Raw material blank inclination detection method, device, equipment and readable storage medium

Abstract

The present application is a kind of raw blank inclination detection method, device, equipment and readable storage medium, the raw blank inclination detection method includes the following steps: collecting the point cloud information of the two end portions of raw blank;Build physical coordinate system, so that the lifting direction of raw blank and the first coordinate axis of physical coordinate system are in the same direction;According to the point cloud information, find the coordinates corresponding to the two end portions of raw blank in the physical coordinate system;Compare the coordinate values of the two end portions of raw blank in the lifting direction of raw blank;If the difference between the coordinate values of the two end portions of raw blank in the lifting direction of raw blank is greater than or equal to the first preset threshold, the raw blank is inclined.The present application solves the technical problem that the inclination of the raw blank cannot be effectively detected during lifting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rod wire production, and in particular to a raw material blank inclination detection method, device, equipment and readable storage medium. BACKGROUND

[0002] At present, in the rod wire production process, the raw material blank (the raw material blank of the rod wire is usually a square blank, the cross-sectional side length is about 20 cm, and the length is about 10 meters) just casted by continuous casting needs to be transported upward by a section of chain elevator from the bottom to the furnace roller to perform subsequent production operations. During the lifting process of the raw material blank, due to equipment problems, the height of the two ends of the raw material blank may be inconsistent, resulting in an inclination and dropping accident, and thus causing damage to the equipment.

[0003] At present, the rod wire production line is mostly manually inspected by an operator through monitoring video to determine whether the raw material blank is inclined during the lifting process. This method has the following disadvantages:

[0004] Firstly, the operator's work intensity is very high, which not only consumes manpower, but also has a large error;

[0005] Secondly, the precision and accuracy of manual inspection are low;

[0006] Thirdly, it is impossible to realize automatic closed-loop control, and the production efficiency is low;

[0007] Fourthly, it does not meet the current goal of reducing labor and increasing efficiency.

[0008] In view of the problem that the inclination of the raw material blank cannot be effectively detected during the lifting process in the related art, no effective solution has been given at present.

[0009] Therefore, the present application is proposed by the present inventor on the basis of years of experience and practice in the relevant industry to overcome the defects of the prior art. SUMMARY

[0010] The present application aims to provide a raw material blank inclination detection method, device, equipment and readable storage medium, which adopts the method of establishing a coordinate system and point cloud data processing to automatically and accurately detect whether the raw material blank is inclined during the lifting process. When the inclination of the raw material blank is detected, the detection result can be fed back in time to improve the accuracy and efficiency of detection and provide a technical means for realizing unmanned automatic production.

[0011] The object of the present application can be achieved by the following technical solutions:

[0012] The application provides a raw material blank inclination detection method for detecting the inclination of a raw material blank during lifting of the raw material blank, comprising the following steps:

[0013] Collecting point cloud information of both ends of the raw material blank;

[0014] Building a physical coordinate system so that the lifting direction of the raw material blank is the same as the direction of the first coordinate axis of the physical coordinate system;

[0015] Finding the coordinates of both ends of the raw material blank in the physical coordinate system according to the point cloud information;

[0016] Comparing the coordinate values of both ends of the raw material blank in the lifting direction of the raw material blank;

[0017] If the difference between the coordinate values of both ends of the raw material blank in the lifting direction of the raw material blank is greater than or equal to a first preset threshold, the raw material blank is inclined.

[0018] In a preferred embodiment of the application, the collecting of the point cloud information of both ends of the raw material blank comprises:

[0019] Arranging information collection points above the hoist and on both sides of the hoist respectively;

[0020] Building a detection coordinate system with the information collection points as the origin so that the direction of the first coordinate axis of the detection coordinate system is the same as the lifting direction of the raw material blank;

[0021] Collecting the point cloud information of both ends of the raw material blank through the information collection points respectively;

[0022] Finding the coordinates of both ends of the raw material blank in the detection coordinate system.

[0023] In a preferred embodiment of the application, the information collection points can always collect the point cloud information of both ends of the raw material blank during lifting of the raw material blank.

[0024] In a preferred embodiment of the application, the direction of the second coordinate axis of the detection coordinate system is perpendicular to the lifting plane of the raw material blank.

