Method, device, medium and electronic equipment for measuring the size of ingot before heating furnace

Abstract

The present application relates to the field of steel rolling production control and discloses a method and device for measuring the size of a billet in front of a heating furnace. The method comprises: obtaining the intrinsic and extrinsic coefficients of an industrial camera; obtaining a measurement image captured by the industrial camera, wherein the measurement image includes a billet image and a laser image falling on the billet; extracting the image coordinates of the billet image and the laser image in the measurement image from the measurement image through an image processing algorithm, wherein the image coordinates are used to characterize the size features of the billet in the measurement image; and determining the size information of the billet based on the image coordinates and the intrinsic and extrinsic coefficients of the industrial camera. The present application further improves the detection accuracy of billet size by introducing image recognition technology into the billet size detection scheme.

Description

Technical Field

[0001] The present application relates to the technical field of steel rolling production control, and in particular, to a method, device, medium and electronic equipment for measuring the size of a casting in front of a heating furnace. Background Art

[0002] Currently, traditional hot rolling lines typically measure billet dimensions using methods such as integrating velocity over time or using laser rangefinders. However, these measurement methods are susceptible to factors such as billet slippage and tilt, leading to significant errors in dimensional measurement and severely impacting production efficiency. Therefore, improving billet dimension measurement accuracy is a pressing technical challenge. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, medium and electronic equipment for measuring the size of a billet in front of a heating furnace, thereby improving the detection accuracy of the billet size.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0005] According to one aspect of an embodiment of the present application, a method for measuring the size of a billet in front of a heating furnace is provided, wherein a roller for conveying the billet is provided in front of the heating furnace, and a linear laser and an industrial camera are installed above the roller, wherein the linear laser is used to emit a laser perpendicular to the direction of the roller, and the industrial camera is used to collect a measurement image, and the method comprises: obtaining the intrinsic parameter coefficient and the extrinsic parameter coefficient of the industrial camera; obtaining a measurement image captured by the industrial camera, wherein the measurement image comprises a billet image and a laser image falling on the billet; extracting the image coordinates of the billet image and the laser image in the measurement image from the measurement image through an image processing algorithm, wherein the image coordinates are used to characterize the size features of the billet in the measurement image; and determining the size information of the billet according to the image coordinates, as well as the intrinsic parameter coefficient and the extrinsic parameter coefficient of the industrial camera.

[0006] In one embodiment of the present application, based on the aforementioned scheme, obtaining the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera includes: calibrating the industrial camera through the Zhang Zhengyou calibration algorithm to determine the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera respectively.

[0007] In one embodiment of the present application, based on the aforementioned solution, the number of the linear lasers is two, and the number of the industrial cameras is at least two, wherein the two linear lasers are distributedly installed along the direction of the roller, and at least two of the industrial cameras are distributedly installed along the direction of the roller, and their field of view can cover the entire length of the ingot.

[0008] In one embodiment of the present application, based on the aforementioned scheme, the obtaining of the measurement image captured by the industrial camera includes: when it is detected that the billet is transferred to the cold inspection position in front of the heating furnace, simultaneously capturing images by at least two of the industrial cameras to obtain at least two frames of candidate measurement images; and selecting two frames of measurement images including the billet image and the laser image falling on the billet from the at least two frames of candidate measurement images.

[0009] In one embodiment of the present application, based on the aforementioned scheme, extracting the image coordinates of the ingot image and the laser image in the measurement image from the measurement image by using an image processing algorithm includes: determining the regions of interest in the two frames of measurement images respectively, wherein the regions of interest include the edge line of the ingot image and the laser line of the laser image; and extracting the coordinates of the reference point of the edge line and the reference point of the laser line in the measurement image by using an image processing algorithm as the image coordinates.

[0010] In one embodiment of the present application, based on the aforementioned solution, the image processing algorithm at least includes an image grayscale processing algorithm, an edge detection algorithm, and a line detection and extraction algorithm.

