A method and system for tracking and automatically controlling the angle of rotation of a steel

Abstract

The application discloses a kind of steel rotation angle tracking and automatic control method and system, the method includes: in front and back of rolling mill respectively install infrared camera, shoot the steel roller area before and after rolling mill, real-time acquisition two steel roller area image;After receiving the steel throwing signal of rolling mill, the image of steel roller area collected is handled using the preset visual detection model, and the center point position coordinates and deflection angle of billet are output;When the position of billet in the rolling direction and the center position distance of steel roller area are less than preset value, control billet to stop, start to start steel rotation operation;The rotation control of billet is carried out relying on the output of visual detection model, when the actual rotation angle of billet reaches preset range, end steel rotation operation, carry out side guide plate clamping operation, complete the whole steel rotation process.The application is realized more conveniently, maintenance cost is low, can quantize data, get rid of the problems of big manual operation error, high sensitivity, can better realize rolling line automatic steel rotation control.

Description

Technical Field

[0001] This invention relates to the field of machine vision inspection technology, and in particular to a method and system for tracking and automatically controlling the angle of steel rotation. Background Technology

[0002] In the steel plate production process, the billet undergoes multiple rolling processes at the roughing mill, including a steel-turning operation where the length and width of the billet are reversed during rolling. Currently, this process relies heavily on manual operation, requiring direct observation of the billet as it moves onto the turning rollers and manual control of the roller speed to complete the turning process. This introduces significant uncontrollability and demands a high level of operator skill, thus limiting the automation of the production process.

[0003] Existing methods utilize vision to monitor the steel-turning angle, thereby controlling the roller speed to complete the steel-turning process. However, these methods do not delve into the specific rotation angle tracking process, especially during the billet length-width reversal process. Without a timeline, it is impossible to effectively determine the angle identified by the image. Furthermore, these methods only mention using the deflection angle to control the steel-turning rate, without addressing the use of the billet's position for speed control, which can easily lead to the billet running off the steel-turning rollers. Summary of the Invention

[0004] This invention provides a method and system for tracking and automatically controlling the turning angle of steel billets, in order to solve the technical problems of existing technology in the process of changing the length and width of steel billets, where the angle identified by the image cannot be effectively determined without a time sequence, and the existing technology is very likely to cause the steel billet to run out of the turning roller table.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] On the one hand, the present invention provides a method for tracking and automatically controlling the steel turning angle, including:

[0007] Infrared cameras are installed before and after the rolling mill. The installed infrared cameras are used to capture images of the steel transfer roller table area before and after the rolling mill, and the images of the two steel transfer roller table areas before and after the rolling mill are collected in real time.

[0008] After receiving the steel throwing signal from the rolling mill, the image of the steel turning roller area captured by the infrared camera is processed using a preset visual detection model, and the center point coordinates and deflection angle of the steel billet are output.

[0009] When the distance between the billet's position in the rolling direction and the center position of the steel transfer roller area is less than a preset value, the billet is controlled to stop and the steel transfer operation is started. In the steel transfer operation, the rotation of the billet is controlled by the center point position coordinates and deflection angle output by the visual detection model. When the actual rotation angle of the billet reaches the preset range, the steel transfer operation ends and the side guide plate clamping operation is performed to complete the entire steel transfer process.

[0010] Furthermore, the field of view of the infrared camera is greater than the length of the steel transfer roller section in the billet rolling direction and greater than the width of the steel transfer roller section in the direction perpendicular to the rolling. When capturing images of the steel transfer roller section, the rolling direction is kept parallel to the image width direction, and the center position coordinates of the steel transfer roller section are marked in the image.

[0011] Furthermore, the input and output expressions of the visual detection model are as follows:

[0012] [θ,(x c ,y c )]=F(X)

[0013] Where θ is the angle of the steel billet detected in the image relative to the rolling direction, and x c Let y be the coordinates of the center position of the billet in the image along the rolling direction. c Let F be the coordinates of the center position of the billet in the image perpendicular to the rolling direction, F be the visual inspection model, and X be the image of the steel transfer roller area captured by the infrared camera.

[0014] Furthermore, the deflection angle is the acute angle formed by the long or short side of the billet and the rolling direction of the roller table.