[0025] In a preferred embodiment of the application, the first coordinate axis of the physical coordinate system is located in the lifting plane of the raw material blank and the direction of the first coordinate axis of the physical coordinate system is the same as the lifting direction of the raw material blank; and the direction of the second coordinate axis of the physical coordinate system is perpendicular to the lifting plane of the raw material blank.

[0026] In a preferred embodiment of the application, the building of the physical coordinate system comprises:

[0027] mapping the detection coordinate system with the physical coordinate system;

[0028] projecting the coordinates of the two end portions of the raw material blank in the detection coordinate system in the physical coordinate system;

[0029] finding the coordinates corresponding to the two end portions of the raw material blank in the physical coordinate system, and forming a first coordinate set.

[0030] In a preferred embodiment of the present application, the finding of the coordinates corresponding to the two end portions of the raw material blank in the physical coordinate system comprises:

[0031] traversing the first coordinate set in the physical coordinate system to obtain coordinates in the first coordinate set corresponding to the coordinate value of the second coordinate axis of the physical coordinate system greater than a second preset threshold value, and forming a second coordinate set;

[0032] obtaining the intermediate coordinates of the second coordinate set, which is the current lifting position of the raw material blank.

[0033] The present application provides a raw material blank inclination detection device for detecting the inclination of the raw material blank during the lifting of the raw material blank, comprising:

[0034] an information acquisition unit for acquiring point cloud information of the two end portions of the raw material blank;

[0035] a building unit for building a physical coordinate system so that the lifting direction of the raw material blank is the same as the first coordinate axis of the physical coordinate system;

[0036] a position determination unit for finding the coordinates corresponding to the two end portions of the raw material blank in the physical coordinate system according to the point cloud information;

[0037] a comparison unit for comparing the coordinate values of the two end portions of the raw material blank in the lifting direction of the raw material blank;

[0038] a judgment unit for determining that the raw material blank is inclined if the difference between the coordinate values of the two end portions of the raw material blank in the lifting direction of the raw material blank is greater than or equal to a first preset threshold value.

[0039] In a preferred embodiment of the present application, the information acquisition unit comprises:

[0040] a point arrangement module for arranging information acquisition points above the hoist and on both sides of the hoist respectively;

[0041] a building module for building a detection coordinate system with the information acquisition points as the origin, so that the direction of the first coordinate axis of the detection coordinate system is the same as the lifting direction of the raw material blank;

[0042] An information collection module is configured to collect point cloud information of the two end portions of the raw material blank through the information collection points.

[0043] A first position determination module is configured to find the coordinates of the two end portions of the raw material blank in the detection coordinate system.

[0044] In a preferred embodiment of the present application, the unit includes:

[0045] A coordinate system mapping module is configured to map the detection coordinate system and the physical coordinate system.

[0046] A coordinate projection module is configured to project the coordinates of the two end portions of the raw material blank in the detection coordinate system in the physical coordinate system.

[0047] A second position determination module is configured to find the coordinates corresponding to the two end portions of the raw material blank in the physical coordinate system and form a first coordinate set.

[0048] In a preferred embodiment of the present application, the position determination unit includes:

[0049] A first processing module is configured to traverse the first coordinate set in the physical coordinate system, obtain the coordinates corresponding to the second coordinate axis of the physical coordinate system in the first coordinate set and greater than a second preset threshold value, and form a second coordinate set.

[0050] A second processing module is configured to obtain the intermediate coordinates of the second coordinate set, which is the current lifting position of the raw material blank.

[0051] In a preferred embodiment of the present application, the collection point arrangement module is at least two line laser scanning devices, which are arranged above the elevator and located on both sides of the elevator, respectively. During the lifting of the raw material blank, the line laser scanning devices can always collect the point cloud information of the two end portions of the raw material blank.

[0052] The present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to realize the above-mentioned raw material blank inclination detection method.

[0053] The present application provides a computer readable storage medium, which stores a computer program for executing the above-mentioned raw material blank inclination detection method.