[0011] In one embodiment of the present application, based on the aforementioned scheme, the size information of the ingot is determined according to the image coordinates, and the intrinsic and extrinsic coefficients of the industrial camera, including: based on the intrinsic and extrinsic coefficients of the industrial camera, the image coordinates are converted by Zhang Zhengyou calibration algorithm to obtain the physical coordinates of the reference point of the edge line of the ingot and the reference point of the laser line on the ingot in the world coordinate system, and the physical coordinates are used to characterize the size characteristics of the ingot in the world coordinate system; according to the physical coordinates, the size information of the ingot is determined.

[0012] In one embodiment of the present application, based on the aforementioned scheme, determining the size information of the ingot according to the physical coordinates includes: obtaining the distance between two laser lines falling on the ingot; and determining the size information of the ingot according to the physical coordinates and the distance between the two laser lines.

[0013] In one embodiment of the present application, based on the aforementioned solution, the size information of the ingot includes the length size information of the ingot, the head width size information of the ingot, and the tail width size information of the ingot.

[0014] According to one aspect of an embodiment of the present application, a device for measuring the size of a billet in front of a heating furnace is provided, wherein a roller for conveying the billet is provided in front of the heating furnace, and a linear laser and an industrial camera are installed above the roller, wherein the linear laser is used to emit laser light perpendicular to the direction of the roller, and the industrial camera is used to collect measurement images, and the device comprises: a first acquisition unit, used to acquire the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera; a second acquisition unit, used to acquire the measurement image captured by the industrial camera, wherein the measurement image comprises a billet image and a laser image falling on the billet; an extraction unit, used to extract the image coordinates of the billet image and the laser image in the measurement image through an image processing algorithm, wherein the image coordinates are used to characterize the length and width features of the billet in the measurement image; and a determination unit, used to determine the size information of the billet based on the image coordinates and the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera.

[0015] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the method for measuring the size of the ingot in front of the heating furnace as described in the above embodiment is implemented.

[0016] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; and a memory for storing executable instructions of the processors, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the method for measuring the size of the ingot in front of the heating furnace as described in the above embodiment.

[0017] In the technical solution of the embodiment of the present application, the intrinsic and extrinsic coefficients of the industrial camera are obtained, and then a measurement image captured by the industrial camera is obtained. The measurement image includes a billet image and a laser image falling on the billet. The image coordinates of the billet image and the laser image in the measurement image are extracted from the measurement image through an image processing algorithm. The image coordinates are used to characterize the dimensional features of the billet in the measurement image. Finally, the dimensional information of the billet is determined based on the image coordinates and the intrinsic and extrinsic coefficients of the industrial camera. In this way, by introducing image recognition technology into the billet size detection solution, the detection accuracy of the length and width dimensions of the billet can be improved.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0020] Figure 1 This is a flow chart of a method for measuring the size of a casting in front of a heating furnace according to an embodiment of the present application;

[0021] Figure 2 1 is a flow chart of a method for obtaining a measurement image captured by the industrial camera according to an embodiment of the present application;

[0022] Figure 3 Schematic diagram of three images captured by three industrial cameras according to an embodiment of the present application;

[0023] Figure 4 Detailed flowchart of extracting the image coordinates of the ingot image and the laser image in the measurement image from the measurement image by using an image processing algorithm according to an embodiment of the present application;

[0024] Figure 5 is a schematic diagram showing an image region of interest according to an embodiment of the present application;

[0025] Figure 6 A detailed flow chart illustrating the method of determining the size information of the ingot based on the image coordinates and the intrinsic and extrinsic coefficients of the industrial camera according to an embodiment of the present application;

[0026] Figure 7 Detailed flowchart of determining the size information of the casting billet according to the physical coordinates according to an embodiment of the present application;

[0027] Figure 8 This is a block diagram of a device for measuring the size of a casting in front of a heating furnace according to an embodiment of the present application;

[0028] Figure 9 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application;

[0029] Figure 10 Schematic diagram of the system structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0031] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0032] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0033] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0034] It should be noted that the term "plurality" used in this document refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0035] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0036] The following is a detailed description of the implementation details of the technical solution of the embodiment of the present application:

[0037] According to one aspect of the present application, a method for measuring the size of a cast billet in front of a heating furnace is provided, wherein a roller conveyor for conveying the cast billet is provided in front of the heating furnace, and a linear laser and an industrial camera are installed above the roller conveyor. The linear laser is used to emit laser light perpendicular to the direction of the roller conveyor, and the industrial camera is used to collect measurement images.

