general thick plate rolling equipment.

FIG. 2 is a schematic view of the turning apparatus in FIG. 1.

3 is a structural diagram showing a material automatic turning apparatus according to the present invention.

4 is a block diagram showing an automatic material turning apparatus according to the present invention.

5 is a flowchart showing the operation procedure of the automatic material turning apparatus according to the present invention.

* Description of the symbols for the main parts of the drawings *

31: Camera 32: Image Grabber

33: communication controller 34: turntable drive motor controller

35: motor 36: MMI (Man Machine Interface)

37: material

As a means for achieving the object of the present invention as described above, the present invention is a turntable made of a plurality of turning rolls installed on the front and rear surfaces of the rolling mill and the automatic material turning device consisting of the first and second motors for driving the turning rolls Image pickup means for photographing the rolled material transferred onto the turntable, and image processing of the image output from the photographing means, and then extracting the edge of the material from the image data to obtain an angle between the edge and the rolling direction. The man machine interface which displays the image processed by the grabbing means and the image grabbing means and shows the angle and the progress of the obtained material edge and the rolling progress direction to convey the driver's request to each device ( MMI) means, and data exchange between the image grabbing means, the man machine interface means, and the motor drive control means. And a motor drive control means for rotating the first and second motors in opposite directions until the angle between the edge of the material obtained by the image grabbing means and the rolling progress direction falls within an appropriate range. It is provided.

Hereinafter, with reference to the accompanying drawings will be described in detail the configuration and operation of the present invention.

3 is a structural diagram showing a schematic structure of an automatic material turning device according to the present invention, and FIG. 4 is a block diagram of the automatic material turning device shown in FIG. 3, wherein 31 is a material 37 on a turntable (not shown). The image grabber 32 is an image grabber which extracts an image characteristic of the raw material 37 and obtains a rotation angle of the raw material 37 from the image obtained by processing the image obtained by the camera 31, and 33 is the image grabber 32. Or a communication controller connecting the MMI 36 and the turntable driving motor controller 34 to exchange data, and 34 denotes rotation of a motor for driving a roll of the turntable according to the output result of the image grabber 32. It is a turntable driving motor controller for controlling, 35 is a motor unit for driving the turning roll constituting the turntable, that is, consisting of the first motor (M1) and the second motor (M2), 36 is a development environment for building the system hemp It is a MMI (Man Machine Interface) which shows the result processed by the image grabber 32 to the driver and accepts the driver's request.

The material rolled in the thick plate rolling equipment is mainly steel slab, which has a simple and uniform shape (that is, a square shape), and is clearly distinguished from the background without lighting because it is subjected to a heating furnace. Therefore, a separate lighting device is not necessary at the time of photographing the material 37.

In the above, the camera 31 is heated to shoot the material (37) transferred to the thick plate rolling equipment. In FIG. 3, 38 represents a range photographed by the camera 31. In this embodiment, the camera 31 treats light intensity as 64 gray grade 512 * 512 pixels.

In this way, the image signal photographed by the camera 31 is output to the image grabber 32, the image grabber 32 includes an image processing algorithm operating in real time operation for real-time control of the turntable, the camera The video signal input from (31) is converted into digital video data, the noise included in the digital video data is removed, and the image of the raw material 37 is extracted. Then, the rotation angle is calculated from the image of the extracted material 37.

The image data processed by the image grabber 32 and the calculated result are transmitted to the MMI 36, and the MMI 36 is calculated by the image grabber 32, that is, the rotation angle of the material 37 An image of the work material 37 is output for the driver to see.

In addition, the determination result of the image grabber 32 is transmitted to the turntable drive motor controller 34 through the communication controller 33, and the turntable drive motor controller 34 drives the motor 35 according to the result. . That is, the first motor M1 and the second motor M2 provided in the motor unit 35 until the angle with the reference edge of the material with respect to the rolling progress direction obtained by the image grabber 32 reaches 90 degrees. ) To rotate in opposite directions.

5 is a flowchart showing the operation procedure of the automatic material turning device according to the present invention, and the operation of the automatic material turning control device operating as described above will be described according to the control processing procedure.