[0015] Furthermore, the deflection angle ranges from [0°, 90°].

[0016] Furthermore, the rotation control of the billet is based on the center point coordinates and deflection angle output by the visual detection model, including: employing different angle tracking strategies for clockwise and counterclockwise rotation during the billet rotation process; wherein,

[0017] During the counterclockwise rotation, the billet deflection angle α0 = 0° is initialized when the billet begins to rotate, and the initial flag mark = 0 is set. The formula for calculating the actual billet rotation angle is as follows:

[0018]

[0019]

[0020] Where, α i α represents the billet deflection angle output by the visual detection model at time i. i∈[0°,90°); θ i The value of the angle that the actual billet rotates relative to its original state at time i represents the value of the angle value that the billet has rotated at time i, and its range is (-90°, 180°);

[0021] During clockwise rotation, the billet deflection angle α0 = 0° is initialized when the billet begins to rotate, and the initial flag mark = 0 is set. The formula for calculating the actual billet rotation angle is as follows:

[0022]

[0023]

[0024] Where, α i α represents the billet deflection angle output by the visual detection model at time i. i ∈(-90°,0°];θ i The value represents the angle that the actual billet rotated relative to its original state at time i, and its range is (-180°, 90°).

[0025] Furthermore, the rotation control of the billet is based on the center point coordinates and deflection angle output by the visual inspection model. This includes controlling the rotation speed of the billet conveyor using the billet deflection angle and the billet's position coordinates perpendicular to the rolling direction, as output by the visual inspection model. The rotation speeds ω1 of the forward-moving rollers and ω2 of the reverse-moving rollers are calculated using the following formula:

[0026]

[0027] Where θ is the angle through which the actual steel billet has rotated relative to its original state, and y c Let y be the coordinates of the center position of the billet in the image perpendicular to the rolling direction. c ′ represents the coordinates of the center position of the steel transfer roller conveyor region marked in the image, perpendicular to the rolling direction, and G is any control function.

[0028] On the other hand, the present invention also provides a steel rotation angle tracking and automatic control system, comprising: a computing server and multiple infrared cameras; wherein,

[0029] The multiple infrared cameras are installed at the front and rear of the rolling mill to capture images of the steel transfer roller table areas at the front and rear of the rolling mill, and to collect images of the two steel transfer roller table areas at the front and rear of the rolling mill in real time and transmit them to the computing server.

[0030] The computing server is used for:

[0031] After receiving the steel throwing signal from the rolling mill, the image of the steel turning roller area captured by the infrared camera is processed using a preset visual detection model, and the center point coordinates and deflection angle of the steel billet are output.

[0032] When the distance between the billet's position in the rolling direction and the center position of the steel transfer roller area is less than a preset value, the billet is controlled to stop and the steel transfer operation is started. In the steel transfer operation, the rotation of the billet is controlled by the center point position coordinates and deflection angle output by the visual detection model. When the actual rotation angle of the billet reaches the preset range, the steel transfer operation ends and the side guide plate clamping operation is performed to complete the entire steel transfer process.

[0033] The beneficial effects of the technical solution provided by this invention include at least the following:

[0034] This invention uses visual inspection technology to determine the position and state of the steel billet, track the turning angle, and achieve automatic turning control accordingly, which has strong practical significance. This invention provides a method for tracking the actual turning angle, with a wider detectable range and higher fault tolerance. Furthermore, this invention proposes a scheme that uses the steel billet position and deflection angle to jointly control the roller conveyor speed, which can reduce the risk of the steel billet being thrown off the turning rollers when its configuration deviates from the roller conveyor center, enabling more stable turning control. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is an execution flowchart of the steel turning angle tracking and automatic control method provided in the embodiments of the present invention;

[0037] Figure 2 This is a diagram showing the equipment before and after the rolling mill provided in an embodiment of the present invention;

[0038] Figure 3 This is a definition diagram of the billet deflection angle in the image provided in the embodiment of the present invention;

[0039] Figure 4 This is a diagram of the input-output structure of the visual detection model provided in this embodiment of the invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0041] First Embodiment

[0042] This embodiment provides a method for tracking and automatically controlling the billet's turning angle. This method detects the billet's state using machine vision, tracks the turning angle, and then controls the operation of the turning roller conveyor and side guide plates to complete the entire turning process. Specifically, the execution flow of this method is as follows: Figure 1 As shown, it includes the following steps:

[0043] S1. Infrared cameras are installed before and after the rolling mill to capture images of the steel transfer roller table area before and after the rolling mill. The images of the two steel transfer roller table areas before and after the rolling mill are collected in real time and sent to the computing server for processing.