[0054] The raw material blank inclination detection method, device, equipment and readable storage medium have the following characteristics and advantages: in the raw material blank lifting process, the positions of the two end portions of the raw material blank in the lifting process can be obtained through the collection of point cloud data and the establishment of a coordinate system, the coordinate values of the two end portions of the raw material blank in the lifting direction of the raw material blank are compared, the inclination condition of the raw material blank can be obtained according to the difference after comparison, and the detection result is uploaded for the staff to process in time. The above method can form a closed-loop control of the raw material blank inclination detection, which can effectively improve the detection accuracy and production efficiency, greatly reduce the labor intensity of the operator, and provide a technical means for realizing the automatic lifting of the raw material blank. BRIEF DESCRIPTION OF DRAWINGS

[0055] The following drawings are only intended to illustrate and explain the present application and do not limit the scope of the present application.

[0056] Among them:

[0057] Figure 1 It is one of the flowcharts of the raw material blank inclination detection method of the present application.

[0058] Figure 2 It is the second flowchart of the raw material blank inclination detection method of the present application.

[0059] Figure 3 It is one of the setting position diagrams of the information collection points in the raw material blank inclination detection method of the present application.

[0060] Figure 4 It is the second setting position diagram of the information collection points in the raw material blank inclination detection method of the present application.

[0061] Figure 5 It is the orientation diagram of the detection coordinate system and the physical coordinate system in the raw material blank inclination detection method of the present application.

[0062] Figure 6 It is the third flowchart of the raw material blank inclination detection method of the present application.

[0063] Figure 7 It is the fourth flowchart of the raw material blank inclination detection method of the present application.

[0064] Figure 8 It is the control principle diagram of the raw material blank inclination detection method of the present application.

[0065] Figure 9 It is one of the structure block diagrams of the raw material blank inclination detection device of the present application.

[0066] Figure 10 It is the second structure block diagram of the raw material blank inclination detection device of the present application.

[0067] Figure 11 : Structure block diagram three of raw material blank inclination detection device of the present application.

[0068] Figure 12 : Structure block diagram four of raw material blank inclination detection device of the present application.

[0069] The reference signs in the present application are as follows:

[0070] 1, raw material blank; 2, elevator;

[0071] 3, line laser scanning device; 4, laser line;

[0072] 5, calibration plate; 6, switch;

[0073] 7, server; 8, controller;

[0074] 10, information acquisition unit; 1001, acquisition point layout module;

[0075] 1002, establishment module; 1003, information acquisition module;

[0076] 1004, first position determination module; 20, building unit;

[0077] 2001, coordinate system mapping module; 2002, coordinate projection module;

[0078] 2003, second position determination module; 30, position determination unit;

[0079] 3001, first processing module; 3002, second processing module;

[0080] 40, comparison unit; 50, judgment unit. DETAILED DESCRIPTION

[0081] In order to have a clearer understanding of the technical features, objects and effects of the present application, the specific embodiments of the present application will be described with reference to the accompanying drawings.

[0082] Embodiment one

[0083] As shown in the drawings, the present application provides a raw material blank inclination detection method for detecting the inclination of the raw material blank 1 during the lifting process of the raw material blank 1, which comprises the following steps: Figure 1 Step S1: acquiring point cloud information of both ends of the raw material blank 1;

[0084] In an optional embodiment of the present application, as shown in the drawings, step S1 comprises:

[0085] Figure 2

[0086] ​​Step S101: Information acquisition points are arranged above the hoist 2 and on both sides of the hoist 2 respectively;

[0087] Specifically, the information acquisition points can be, but are not limited to, line laser scanning devices 3. Two line laser scanning devices 3 are respectively fixedly arranged above the hoist 2 and on both sides of the hoist 2. The line laser scanning devices 3 project a laser line 4 on the measured object (i.e. the two end portions of the raw material blank 1) and can return all points on the laser line 4.

[0088] Further, the arrangement position of the line laser scanning device 3 needs to meet the following condition: during the lifting of the raw material blank 1, the line laser scanning device 3 can always acquire the point cloud information of the two end portions of the raw material blank 1, so as to ensure that the inclination of the raw material blank 1 can be detected during the whole lifting process of the raw material blank 1.

[0089] Further, the hoist 2 is a chain hoist.