[0038] Figure 1 This is a flow chart of a method for measuring the size of a billet before a heating furnace according to an embodiment of the present application. The method for measuring the size of a billet before a heating furnace can be performed by a device having a computing and processing function. The method for measuring the size of a billet before a heating furnace includes at least steps 110 to 170, which are described in detail as follows:

[0039] Step 110: Obtain the intrinsic and extrinsic coefficients of the industrial camera.

[0040] Step 130 : Acquire a measurement image captured by the industrial camera, wherein the measurement image includes an image of the ingot and an image of the laser falling on the ingot.

[0041] Step 150 : extracting the image coordinates of the ingot image and the laser image in the measurement image from the measurement image by an image processing algorithm, wherein the image coordinates are used to characterize the size features of the ingot in the measurement image.

[0042] Step 170: Determine the size information of the ingot according to the image coordinates and the intrinsic and extrinsic coefficients of the industrial camera.

[0043] In such Figure 1 In step 110 shown, the intrinsic coefficients and extrinsic coefficients of the industrial camera are obtained. The industrial camera can be calibrated using the Zhang Zhengyou calibration algorithm to determine the intrinsic coefficients and extrinsic coefficients of the industrial camera respectively.

[0044] In the present application, the number of the linear lasers can be two, and the number of the industrial cameras can be at least two, wherein the two linear lasers are distributedly installed along the roller direction, and at least two of the industrial cameras are distributedly installed along the roller direction, and their field of view can cover the entire length of the ingot.

[0045] In one embodiment of the present application, three industrial cameras and two linear lasers can be installed above the roller in front of the heating furnace, wherein the three industrial cameras are distributed along the roller direction, and the field of view of the three industrial cameras can cover the entire length of the ingot, and the two linear lasers are distributed along the roller direction, and the lasers emitted by the linear lasers are perpendicular to the roller direction. Then, the three industrial cameras are calibrated separately using Zhang Zhengyou's calibration algorithm to obtain the intrinsic and extrinsic coefficients of the three industrial cameras: Min1 、M ex1 、M in2 、M ex2 、M in3 、M ex3 For example, in this embodiment, the Zhang Zhengyou calibration algorithm is used to obtain the intrinsic and extrinsic coefficients of the three industrial cameras, which are:

[0046]

[0047] Continue to refer to Figure 1 In step 130, a measurement image captured by the industrial camera is obtained, wherein the measurement image includes an image of the ingot and an image of a laser falling on the ingot.

[0048] In this application, the acquisition of the measurement image captured by the industrial camera can be performed as follows: Figure 2 Follow the steps shown.

[0049] See also Figure 2 , is a flow chart of a method for obtaining a measurement image captured by the industrial camera according to an embodiment of the present application. Specifically, it includes steps 131 to 132:

[0050] Step 131 : When it is detected that the cast billet is transferred to the cold inspection position in front of the heating furnace, at least two industrial cameras are used to simultaneously capture images to obtain at least two frames of candidate measurement images.

[0051] Step 132 : Select two frames of measurement images including a slab image and a laser image falling on the slab from the at least two frames of candidate measurement images.

[0052] It should be noted that the two selected measurement image frames must include the image of the ingot and the laser image falling on the ingot.

[0053] In one embodiment of the present application, when the billet moves to the cold inspection position in front of the heating furnace, the cold inspection signal can be used to trigger the industrial camera to take pictures, so that the three industrial cameras capture images at the same time to obtain images covering the entire length of the billet.

[0054] Furthermore, two images capturing the head and tail of the ingot may be extracted for processing.