[0044] It should be noted that, for example Figure 2 As shown, the infrared camera's field of view must be greater than the length of the transfer roller section in the billet rolling direction and greater than the width of the transfer roller section in the direction perpendicular to rolling. When capturing images of the transfer roller section, the rolling direction must be parallel to the image width direction. Simultaneously, the center coordinates (x, y) of the transfer roller section area must be marked in the image. c ′,y c ′), for later reference.

[0045] S2, after receiving the rolling mill throwing signal sent by the automated first-level system, uses a preset visual detection model to process the collected images of the steel transfer roller area and outputs the coordinates of the billet center point and the deflection angle.

[0046] The input and output of the visual detection model are as follows: Figure 3 As shown, its expression is:

[0047] [θ,(x c ,y c )]=F(X)

[0048] Where θ is the angle of the steel billet detected in the image relative to the rolling direction, and x c Let y be the coordinates of the center position of the billet in the image along the rolling direction. c Let F be the coordinates of the center position of the billet in the image perpendicular to the rolling direction, F be the visual inspection model, and X be the image of the steel transfer roller area captured by the infrared camera.

[0049] Furthermore, it should be noted that in this embodiment, as... Figure 4 As shown, the deflection angle of the billet is defined as the acute angle between the long or short side of the billet and the rolling direction of the roller table, with an angle range of [0°, 90°].

[0050] S3, when the distance between the position of the billet in the rolling direction and the center position of the steel transfer roller area is less than the preset value, a signal is sent to the first-level automation system to control the billet to stop and start the steel transfer operation;

[0051] S4, in the steel-turning operation, relies on the center point coordinates and deflection angle of the billet output by the visual detection model to control the rotation of the billet. When the actual rotation angle of the billet reaches the preset range, the steel-turning operation ends, and the side guide plate clamping operation is performed to complete the entire steel-turning process.

[0052] It should be noted that in this embodiment, different angle tracking strategies are used for clockwise and counterclockwise rotation of the billet during the rotation process; wherein,

[0053] During the counterclockwise rotation, the billet deflection angle α0 = 0° is initialized when the billet begins to rotate, and the initial flag mark = 0 is set, defining the visual detection angle range α. i ∈[0°,90°), the actual detectable billet rotation angle θ i The range is (-90°, 180°), and the actual billet rotation angle θ i The calculation formula is as follows:

[0054]

[0055]

[0056] Where, α i α represents the billet deflection angle output by the visual detection model at time i. i ∈[0°,90°); θ i The value of the angle that the actual billet rotates relative to its original state at time i represents the value of the angle value that the billet has rotated at time i, and its range is (-90°, 180°);

[0057] During clockwise rotation, the billet deflection angle α0 = 0° is initialized when the billet begins to rotate, and the initial flag mark = 0 is set, defining the visual detection angle range α. i ∈(-90°,0°], the actual detectable billet rotation angle θ i The range is (-180°, 90°), and the actual billet rotation angle θ i The calculation formula is as follows:

[0058]

[0059]

[0060] Where, α i α represents the billet deflection angle output by the visual detection model at time i. i ∈(-90°,0°];θ i The value represents the angle that the actual billet rotated relative to its original state at time i, and its range is (-180°, 90°).

[0061] Furthermore, the rotation control of the billet is based on the center point coordinates and deflection angle output by the visual inspection model. Specifically, the rotation speed of the billet conveyor is controlled by the billet deflection angle and the billet's position coordinates perpendicular to the rolling direction, both output by the visual inspection model. The rotation speeds ω1 of the forward-moving rollers and ω2 of the reverse-moving rollers are calculated using the following formulas:

[0062]

[0063] Where θ is the angle through which the actual steel billet has rotated relative to its original state, and y c Let y be the coordinates of the center position of the billet in the image perpendicular to the rolling direction. c ′ represents the coordinates of the center position of the steel transfer roller conveyor region marked in the image, perpendicular to the rolling direction, and G is any control function.