First, in order to obtain an appropriate metallic characteristic, the turning direction is determined according to the rolling progress of the material 37, and when turning of the material 37 is required (501), an image for detecting an image of the material 37 is detected. Grabbing is performed (502). The first step is to obtain an image map of 64 gray level 514 * 514 pixels for the material 37 captured by the camera 31.

Then, image processing is performed to obtain an accuracy angle with respect to the reference line (ie, rolling direction) of the material 37 from the image obtained in step 502. First, binarizing the range of the 64 gray scale image In operation 503, a threshold is processed to compare and binarize each pixel value with a threshold determined by a histogram of gray levels of all pixels of the image map. In other words, the entire image obtained from the step 502 is histogramized, and a threshold value is obtained therefrom and binarized.

Next, a filtering process for removing noise generated by the camera itself, the controller or the vapor or dust or an external light source included in the image data is performed (504). The filtering method is a DILATION method that sets the center pixel to 1 when there is a pixel having a value of 1 even if one of the pixels of neighboring 3 * 3 pixels is composed of 0 or 1 individual pixels, and 0 or 1 individual pixels. If any of the pixels of the neighboring 3 * 3 has a pixel of 0, it is made by the EROSION method of setting the reference pixel value to zero.

In operation 505, the edge EDGE of the material 37 is detected from the THRESHOLDING processing and the noise-free image data. The edge detected here refers to an edge parallel to the rolling progress direction of the raw material 37.

Then, in step 505, the slope of the detected edge with respect to the reference line (the material progress direction) is calculated (506). In addition to the slope machine calculation, the optimum linear calculation, the rotation angle calculation, and the performance processing are also performed. Here, the optimal linear calculation process is based on the statistical distribution based on the result obtained in step 505 to obtain the closest line segment made by the edge pixel of the material 37. In addition, the rotation angle is an angle formed by the optimum straight line obtained above and the advancing direction of the material 37, and the performance processing process filters out the error of the calculated value.

Then, it is determined whether the inclination (rotation angle) is within an appropriate range (for example, 90 ° ± 10 °) (507), and if it is not within the range, the turntable driving motors M1, M2 are operated ( 508), and repeating from the image grabbing step 502. That is, the turntable driving motors M1 and M2 are operated until the edge inclination of the material 37 falls within an appropriate range so that the direction of the material is changed.

As a result, when the inclination (rotation angle) of the raw material 37 is within an appropriate range, the side guider (not shown) is driven so that the raw material 37 is located at the center (509).

Thus, in the present invention, when the direction of the material is required when rolling the material in the thick plate rolling process, the turning roll of the turntable is automatically rotated until the reference edge of the material forms an angle of 90 degrees with the rolling progress direction. It is effective in reducing work load and improving work efficiency.

Claims (4)

In the automatic material turning device consisting of a turntable consisting of a plurality of turning rolls installed on the front and rear surfaces of the rolling mill and first and second motors for driving the turning rolls, Photographing means for photographing the rolled material transferred onto the turntable; An image grabbing means for extracting an edge of a material from the image data and then obtaining an angle between the edge and the rolling progress direction after image processing the image output from the photographing means; A man machine interface (MMI) means for showing an image processed by the image grabbing means and displaying the angle and the progress of the obtained material edge and rolling direction so that the driver can know and conveying the driver's request to each device; , Communication means for controlling data exchange between the image grabbing means and the man machine interface means and the motor drive control means; And motor driving control means for rotating and driving the first and second motors in opposite directions until the angle between the edge of the material obtained by the image grabbing means and the rolling progress direction is within an appropriate range. Automatic material turning device using image recognition device. The method of claim 1, wherein the image grabbing means When the turning of the material is required, the image taken by the photographing means is input to obtain an image map, and then the histogram is processed to obtain a threshold value, binarize the image, and filter to remove noise included in the image. And recognizing the image of the material from the image processed image as described above, and detecting the edge of the material, and obtaining an angle between the detected edge and the rolling progress direction. The method of claim 1, Automatic material turning device using an image recognition device, characterized in that the proper range of the angle between the edge of the material and the rolling progress direction is 90 ° ± error. The method of claim 1, The automatic material turning apparatus using the image recognition device, characterized in that the man machine interface means is a personal computer.