TWI472891B - Mobile image capture system and automatic location method for mobile image capture system - Google Patents

Description

Mobile image capturing system and automatic positioning method for mobile image capturing system

The invention relates to an image capturing system and an automatic positioning method, in particular to a mobile image capturing system and an automatic positioning method for a mobile image capturing system.

Hot-rolled steel blanks and steel strips often produce products with awkward and distorted shape due to improper temperature and size control. In order to monitor such anomalies, the camera is often fixed in the center of the mill. In order to capture the image of the steel blank and the steel strip during the rolling process. However, the equipment of the production line often carries out equipment maintenance due to regular maintenance. For example, the rolls of the vertical rolling mill must be replaced after a period of use. However, the crane must use the space in the center of the rolling mill when lifting the new and old rolls, so Because the fixed monitoring equipment not only hinders the operation procedure of replacing the equipment, it is often damaged by the crane during the operation and loses the measurement function.

In addition, in order to smoothly replace the vertical rolls, the platform above the rolling stand must be designed to be movable so that it can be lifted away when the rolls are changed to increase the working space, so the camera is fixed on the movable platform. It will also increase the difficulty in maintenance and operation of the electromechanical system. In addition, the fixed camera has a limited imaging range. If it is necessary to detect the condition of the steel blank and the steel strip entering the vertical rolling mill, it is almost impossible to adjust to the preferred sampling position.

The invention provides a mobile image capturing system, comprising: a base, at least one mobile device, a first driving device and a second driving device. The base is disposed at a set position. At least one mobile device is disposed on the base, and the at least one mobile device moves in a first direction relative to the base. The first driving device is disposed on the at least one mobile device, the first driving device includes a first shaft driving device, a second shaft driving device and a connecting rod, and the connecting rod is driven by the first shaft driving device A first axis moves, the link being driven by the second shaft drive to move along a second axis. The second driving device is disposed on the connecting rod, the second driving device includes a third axis driving device, a fourth axis driving device and an image capturing device, and the image capturing device is driven by the third axis driving device Moving along a third axis, the image capturing device is driven to move along a fourth axis by the fourth axis driving device.

The present invention further provides an automatic positioning method for a mobile image capturing system, comprising the steps of: (a) setting a manual control mode to manually control the mobile image capturing system as claimed in claim 1; (b) Moving the mobile image capturing system to cause the image capturing device to reach a target position; (c) recording the first direction to the target position, the movement variable of the first axis to the fourth axis; (d) Setting an automatic control mode; (e) moving to an actual position according to the first direction, the movement variable of the first axis to the fourth axis; and (f) according to the difference between the actual position and the target position, The automatic positioning moves the image capturing device to the target position.

By using the mobile image capturing system and the automatic positioning method of the invention, the position of the image capturing device can be adjusted according to the on-site production and maintenance conditions, thereby avoiding the problem of being damaged by the crane when the production line is replaced; and An automatic positioning function is provided when moving to the measuring position to ensure that the target position at the time of measurement is reached, and that the position of the image capturing device can be adjusted to the target position of the optimal image capturing.

Referring to Figure 1, there is shown a schematic diagram of a mobile image capture system of the present invention. Referring to Figure 2, there is shown a schematic view of the arrangement of the mobile image capture system of the present invention. The mobile image capturing system of the invention can be applied to processes such as hot rolled strip and cold rolled strip, and is used as a monitoring system for steel plate and steel strip twisting and offset; or applied to various metal sheets, strips and foils. The product and process intermediates of the hot-cold rolling process, etc., are used as a measurement and monitoring system for identifying the contour of the workpiece. Referring to FIG. 1 and FIG. 2, the mobile image capturing system 10 of the present invention includes a base 11, at least one mobile device 12, 13, a first driving device 14, and a second driving device 15.

The base 11 is disposed at a set position. In the present embodiment, the base 11 is disposed on a housing 21. The rolling stand 21 has a rolling mill center side 211 which passes the steel blank 22 through the rolling mill center side 211 and is rolled by two vertical rolls 23, 24.

At least one mobile device 12, 13 is disposed on the base 11, and the at least one mobile device 12, 13 moves in a first direction F1 with respect to the base 11. In this embodiment, the mobile image capturing system 10 of the present invention includes a first moving device 12 and a second moving device 13. The first moving device 12 is disposed on the base 11 with respect to the base 11. The first mobile device 12 moves along the first direction F1, and the second mobile device 13 is disposed on the first mobile device 12. The second mobile device 13 is along the first mobile device 12 The first direction F1 moves.

The first mobile device 12 and the second mobile device 13 may be slide rail devices that move in the first direction F1. The first direction F1 is directed from a walkway side 212 toward the mill center side 211, that is, the first moving device 12 and the second moving device 13 can be moved by the aisle side 212 to approach the rolling mill center side 211. A drive unit 14 and the second drive unit 15 are translated to a sampling position adjacent the center side 211 of the rolling mill and retract the entire mobile image capture system to the service platform adjacent the aisle side 212 during servicing. The first moving device 12 and the second moving device 13 can also be driven to move by a hydraulic cylinder or a pneumatic cylinder or the like.