[0090] Step S102: A detection coordinate system (three-dimensional coordinate system (x, y, z)) is established with the information acquisition points as the origin, so that the direction of the first coordinate axis of the detection coordinate system is the same as the lifting direction of the raw material blank 1;

[0091] Further, the direction of the second coordinate axis of the detection coordinate system is perpendicular to the lifting plane of the raw material blank 1 (i.e. the plane through which the raw material blank 1 passes during the lifting process), so as to facilitate the calculation. The direction of the second coordinate axis of the detection coordinate system and the lifting plane of the raw material blank 1 can also allow a certain error, and the error range is less than 10°.

[0092] Specifically, as shown in Figure 3 、 Figure 4 The detection coordinate system takes the position of the line laser scanning device 3 as the origin. The X-axis (i.e. the first coordinate axis of the detection coordinate system) of the detection coordinate system is the same as the lifting direction of the raw material blank 1. The Z-axis (i.e. the second coordinate axis of the detection coordinate system) of the detection coordinate system is perpendicular to the lifting plane of the raw material blank 1 and faces downward of the line laser scanning device 3. The Y-axis of the detection coordinate system is perpendicular to the first coordinate axis and the second coordinate axis of the detection coordinate system respectively.

[0093] Step S103: The point cloud information of the two end portions of the raw material blank 1 is respectively acquired by the information acquisition points. The acquired point cloud information respectively corresponds to the coordinate points in the detection coordinate system.

[0094] Step S104: The coordinates of the two end portions of the raw material blank 1 are found in the detection coordinate system.

[0095] Step S2: A physical coordinate system (three-dimensional coordinate system (x', y', z')) is built, so that the lifting direction of the raw material blank 1 is the same as the first coordinate axis of the physical coordinate system;

[0096] Further, the first coordinate axis of the physical coordinate system is located in the lifting plane of the raw material blank 1 and the direction of the first coordinate axis of the physical coordinate system is the same as the lifting direction of the raw material blank 1; the second coordinate axis of the physical coordinate system is perpendicular to the lifting plane of the raw material blank 1.

[0097] In an optional embodiment of the present application, as shown in Figure 5 , Figure 6 Step S2 comprises:

[0098] Step S201: mapping the detection coordinate system and the physical coordinate system;

[0099] Specifically, for the construction of the physical coordinate system and the mapping of the detection coordinate system and the physical coordinate system, as shown in Figure 4 , Figure 5 a rectangular calibration plate 5 is arranged at a position close to the lifting plane of the elevator 2, the length of the calibration plate 5 is equal to the movement distance of the raw material blank 1 on the elevator 2, and at the same time, it is ensured that the laser scanning device 3 can be completely projected on the calibration plate 5. The X' axis of the physical coordinate system (i.e. the first coordinate axis of the physical coordinate system) is the same as the lifting direction of the raw material blank 1, the Z' axis of the physical coordinate system (i.e. the second coordinate axis of the physical coordinate system) is perpendicular to the lifting plane of the raw material blank 1 and opposite to the direction of the Z axis of the detection coordinate system, and the Y' axis of the physical coordinate system is perpendicular to the first coordinate axis and the second coordinate axis of the physical coordinate system, respectively. In the present method, the Y axis of the detection coordinate system and the Y' axis of the physical coordinate system have no effect on the detection result, so the detection result of the Y axis of the detection coordinate system and the Y' axis of the physical coordinate system can be ignored, thereby helping to simplify the detection process.

[0100] Step S202: projecting the coordinates of the two ends of the raw material blank 1 in the detection coordinate system in the physical coordinate system;

[0101] Specifically, as shown in Figure 4 , the coordinate point (x1, 0, z1) in the detection coordinate system corresponds to the bottom position of the elevator 2 in the physical coordinate system (i.e. the origin (0, 0, 0) in the physical coordinate system); the coordinate point (x2, 0, z2) in the detection coordinate system corresponds to the top position of the elevator 2 in the physical coordinate system (i.e. the point (L, 0, 0) in the physical coordinate system, wherein L is the measured length of the elevator 2 in the movement direction).

[0102] Step S203: finding the coordinates corresponding to the two ends of the raw material blank 1 in the physical coordinate system and forming a first coordinate set.

[0103] Further, the coordinates of the detection coordinate system can be projected in the physical coordinate system by the following formula, and the first coordinate set P of the two ends of the raw material blank 1 in the physical coordinate system can be obtained.