[0055] like Figure 3 The figure shows a schematic diagram of three images captured by three industrial cameras according to an embodiment of the present application. In this diagram, images A and C are extracted and processed, and the distance between two linear lasers is measured. For example, in the embodiment shown in this diagram, the distance between the two linear lasers is 4380.25 mm.

[0056] It can be understood that the distance between the two laser images (i.e., laser lines) on the ingot is known, and this distance is part of the ingot length. In subsequent calculations, it is only necessary to determine the distance between the edge line of the head of the ingot and one laser line, and to determine the distance between the edge line of the tail of the ingot and another laser line. That is, the entire length of the ingot can be determined in combination with the distance between the two laser images (i.e., laser lines) on the ingot.

[0057] Continue to refer to Figure 1 In step 150, the image coordinates of the ingot image and the laser image in the measurement image are extracted from the measurement image by an image processing algorithm, and the image coordinates are used to characterize the dimensional features of the ingot in the measurement image.

[0058] In the present application, the image processing algorithm may at least include an image grayscale processing algorithm, an edge detection algorithm, and a line detection and extraction algorithm.

[0059] In the present application, the image processing algorithm extracts the image coordinates of the billet image and the laser image in the measurement image from the measurement image, which can be done as follows: Figure 4 Follow the steps shown.

[0060] See also Figure 4 , is a detailed flowchart illustrating the extraction of the image coordinates of the ingot image and the laser image in the measurement image by an image processing algorithm according to an embodiment of the present application. Specifically, it includes steps 151 to 152:

[0061] Step 151 : determining regions of interest in two frames of measurement images respectively, wherein the regions of interest include edge lines of the ingot image and laser lines of the laser image.

[0062] Step 152 : extracting the coordinates of the reference point of the edge line and the reference point of the laser line in the measurement image by an image processing algorithm as the image coordinates.

[0063] Specifically, in one embodiment of the present application, an image processing algorithm can be used to obtain Figure 3 The three images shown are processed. Figure 5 The figure shows a schematic diagram of the region of interest of an image according to an embodiment of the present application. By determining the region of interest in the measurement image, the image processing speed can be improved. Among them, for the region of interest set in the two images of the three images that capture the head and tail of the billet, the image coordinates reflecting the length and width characteristics of the billet in the region of interest can be extracted using an image grayscale processing algorithm, an edge detection algorithm, a line detection extraction algorithm, etc., to obtain the coordinates [u w1,v w1 ],[u w2 ,v w2 ],[u l1 ,v l1 ],[u l2 ,v l2 ], where the coordinates with subscripts wi (i=1, 2) are image coordinates representing width features, and the coordinates with subscripts li (i=1, 2) are image coordinates representing length features. Figure 3 In this embodiment, the image coordinates representing the length and width features obtained from the A image and the C image are respectively:

[0064]

[0065] Continue to refer to Figure 1 In step 170, the size information of the ingot is determined based on the image coordinates and the internal and external parameter coefficients of the industrial camera.

[0066] In this application, the size information of the ingot is determined according to the image coordinates and the internal and external parameter coefficients of the industrial camera, which can be as follows: Figure 6 Follow the steps shown.

[0067] See also Figure 6 , is a detailed flow chart showing how to determine the size information of the ingot based on the image coordinates and the intrinsic and extrinsic coefficients of the industrial camera according to an embodiment of the present application. Specifically, it includes steps 171 to 172:

[0068] Step 171, based on the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera, the image coordinates are converted by Zhang Zhengyou calibration algorithm to obtain the physical coordinates of the reference point of the edge line of the ingot and the reference point of the laser line on the ingot in the world coordinate system, and the physical coordinates are used to characterize the dimensional characteristics of the ingot in the world coordinate system.

[0069] Step 172: Determine the size information of the ingot according to the physical coordinates.

[0070] Furthermore, in step 172, the size information of the ingot is determined according to the physical coordinates, which can be done as follows: Figure 7 Follow the steps shown.