The first driving device 14 is disposed on the at least one mobile device 12, 13. In the embodiment, the first driving device 14 is disposed on the second mobile device 13 by using a fixing plate. The first driving device 14 includes a first shaft driving device 141, a second shaft driving device 142 and a connecting rod 143. The connecting rod 143 is driven by the first shaft driving device 141 to move along a first axis S1. The link 143 is driven by the second shaft drive 142 to move along a second axis S2. The first axis S1 is rotationally moved between the aisle side 212 and the mill center side 211 to return the overall mechanism to the zero position where the footprint is minimal. The moving direction of the second axis S2 is parallel to the traveling direction of the steel blank 22 (refer to FIG. 3). Preferably, the moving direction of the second axis S2 moves along a rolling mill center line L1.

The second driving device 15 is disposed on the connecting rod 143. The second driving device 15 includes a third axis driving device 151, a fourth axis driving device 152 and an image capturing device 153. The image capturing device 153 is The third shaft drive The driving device 151 is moved along a third axis S3, and the image capturing device 153 is driven by the fourth axis driving device 152 to move along a fourth axis S4.

The first shaft driving device 141, the second shaft driving device 142, the third shaft driving device 151, and the fourth shaft driving device 152 can be driven by a servo motor, a stepping motor or a multi-degree of freedom pan/tilt.

The mobile image capturing system 10 of the present invention further includes a first protective cover 16 and a second protective cover 17 for covering the first driving device 14. The second protective cover 17 is used for The second driving device 15 is covered.

Referring to FIG. 3, a schematic view of the movement directions of the second axis, the third axis, and the fourth axis is shown. The moving direction of the second axis S2 is parallel to the traveling direction of the steel blank 22, and the third axis S3 is perpendicular to the traveling direction of the steel blank 22, so the moving direction of the third axis S3 moves along the circumference of the third axis S3. . The moving direction of the fourth axis S4 is transverse to the direction in which the steel blank 22 travels. Since the image capturing target is to obtain the image of the square strip in the parallel rolling direction, the image capturing device 153 must be driven according to the second axis, the third axis and the fourth axis after the center side 211 of the rolling mill. The image capture device 153 reaches the optimal reference target position to be reached.

Referring to FIG. 4, a flow chart of the automatic positioning method for the mobile image capturing system of the present invention is shown. The automatic positioning method of the present invention is applied to the above-described mobile image capturing system 10. Referring to FIG. 1 and FIG. 4, referring to step S41, a manual control mode is set to manually control the mobile image capturing system 10 of the present invention. Referring to step S42, at least one mobile device 12, 13, the first driving device 14, and the second driving device 15 of the mobile image capturing system 10 are moved to cause the image capturing device 153 to reach a target. Mark the position to take a standard rectangular module. Referring to step S43, the first direction F1 of the target position and the movement variable of the first axis S1 to the fourth axis S4 are recorded.

Referring to step S44, an automatic control mode is set. Referring to step S45, the image capturing device 153 is moved to an actual position according to the first direction F1 and the movement variables of the first axis S1 to the fourth axis S4. Although the movement is performed according to the recorded movement variable, the actual position of the image capturing device 153 may be different from the target position due to factors such as wear and deformation, and the imager is not the standard. A rectangular module that does not lie within a predetermined position of the orientation range. Therefore, according to the difference between the actual position and the target position, the image capturing device 153 is automatically positioned to move to the target position, and the standard rectangular module is obtained, as shown in step S46.

Referring to Figure 5, a schematic diagram of moving from an actual position to a target position is shown. With reference to FIG. 3 and FIG. 5, in the embodiment, according to the second axis to the fourth axis, the image capturing device 153 is moved from the actual rectangular module (w, x, y, z) of the actual position to the target. The standard rectangular module (A, B, C, D) of the position. Firstly, the third axis S3 is moved at an angle of θ 3 , and then moved according to the fourth axis S4 by a distance of θ 4 , and finally moved according to the second axis S2 by a distance of θ 2 to move the image capturing device 153 to the The target position is taken to take the standard rectangular module (A, B, C, D). In other embodiments, the standard module of the image is not limited to a rectangle, and may be a target object using a geometric shape such as a trapezoid or a triangle, or a feature point provided by a background mechanism or a device as a target object.

By using the mobile image capturing system and the automatic positioning method of the invention, the position of the image capturing device can be adjusted according to the on-site production and maintenance conditions, thereby avoiding the problem of being damaged by the crane when the production line is replaced; and An automatic positioning function is provided when moving to the measuring position to ensure that the target position at the time of measurement is reached, and that the position of the image capturing device can be adjusted to the target position of the optimal image capturing.