[0064] In summary, this embodiment provides a method for tracking and automatically controlling the steel billet rotation angle. This method employs visual detection to acquire the billet state in the rotation area. By processing images captured by a camera in real time, it uses a visual detection model to obtain the billet's center position and tracking deflection angle information. These factors work together to control the start and stop of the roller conveyor and the rotation speed of the rotation roller conveyor, thereby achieving automatic steel rotation operation. Simultaneously, it establishes a mapping relationship between the visually detected angle and the actual rotation angle, increasing the detection range of the rotation angle and improving the robustness of angle detection. Furthermore, this method is relatively easy to implement, has low maintenance costs, provides quantifiable data, and overcomes the problems of large errors and high sensitivity associated with manual operation, thus effectively achieving automatic steel rotation control on the rolling line.

[0065] Second Embodiment

[0066] This embodiment provides a steel turning angle tracking and automatic control system, which includes: a computing server and multiple infrared cameras; wherein...

[0067] The multiple infrared cameras are installed at the front and rear of the rolling mill to capture images of the steel transfer roller table areas at the front and rear of the rolling mill, and to collect images of the two steel transfer roller table areas at the front and rear of the rolling mill in real time and transmit them to the computing server.

[0068] The computing server is used for:

[0069] After receiving the steel throwing signal from the rolling mill, the image of the steel turning roller area captured by the infrared camera is processed using a preset visual detection model, and the center point coordinates and deflection angle of the steel billet are output.

[0070] When the distance between the billet's position in the rolling direction and the center position of the steel transfer roller area is less than a preset value, the billet is controlled to stop and the steel transfer operation is started. In the steel transfer operation, the rotation of the billet is controlled by the center point position coordinates and deflection angle output by the visual detection model. When the actual rotation angle of the billet reaches the preset range, the steel transfer operation ends and the side guide plate clamping operation is performed to complete the entire steel transfer process.

[0071] The steel turning angle tracking and automatic control system of this embodiment corresponds to the steel turning angle tracking and automatic control method of the first embodiment described above; wherein, the functions implemented by each functional module in the steel turning angle tracking and automatic control system of this embodiment correspond one-to-one with the process steps in the steel turning angle tracking and automatic control method of the first embodiment described above; therefore, it will not be described again here.

[0072] Furthermore, it should be noted that the present invention can be provided as a method, apparatus, or computer program product. Therefore, embodiments of the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0073] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of 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, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0074] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] It should also be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0076] Finally, it should be noted that the above description represents a preferred embodiment of the present invention. It should be pointed out that although preferred embodiments have been described, those skilled in the art, once they understand the basic inventive concept of the present invention, can make various improvements and modifications without departing from the principles described herein. These improvements and modifications should also be considered within the scope of protection of the present invention. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

Claims

1. A method for tracking and automatically controlling the angle of steel rotation, characterized in that, include: Infrared cameras are installed before and after the rolling mill. The installed infrared cameras are used to capture images of the steel transfer roller table area before and after the rolling mill, and the images of the two steel transfer roller table areas before and after the rolling mill are collected in real time. After receiving the steel throwing signal from the rolling mill, the image of the steel turning roller area captured by the infrared camera is processed using a preset visual detection model, and the center point coordinates and deflection angle of the steel billet are output. When the distance between the billet's position in the rolling direction and the center position of the steel transfer roller area is less than a preset value, the billet is controlled to stop and the steel transfer operation is started. In the steel transfer operation, the rotation of the billet is controlled by the center point position coordinates and deflection angle of the billet output by the vision detection model. When the actual rotation angle of the billet reaches the preset range, the steel transfer operation ends and the side guide plate clamping operation is performed to complete the entire steel transfer process. The rotation control of the billet relies on the center point coordinates and deflection angle output by the visual inspection model. This includes controlling the rotation speed of the billet conveyor using the billet deflection angle and the billet's position coordinates perpendicular to the rolling direction, both output by the visual inspection model. Specifically, the rotation speed of the forward-moving rollers in the conveyor system... and the speed of the reverse motion rollers The calculation is performed using the following formula: ； in, This represents the angle the actual steel billet has rotated relative to its original state. These are the coordinates of the center position of the billet in the image, perpendicular to the rolling direction. G represents the coordinates of the center position of the rolling mill area marked in the image, perpendicular to the rolling direction, and G is any control function.