[0071] See also Figure 7 , is a detailed flow chart of determining the size information of the ingot according to the physical coordinates according to an embodiment of the present application. Specifically, it includes steps 1721 to 1722:

[0072] Step 1721, obtaining the distance between two laser lines falling on the ingot.

[0073] Step 1722: Determine the size information of the ingot based on the physical coordinates and the distance between the two laser lines.

[0074] Furthermore, in the present application, in step 1722, the size information of the ingot includes the length size information of the ingot, the head width size information of the ingot, and the tail width size information of the ingot.

[0075] In this application, the length dimension information of the ingot is solved in combination with the number of images covering the entire length of the ingot. When the ingot is short, it is understood that only two adjacent industrial cameras can capture the image of the entire ingot. In this case, the head image and tail image corresponding to the ingot are the images captured by the two adjacent industrial cameras. When the ingot is long, it is understood that only two adjacent industrial cameras cannot capture the image of the entire ingot, but only the two industrial cameras distributed at the beginning and end can capture the image of the entire ingot. In this case, the head image and tail image corresponding to the ingot are the images captured by the two industrial cameras distributed at the beginning and end.

[0076] It can be further understood that after obtaining the images of the head and tail of the billet, the sum of the distance between the two laser images (i.e., laser lines) on the billet, the distance between the edge line of the head of the billet and one laser line, and the distance between the edge line of the tail of the billet and another laser line can be determined as the length dimension of the billet.

[0077] In one embodiment of the present application, the obtained length and width feature image coordinates can be combined with the intrinsic and extrinsic coefficients of the three industrial cameras obtained in step 110: M in1 、M ex1 、M in2 、M ex2 、M in3 、M ex3 Based on Zhang Zhengyou's calibration algorithm, the image coordinates can be converted to obtain the physical coordinates that characterize the length and width of the billet, and the length and width of the billet can be calculated. Figure 3 In this embodiment, the image coordinates representing the length and width features obtained from the A image and the C image can be used to calculate the physical coordinates representing the length and width features as follows:

[0078]

[0079] In this embodiment, the length of the casting billet is:

[0080]

[0081] +4380.25=1881.24+4064.94+4380.25=10326.43 (mm) (where 4380.25 is the distance between the two linear lasers),

[0082] In this embodiment, the width of the head of the casting billet is:

[0083]

[0084] In this embodiment, the width of the tail of the casting billet is:

[0085]

[0086] Furthermore, in this embodiment, the theoretical length of the ingot issued by the upstream process is 10500 mm, and the theoretical width is 1300 mm. Therefore, the detection errors of the ingot length, head width and tail width are: -1.65%, -0.02% and 2.84% respectively. It can be seen that the detection accuracy of the method described in this application meets industrial needs.

[0087] In summary, in the technical solution of the embodiment of the present application, by obtaining the intrinsic and extrinsic coefficients of the industrial camera, and then obtaining a measurement image captured by the industrial camera, the measurement image includes the image of the billet and the laser image falling on the billet, and extracting the image coordinates of the billet image and the laser image in the measurement image from the measurement image through an image processing algorithm. The image coordinates are used to characterize the dimensional features of the billet in the measurement image. Finally, the dimensional information of the billet is determined based on the image coordinates and the intrinsic and extrinsic coefficients of the industrial camera. In this way, by introducing image recognition technology into the billet size detection solution, the detection accuracy of the length and width dimensions of the billet is further improved.

[0088] The following describes an embodiment of the apparatus of the present application, which can be used to implement the method for measuring the size of the ingot before the heating furnace described in the above-mentioned embodiment of the present application. For details not disclosed in the embodiment of the apparatus of the present application, please refer to the embodiment of the method for measuring the size of the ingot before the heating furnace described in the above-mentioned embodiment of the present application.

[0089] Figure 8 This is a block diagram of a device for measuring the size of a casting in front of a heating furnace according to an embodiment of the present application;

[0090] Reference Figure 8 As shown, according to an embodiment of the present application, a device 800 for measuring the size of a casting in front of a heating furnace includes a vehicle comprising a camera device and a magnetic induction device, and the device 800 includes: a first acquisition unit 801, a second acquisition unit 802, an extraction unit 803 and a determination unit 804.