However, the above embodiments are merely illustrative of the principles and effects of the invention and are not intended to limit the invention. Therefore, those skilled in the art can make modifications and changes to the above embodiments without departing from the spirit of the invention. The scope of the invention should be as set forth in the appended claims.

10‧‧‧Mobile image capture system of the present invention

11‧‧‧Base

12‧‧‧First mobile device

13‧‧‧Second mobile device

14‧‧‧First drive

15‧‧‧Second drive

16‧‧‧First protective cover

17‧‧‧Second protective cover

21‧‧‧The mill stand

22‧‧‧ steel embryo

23, 24‧‧‧ vertical rolls

141‧‧‧First shaft drive

142‧‧‧Second shaft drive

143‧‧‧ Connecting rod

151‧‧‧Third shaft drive

152‧‧‧Fourth shaft drive

153‧‧‧Image capture device

211‧‧‧ rolling mill center side

212‧‧‧Aisle side

F1‧‧‧ first direction

S1‧‧‧ first axis

S2‧‧‧ second axis

S3‧‧‧ third axis

S4‧‧‧fourth axis

1 is a schematic view showing a moving image capturing system of the present invention; FIG. 2 is a schematic view showing a setting of a moving image capturing system of the present invention; and FIG. 3 is a schematic view showing a moving direction of the second axis, the third axis, and the fourth axis; A schematic diagram showing the flow of the automatic positioning method for the mobile image capturing system of the present invention; and FIG. 5 is a schematic diagram showing the movement from the actual position to the target position.

10‧‧‧Mobile image capture system of the present invention

11‧‧‧Base

12‧‧‧First mobile device

13‧‧‧Second mobile device

14‧‧‧First drive

15‧‧‧Second drive

16‧‧‧First protective cover

17‧‧‧Second protective cover

141‧‧‧First shaft drive

142‧‧‧Second shaft drive

143‧‧‧ Connecting rod

151‧‧‧Third shaft drive

152‧‧‧Fourth shaft drive

153‧‧‧Image capture device

F1‧‧‧ first direction

S1‧‧‧ first axis

S2‧‧‧ second axis

S3‧‧‧ third axis

S4‧‧‧fourth axis

Claims (9)

A mobile image capturing system includes: a base disposed at a set position; at least one mobile device disposed on the base, wherein the at least one mobile device moves in a first direction relative to the base; a driving device, the first driving device is disposed on the at least one mobile device, the first driving device includes a first shaft driving device, a second shaft driving device and a connecting rod, and the connecting rod is driven by the first shaft The device drive moves along a first axis, the link is driven by the second shaft drive device to move along a second axis; and a second drive device is disposed on the link, the second drive device The device includes a third axis driving device, a fourth axis driving device and an image capturing device, wherein the image capturing device is driven to move along a third axis by the third axis driving device, and the image capturing device is configured by the fourth The shaft drive is driven to move along a fourth axis. The mobile image capture system of claim 1, wherein the at least one mobile device comprises a first mobile device and a second mobile device, the first mobile device is disposed on the base, the first The mobile device moves in the first direction, and the second mobile device is disposed on the first mobile device, and the second mobile device moves in the first direction relative to the first mobile device. The mobile image capturing system of claim 2, wherein the first driving device is disposed on the second mobile device. The mobile image capturing system of claim 1, further comprising a first protective cover And a second protective cover for covering the first driving device, the second protective cover is for covering the second driving device. The mobile image capturing system of claim 1, wherein the base is disposed at a rolling stand, the first direction is from a walkway side toward a rolling mill center side, the first shaft is tied to the walkway side and the rolling mill center side During the rotational movement, the moving direction of the second axis is parallel to the traveling direction of a steel blank, and the third axial direction is perpendicular to the traveling direction of the steel blank, and the moving direction of the fourth axis is transverse to the traveling direction of the steel blank. An automatic positioning method for a mobile image capturing system, comprising the steps of: (a) setting a manual control mode to manually control the mobile image capturing system as claimed in claim 1; (b) moving the mobile image The image capturing system causes the image capturing device to reach a target position; (c) records the first direction to the target position, the movement variable of the first axis to the fourth axis; (d) setting an automatic control a mode; (e) moving to an actual position according to the first direction, the movement variable of the first axis to the fourth axis; and (f) automatically positioning the movement according to the difference between the actual position and the target position The image capture device is to the target location. The automatic positioning method of claim 6, wherein the first direction is from a side of the aisle toward a center of the rolling mill, and the first axis is rotated between the side of the aisle and the center of the rolling mill, and the moving direction of the second axis And a steel embryo The direction of travel is parallel, the third axis is perpendicular to the direction of travel of the steel, and the direction of movement of the fourth axis is transverse to the direction of travel of the steel. The automatic positioning method of claim 7, wherein in step (f), the image capturing device is moved according to the second axis to the fourth axis. The automatic positioning method of claim 8, wherein in the step (f), the third axis is moved according to the third axis, and then moved according to the fourth axis, and finally moved according to the second axis.