[0104]

[0105] Y' = Y (2)

[0106]

[0107] Wherein, the formula (1) is the calculation formula of the coordinate value of the coordinate point on the X axis of the detection coordinate system projected on the corresponding X' axis in the physical coordinate system; the formula (2) is the calculation formula of the coordinate value of the coordinate point on the Y axis of the detection coordinate system projected on the corresponding Y' axis in the physical coordinate system; the formula (3) is the calculation formula of the coordinate value of the coordinate point on the Z axis of the detection coordinate system projected on the corresponding Z' axis in the physical coordinate system; L is the measured length of the elevator 2 in the movement direction (i.e. the distance of the raw material blank 1 movement); h is the distance between the line laser scanning device and the calibration plate.

[0108] From the above, after projecting the coordinates of the detection coordinate system on the physical coordinate system, the Z' axis direction data of the physical coordinate system can be used to determine whether there is a raw material blank 1 in the current detection range; when measuring the calibration plate 5, the Z' axis coordinates of all coordinate points in the physical coordinate system are 0; if there is a raw material blank 1 in the detection range, the Z' axis coordinates of the coordinate points in the range of the raw material blank 1 in the physical coordinate system will increase (much larger than the possible error value); the data in the X' axis direction of the physical coordinate system can be used to determine the movement position of the raw material blank 1.

[0109] Further, since the positions of the two ends of the raw material blank 1 need to be detected respectively, the calibration plate 5 can be arranged on both sides of the elevator 2 respectively, or the calibration plate 5 extends to the entire movement plane of the elevator 2, so that the coordinates in the detection coordinate system established by the two line laser scanning devices 3 can be projected respectively.

[0110] Step S3: according to the point cloud information, find the coordinates corresponding to the two ends of the raw material blank 1 in the physical coordinate system;

[0111] In an optional embodiment of the present application, as shown in Figure 7 , step S3 includes:

[0112] Step S301: traverse the first coordinate set in the physical coordinate system, obtain the coordinates in the first coordinate set whose coordinate values corresponding to the second coordinate axis of the physical coordinate system are greater than the second preset threshold value, and form a second coordinate set;

[0113] Specifically, all coordinate points in the first coordinate set P in the physical coordinate system are traversed, a segment of point cloud data of the coordinate points in the physical coordinate system whose Z' axis coordinate obviously increases is found, and the set of the segment of point cloud data is the second coordinate set. It can be considered that the position corresponding to the segment of point cloud data (i.e. the position corresponding to the coordinate points in the second coordinate set) is the area where the raw material blank 1 is located.

[0114] Step S302: obtaining the middle value of the X' axis direction coordinate in the second coordinate set is the lifting position of the current raw material blank 1.

[0115] The specific algorithm of step S3 is as follows: an empty queue Q is established, all coordinate points in the first coordinate set P are traversed along the X' axis direction, the Z' axis coordinate of each coordinate point is obtained, when the Z' axis coordinate value is greater than sigma (sigma can be selected according to the cross-sectional size of the raw material blank 1, and can be 10 cm), it can be considered that the coordinate point is the position of the raw material blank 1, and the coordinate point is added to the queue Q; when the Z' axis coordinate is less than 0.5 sigma, it is considered that the coordinate point is not the position of the raw material blank 1, at this time, the X' axis coordinates of all coordinate points in the queue Q are obtained, and the middle value d is obtained, then d is the current motion position of the raw material blank 1.

[0116] Step S4: comparing the coordinate values of the two ends of the raw material blank 1 in the lifting direction of the raw material blank 1.

[0117] Step S5: if the difference between the coordinate values of the two ends of the raw material blank 1 in the lifting direction of the raw material blank 1 is greater than or equal to the first preset threshold, the raw material blank 1 is tilted.

[0118] Specifically, the data of the two ends of the raw material blank 1 obtained by the algorithm in step S3 are used to obtain the positions d1 and d2 of the two ends of the raw material blank 1. When |d1-d2|<θ (θ is the first preset threshold, and θ can be selected according to the actual situation on site, and can be 10 cm), it can be judged that the raw material blank 1 is not tilted; when |d1-d2|≧θ, it can be judged that the raw material blank 1 is tilted.