[0091] Among them, the first acquisition unit 801 is used to obtain the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera; the second acquisition unit 802 is used to obtain the measurement image captured by the industrial camera, and the measurement image includes the ingot image and the laser image falling on the ingot; the extraction unit 803 is used to extract the image coordinates of the ingot image and the laser image in the measurement image from the measurement image through an image processing algorithm, and the image coordinates are used to characterize the length characteristics and width characteristics of the ingot in the measurement image; the determination unit 804 is used to determine the size information of the ingot based on the image coordinates and the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera.

[0092] As another aspect, the present application further provides a computer-readable storage medium storing a program product capable of implementing the method for measuring the dimensions of a cast slab before a heating furnace as described above. In some possible implementations, various aspects of the present application may also be implemented in the form of a program product comprising program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps described in the "Exemplary Methods" section above according to various exemplary embodiments of the present application.

[0093] refer to Figure 9 As shown, a program product 900 for implementing the above method according to an embodiment of the present application is described. The program product 900 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0094] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0095] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0096] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0097] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and conventional procedural programming languages such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0098] As another aspect, the present application also provides an electronic device capable of implementing the above method.

[0099] Those skilled in the art will appreciate that various aspects of the present application can be implemented as systems, methods, or program products. Therefore, various aspects of the present application can be specifically implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation that combines hardware and software aspects, which may be collectively referred to herein as a "circuit," "module," or "system."

[0100] Refer to the following Figure 10 1000 according to this embodiment of the present application will be described. Figure 10 The electronic device 1000 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0101] like Figure 10As shown, electronic device 1000 is implemented as a general-purpose computing device. Components of electronic device 1000 may include, but are not limited to, the aforementioned at least one processing unit 1010, the aforementioned at least one storage unit 1020, and a bus 1030 connecting various system components (including storage unit 1020 and processing unit 1010).

[0102] The storage unit stores program code, which can be executed by the processing unit 1010, so that the processing unit 1010 executes the steps described in the above "Example Method" section of this specification according to various exemplary embodiments of the present application.

[0103] The storage unit 1020 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 1021 and / or a cache memory unit 1022 , and may further include a read-only memory unit (ROM) 1023 .

[0104] The storage unit 1020 may also include a program / utility 1024 having a set (at least one) of program modules 1025, such program modules 1025 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0105] Bus 1030 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0106] The electronic device 1000 can also communicate with one or more external devices 1200 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 1000, and / or any device that enables the electronic device 1000 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 1050. Furthermore, the electronic device 1000 can also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 1060. As shown, the network adapter 1060 communicates with other modules of the electronic device 1000 via a bus 1030. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 1000, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0107] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0108] Furthermore, the above-mentioned figures are merely illustrative of the processes included in the methods according to exemplary embodiments of the present application and are not intended to be limiting. It is readily understood that the processes illustrated in the above-mentioned figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0109] It should be understood that the present application is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be performed without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for measuring the size of a casting in front of a heating furnace, characterized in that: A roller conveyor for conveying the ingot is provided in front of the heating furnace, and a linear laser and an industrial camera are installed above the roller conveyor. The linear laser is used to emit laser light perpendicular to the direction of the roller conveyor, and the industrial camera is used to collect measurement images. The method includes: Obtaining the intrinsic and extrinsic coefficients of the industrial camera; Acquiring a measurement image captured by the industrial camera, wherein the measurement image includes an image of the ingot and an image of a laser falling on the ingot; Extracting the image coordinates of the slab image and the laser image in the measurement image from the measurement image by an image processing algorithm, wherein the image coordinates are used to characterize the dimensional features of the slab in the measurement image; Determining the size information of the ingot according to the image coordinates and the intrinsic and extrinsic coefficients of the industrial camera; There are two linear lasers and at least two industrial cameras, wherein the two linear lasers are distributedly installed along the roller table, and at least two industrial cameras are distributedly installed along the roller table, and their field of view can cover the entire length of the ingot; The obtaining of the measurement image captured by the industrial camera includes: When it is detected that the cast billet is transferred to the cold inspection position in front of the heating furnace, at least two frames of candidate measurement images are captured simultaneously by at least two industrial cameras; Selecting two frames of measurement images including a slab image and a laser image falling on the slab from the at least two frames of candidate measurement images; The extracting the image coordinates of the ingot image and the laser image in the measurement image by using an image processing algorithm includes: Determining regions of interest in two frames of measurement images respectively, wherein the regions of interest include edge lines of the ingot image and laser lines of the laser image; The coordinates of the reference point of the edge line and the reference point of the laser line in the measurement image are extracted by an image processing algorithm as the image coordinates.