2. The steel turning angle tracking and automatic control method as described in claim 1, characterized in that, The infrared camera's field of view is greater than the length of the steel transfer roller section in the billet rolling direction and greater than the width of the steel transfer roller section in the direction perpendicular to rolling. When capturing images of the steel transfer roller section, the rolling direction is kept parallel to the image width direction, and the center coordinates of the steel transfer roller section are marked in the image.

3. The steel turning angle tracking and automatic control method as described in claim 1, characterized in that, The input and output expressions of the visual detection model are as follows: ； in, The angle of the steel billet relative to the rolling direction detected in the image. These are the coordinates of the center position of the steel billet in the image along the rolling direction. Let F be the coordinates of the center position of the billet in the image perpendicular to the rolling direction, F be the visual inspection model, and X be the image of the steel transfer roller area captured by the infrared camera.

4. The steel turning angle tracking and automatic control method as described in claim 1, characterized in that, The deflection angle is the acute angle formed by the long or short side of the billet and the rolling direction of the roller table.

5. The steel turning angle tracking and automatic control method as described in claim 4, characterized in that, The range of the deflection angle is: .

6. The steel turning angle tracking and automatic control method as described in claim 1, characterized in that, The rotation control of the billet relies on the center point coordinates and deflection angle output by the visual detection model. This includes employing different angle tracking strategies for clockwise and counterclockwise rotation during the billet rotation process. During the counterclockwise rotation, the billet deflection angle is initialized when the billet begins to rotate. and set the initial flag. The formula for calculating the actual billet rotation angle is as follows: ； ； in, This represents the billet deflection angle output by the visual detection model at time i. ; This represents the angle that the actual steel billet rotated relative to its original state at time i, and its range is... ; During clockwise rotation, the billet deflection angle is initialized when the billet begins to rotate. and set the initial flag. The formula for calculating the actual billet rotation angle is as follows: ； ； in, This represents the billet deflection angle output by the visual detection model at time i. ; This represents the angle that the actual steel billet rotated relative to its original state at time i, and its range is... .

7. A steel turning angle tracking and automatic control system, characterized in that, include: The computing server and multiple infrared cameras; among them, The multiple infrared cameras are installed at the front and rear of the rolling mill to capture images of the steel transfer roller table areas at the front and rear of the rolling mill, and to collect images of the two steel transfer roller table areas at the front and rear of the rolling mill in real time and transmit them to the computing server. The computing server is used for: After receiving the steel throwing signal from the rolling mill, the image of the steel turning roller area captured by the infrared camera is processed using a preset visual detection model, and the center point coordinates and deflection angle of the steel billet are output. When the distance between the billet's position in the rolling direction and the center position of the steel transfer roller area is less than a preset value, the billet is controlled to stop and the steel transfer operation is started. In the steel transfer operation, the rotation of the billet is controlled by the center point position coordinates and deflection angle of the billet output by the vision detection model. When the actual rotation angle of the billet reaches the preset range, the steel transfer operation ends and the side guide plate clamping operation is performed to complete the entire steel transfer process. The rotation control of the billet relies on the center point coordinates and deflection angle output by the visual inspection model. This includes controlling the rotation speed of the billet conveyor using the billet deflection angle and the billet's position coordinates perpendicular to the rolling direction, both output by the visual inspection model. Specifically, the rotation speed of the forward-moving rollers in the conveyor system... and the speed of the reverse motion rollers The calculation is performed using the following formula: ； in, This represents the angle the actual steel billet has rotated relative to its original state. These are the coordinates of the center position of the billet in the image, perpendicular to the rolling direction. G represents the coordinates of the center position of the rolling mill area marked in the image, perpendicular to the rolling direction, and G is any control function.

Images