[0119] In an optional embodiment of the present application, as shown in Figure 8 The two line laser scanning devices 3 are connected with the server 7 and the controller 8 through the switch 6 respectively, the two line laser scanning devices 3 respectively transmit the collected data to the server 7, the server 7 judges whether the raw material blank 1 is tilted by using the above method, if the raw material blank 1 is tilted, the server 7 generates an alarm signal and transmits the alarm signal to the controller 8, and the controller 8 completes the subsequent processing. The controller 8 can be but is not limited to a PLC controller.

[0120] The characteristics and advantages of the raw material blank tilting detection method of the present application are that

[0121] The raw material blank inclination detection method can obtain the positions of the two end portions of the raw material blank 1 in the lifting process through the collection of point cloud data and the establishment of the detection coordinate system and the physical coordinate system, compare the coordinate values of the two end portions of the raw material blank 1 in the lifting direction of the raw material blank 1, and obtain the inclination condition of the raw material blank 1 according to the difference after comparison. The detection result is uploaded to allow the staff to process in time. The above method can form closed-loop control of the inclination detection of the raw material blank 1 in the lifting process, which can effectively improve the detection accuracy and production efficiency, greatly reduce the labor intensity of the operator, and provide a technical means for realizing automatic lifting of the raw material blank.

[0122] Embodiment two

[0123] As shown in Figure 9 The present application provides a raw material blank inclination detection device for detecting the inclination condition of a raw material blank 1 during the lifting of the raw material blank 1. The raw material blank inclination detection device comprises an information collection unit 10, a building unit 20, a position determination unit 30, a comparison unit 40 and a judgment unit 50, wherein:

[0124] The information collection unit 10 is used to collect point cloud information of the two end portions of the raw material blank 1.

[0125] The building unit 20 is used to build a physical coordinate system so that the lifting direction of the raw material blank 1 is the same as the first coordinate axis of the physical coordinate system.

[0126] The position determination unit 30 is used to find the coordinates of the two end portions of the raw material blank 1 in the physical coordinate system according to the point cloud information.

[0127] The comparison unit 40 is used to compare the coordinate values of the two end portions of the raw material blank 1 in the lifting direction of the raw material blank 1.

[0128] The judgment unit 50 is used to determine that the raw material blank 1 is inclined if the difference between the coordinate values of the two end portions of the raw material blank 1 in the lifting direction of the raw material blank 1 is greater than or equal to a first preset threshold value.

[0129] In an optional embodiment of the present application, as shown in Figure 10 The information collection unit 10 comprises a collection point layout module 1001, an establishment module 1002, an information collection module 1003 and a first position determination module 1004, wherein:

[0130] The collection point layout module 1001 is used to arrange information collection points above the hoist 2 and on both sides of the hoist 2.

[0131] Specifically, the information collection point can be but is not limited to a line laser scanning device 3, two line laser scanning devices 3 are respectively fixedly arranged above the hoist 2 and at two sides of the hoist 2, the line laser scanning device 3 projects a laser line 4 on the measured object (i.e. two end portions of the raw material blank 1), and can return all points on the laser line 4.

[0132] The establishing module 1002 is configured to establish a detection coordinate system with the information collection point as a starting point, so that a direction of a first coordinate axis of the detection coordinate system is the same as a lifting direction of the raw material blank 1.

[0133] Further, a direction of a second coordinate axis of the detection coordinate system is perpendicular to a lifting plane (i.e. a plane passed through in the lifting process of the raw material blank 1) of the raw material blank 1, so as to facilitate simplifying calculation.

[0134] The information collection module 1003 is configured to collect point cloud information of the two end portions of the raw material blank 1 through the information collection point.

[0135] The first position determining module 1004 is configured to find coordinates of the two end portions of the raw material blank 1 in the detection coordinate system.

[0136] In an optional embodiment of the present application, as shown in Figure 11 The building unit 20 includes a coordinate system mapping module 2001, a coordinate projection module 2002 and a second position determining module 2003, wherein:

[0137] The coordinate system mapping module 2001 is configured to map the detection coordinate system and the physical coordinate system in relation;

[0138] The coordinate projection module 2002 is configured to project the coordinates of the two end portions of the raw material blank 1 in the detection coordinate system in the physical coordinate system;

[0139] The second position determining module 2003 is configured to find coordinates corresponding to the two end portions of the raw material blank 1 in the physical coordinate system, and form a first coordinate set.