2. The method according to claim 1, characterized in that The obtaining of the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera includes: The industrial camera is calibrated using the Zhang Zhengyou calibration algorithm to determine the intrinsic and extrinsic coefficients of the industrial camera.

3. The method according to claim 1, characterized in that The image processing algorithm at least includes an image grayscale processing algorithm, an edge detection algorithm, and a line detection and extraction algorithm.

4. The method according to claim 1, wherein Determining the size information of the ingot according to the image coordinates and the intrinsic and extrinsic coefficients of the industrial camera includes: Based on the intrinsic and extrinsic coefficients of the industrial camera, the image coordinates are converted using the Zhang Zhengyou calibration algorithm to obtain the physical coordinates of the reference point of the edge line of the ingot and the reference point of the laser line on the ingot in the world coordinate system. The physical coordinates are used to characterize the dimensional characteristics of the ingot in the world coordinate system. The size information of the ingot is determined according to the physical coordinates.

5. The method according to claim 4, characterized in that Determining the size information of the ingot according to the physical coordinates includes: Obtain the distance between two laser lines falling on the ingot; The size information of the casting billet is determined according to the physical coordinates and the distance between the two laser lines.

6. The method according to claim 5, characterized in that The size information of the ingot includes the length size information of the ingot, the width size information of the head of the ingot, and the width size information of the tail of the ingot.

7. A device for measuring the size of a casting in front of a heating furnace, characterized in that: A roller conveyor for conveying the ingot is provided in front of the heating furnace. A linear laser and an industrial camera are installed above the roller conveyor. The linear laser is used to emit laser light perpendicular to the direction of the roller conveyor. The industrial camera is used to collect measurement images. The device includes: A first acquisition unit is used to acquire the intrinsic parameter coefficients and extrinsic parameter coefficients of the industrial camera; a second acquisition unit, configured to acquire a measurement image captured by the industrial camera, wherein the measurement image includes an image of the ingot and an image of a laser beam falling on the ingot; an extraction unit, configured to extract the image coordinates of the slab image and the laser image in the measurement image from the measurement image by using an image processing algorithm, wherein the image coordinates are used to represent the length and width features of the slab in the measurement image; There are two linear lasers and at least two industrial cameras, wherein the two linear lasers are distributedly installed along the roller table, and at least two industrial cameras are distributedly installed along the roller table, and their field of view can cover the entire length of the ingot; The obtaining of the measurement image captured by the industrial camera includes: When it is detected that the cast billet is transferred to the cold inspection position in front of the heating furnace, at least two frames of candidate measurement images are captured simultaneously by at least two industrial cameras; Selecting two frames of measurement images including a slab image and a laser image falling on the slab from the at least two frames of candidate measurement images; The extracting the image coordinates of the ingot image and the laser image in the measurement image by using an image processing algorithm includes: Determining regions of interest in two frames of measurement images respectively, wherein the regions of interest include edge lines of the ingot image and laser lines of the laser image; extracting the coordinates of the reference point of the edge line and the reference point of the laser line in the measurement image as the image coordinates through an image processing algorithm; The determination unit is used to determine the size information of the ingot according to the image coordinates and the internal parameter coefficients and external parameter coefficients of the industrial camera.

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