[0140] In an optional embodiment of the present application, as shown in Figure 12 The position determining unit 30 includes a first processing module 3001 and a second processing module 3002, wherein:

[0141] The first processing module 3001 is configured to traverse the first coordinate set in the physical coordinate system, obtain a coordinate in the first coordinate set corresponding to a coordinate value of a second coordinate axis of the physical coordinate system greater than a second preset threshold value, and form a second coordinate set;

[0142] The second processing module 3002 is configured to obtain a middle coordinate of the second coordinate set, which is a lifting position of the current raw material blank.

[0143] In an optional embodiment of the present invention, such as Figure 3 As shown, the data acquisition point deployment module consists of at least two line laser scanning devices. The two line laser scanning devices are positioned above the elevator and on both sides of the elevator. During the lifting process of the raw material billet, the line laser scanning devices can always acquire point cloud information from both ends of the raw material billet.

[0144] The features and advantages of the raw material billet tilt detection device of the present invention are as follows:

[0145] During the lifting process of raw material billet 1, it is necessary to detect whether it has tilted. However, due to the lack of effective detection methods, closed-loop control cannot be formed, and currently, this is mostly done through manual visual inspection. To address this problem, this invention, through the acquisition of point cloud data and the establishment of detection coordinate systems and physical coordinate systems, can obtain the positions of the two ends of raw material billet 1 during the lifting process. By comparing the coordinate values ​​of the two ends of raw material billet 1 in the lifting direction, the tilt status of raw material billet 1 can be determined based on the difference between the comparison values. This effectively improves the accuracy and efficiency of detection, providing a technical means for realizing unmanned automated production.

[0146] Implementation Method 3

[0147] The present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described method for detecting the tilt of raw billets.

[0148] Specifically, the computer device can be a computer terminal, a server, or a similar computing device.

[0149] Implementation Method 4

[0150] The present invention provides a computer-readable storage medium storing a computer program that performs the above-described method for detecting the tilt of raw billets.

[0151] In particular, computer readable storage media tangibly embody the processing medium data used in execution by the machine, including transitory memory. The computer readable storage medium includes permanent and non-permanent, moveable and non-moveable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the information in a form accessible by a computing device. According to the definition provided herein, computer readable storage media excludes transitory computer readable media, such as modulated data signals and carrier waves.

[0152] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, apparatus, or computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0153] The present application is described in reference to the flowchart illustrations and / or block diagrams according to the embodiments of the application. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowchart illustrations and / or block diagrams.

[0154] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowchart illustrations and / or block diagrams.

[0155] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable data processing devices to generate computer-implemented processes, thus the instructions executed on the computer or other programmable data processing devices provide processes for implementing the functions specified in the flowcharts Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0156] The above description is only illustrative and is not intended to limit the scope of the present application. Any variations and modifications made by any person skilled in the art without departing from the spirit and principles of the present application shall fall within the scope of the present application.

Claims

1. A method for detecting the tilt of a raw billet, characterized in that, It is used to detect the tilting of the raw billet during the billet lifting process. The billet tilting detection method includes the following steps: Collect point cloud information from both ends of the raw material billet; It includes: Information collection points are arranged above the elevator and on both sides of the elevator; wherein, during the lifting process of the raw material billet, the information collection points can always collect point cloud information of both ends of the raw material billet; A detection coordinate system is established with the information collection point as the origin, so that the direction of the first coordinate axis of the detection coordinate system is in the same direction as the lifting direction of the raw material billet; Point cloud information of both ends of the raw material billet is collected through the information collection points; Find the coordinates of both ends of the raw material billet in the detection coordinate system; Establish a physical coordinate system so that the lifting direction of the raw material billet is in the same direction as the first coordinate axis of the physical coordinate system; Based on the point cloud information, find the coordinates corresponding to both ends of the raw material billet in the physical coordinate system; Compare the coordinate values ​​of the two ends of the raw material billet in the lifting direction of the raw material billet; If the difference between the coordinate values ​​of the two ends of the raw material billet in the lifting direction of the raw material billet is greater than or equal to a first preset threshold, then the raw material billet tilts.

2. The method for detecting the tilt of raw billet as described in claim 1, characterized in that, The direction of the second coordinate axis of the detection coordinate system is perpendicular to the lifting plane of the raw material billet.

3. The method for detecting the tilt of raw billet as described in claim 2, characterized in that, The first coordinate axis of the physical coordinate system is located within the lifting plane of the raw material billet, and the direction of the first coordinate axis of the physical coordinate system is in the same direction as the lifting direction of the raw material billet; the direction of the second coordinate axis of the physical coordinate system is perpendicular to the lifting plane of the raw material billet.

4. The method for detecting the tilt of raw billet as described in claim 3, characterized in that, The establishment of the physical coordinate system includes: Map the relationship between the detection coordinate system and the physical coordinate system; Project the coordinates of both ends of the raw material billet in the detection coordinate system onto the physical coordinate system; Find the coordinates corresponding to both ends of the raw material billet in the physical coordinate system and form a first coordinate set.

5. The method for detecting the tilt of raw billet as described in claim 4, characterized in that, Finding the coordinates corresponding to both ends of the raw material billet in the physical coordinate system includes: Traverse the first coordinate set in the physical coordinate system to obtain the coordinates in the first coordinate set whose coordinate values ​​corresponding to the second coordinate axis of the physical coordinate system are greater than a second preset threshold, and form a second coordinate set; Obtain the middle coordinate of the second coordinate set, which is the current lifting position of the raw material billet.

6. A raw material billet tilt detection device, characterized in that, The method for detecting the tilt of a raw billet, as described in any one of claims 1 to 5, is used to detect the tilt of the raw billet during the billet lifting process. The raw billet tilt detection device includes: The information acquisition unit is used to acquire point cloud information from both ends of the raw material billet; A construction unit is used to construct a physical coordinate system so that the lifting direction of the raw material billet is in the same direction as the first coordinate axis of the physical coordinate system; The position determination unit is used to find the coordinates of the two ends of the raw material billet in the physical coordinate system based on the point cloud information. A comparison unit is used to compare the coordinate values ​​of the two ends of the raw material billet in the lifting direction of the raw material billet; The judgment unit is used to determine if the difference between the coordinate values ​​of the two ends of the raw material blank in the lifting direction of the raw material blank is greater than or equal to a first preset threshold, in which case the raw material blank tilts.

7. The raw material billet tilt detection device as described in claim 6, characterized in that, The information acquisition unit includes: The data collection point deployment module is used to arrange data collection points above the hoist and on both sides of the hoist. A module is established to create a detection coordinate system with the information collection point as the origin, so that the direction of the first coordinate axis of the detection coordinate system is in the same direction as the lifting direction of the raw material billet; The information acquisition module is used to acquire point cloud information of both ends of the raw material billet through the information acquisition points; The first position determination module is used to find the coordinates of both ends of the raw material billet in the detection coordinate system.

8. The raw material billet tilt detection device as described in claim 6, characterized in that, The assembly unit includes: A coordinate system mapping module is used to map the detection coordinate system to the physical coordinate system. A coordinate projection module is used to project the coordinates of both ends of the raw material billet in the detection coordinate system onto the physical coordinate system; The second position determination module is used to find the coordinates corresponding to both ends of the raw material billet in the physical coordinate system and form a first coordinate set.

9. The raw material billet tilt detection device as described in claim 6, characterized in that, The location determination unit includes: The first processing module is used to traverse the first coordinate set in the physical coordinate system, obtain the coordinates in the first coordinate set whose coordinate values ​​corresponding to the second coordinate axis of the physical coordinate system are greater than a second preset threshold, and form a second coordinate set; The second processing module is used to obtain the middle coordinate of the second coordinate set, which is the current lifting position of the raw material billet.

10. The raw material billet tilt detection device as described in claim 7, characterized in that, The data acquisition point deployment module consists of at least two line laser scanning devices, which are positioned above the elevator and on both sides of the elevator. During the lifting process of the raw material billet, the line laser scanning devices can always acquire point cloud information from both ends of the raw material billet.

11. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the raw material billet tilt detection method according to any one of claims 1 to 5.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that performs the billet tilt detection method according to any one of claims 1 to 5.

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