System and method for full automatic scanning and positioning of continuous casting cold bed square billets

Abstract

The application provides a kind of full-automatic scanning positioning continuous casting cooling bed square billet system, including regular material, cooling bed control system, shape identification system and unmanned full-automatic crane;The cooling bed control system is respectively connected with shape identification system and unmanned full-automatic crane communication;The shape identification system is connected with unmanned full-automatic crane communication;The cooling bed control system includes step collection cooling bed device, and square billet is conveyed to cooling bed by roller way through step collection cooling bed device, and is stored on cooling bed by step conveying.This application can achieve the requirement of full-automatic crane hoisting when full-automatic unmanned crane is used to hoist high-temperature square billet on cooling bed, and can improve the degree of automation by high-precision positioning of high-temperature square billet on cooling bed;Full-automatic accurate positioning and identification of material on step collection cooling bed can improve the identification accuracy of material position on cooling bed, meet the accuracy requirement of full-automatic crane automatic hoisting, and improve the automation and intelligent level of production line.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control, in particular to a system and method for full-automatic scanning and positioning of a continuous casting cold bed square billet, and more particularly to a system and method for full-automatic scanning and positioning of a high-temperature square billet of a continuous casting cold bed. BACKGROUND

[0002] With the increasing degree of automation of steel crane industrial control, and the proposal of concepts such as industrial 4.0, smart manufacturing, and "Made in China", the level of steel crane smart manufacturing and intelligent manufacturing is gradually improving, and full-automatic unmanned overhead cranes have begun to be applied to full-automatic hoisting of continuous casting square billets. When an unmanned full-automatic overhead crane is used for automatic hoisting, it is necessary to accurately position the position of the high-temperature square billet on the cold bed and identify the accurate coordinate position of the high-temperature square billet to provide position data for full-automatic hoisting of the overhead crane. However, the traditional cold bed square billet positioning uses sensors or a method of calculating the actual coordinate position of the square billet according to the step distance of the cold bed step beam and the size of the square billet, which has a large deviation and cannot meet the requirements of full-automatic crane automatic hoisting.

[0003] A large square billet continuous casting machine step cold bed offline collecting device is disclosed in the patent document with publication number CN210937046U, which includes a plurality of parallel fixed tooth plates and a movable tooth plate arranged between the fixed tooth plates, and a connecting rod driving mechanism for driving the movable tooth plate. A plurality of parallel rollers are arranged between the two adjacent fixed tooth plates, the rollers are rotatably connected to the roller shaft through bearings, and the two ends of the roller shaft are fixed to the fixed tooth plates. The upper surface of the roller is higher than the upper surface of the fixed tooth plate.

[0004] During hoisting by an unmanned full-automatic overhead crane, the positioning accuracy of the position of the high-temperature square billet on the cold bed is required to be high, and the traditional sensor positioning and calculation positioning cannot meet the requirements of full-automatic hoisting, affecting the continuous operation and safe operation of the full-automatic crane, and it is difficult to achieve the requirements of full-automatic hoisting of the cold bed high-temperature square billet. Therefore, a technical solution is needed to improve the above technical problems. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a system and method for full-automatic scanning and positioning of a continuous casting cold bed square billet.

[0006] The application provides a full-automatic scanning and positioning system for a square billet on a continuous casting cooling bed, which comprises regular materials, a cooling bed control system, a shape recognition system and an unmanned full-automatic crane; the cooling bed control system is in communication connection with the shape recognition system and the unmanned full-automatic crane; the shape recognition system is in communication connection with the unmanned full-automatic crane; and the cooling bed control system comprises a step collecting cooling bed device, which is used for collecting the square billet conveyed to the cooling bed through a roller way, step conveying the square billet to the cooling bed for storage, and stopping at the step beam original position after the current movement of the step collecting cooling bed is completed.

[0007] Preferably, the regular materials comprise a single square billet, a plurality of square billets in combination or a wire bar; and the regular materials are lifted by a clamp hoist or an electromagnetic material tool.

[0008] Preferably, the cooling bed control system is provided with a step collecting cooling bed and a control system at the outlet end of a square billet production line continuous casting machine and the outlet end of a wire bar rolling mill; the square billet produced is sent to the step collecting cooling bed after passing through a conveying roller way, and is lifted into a warehouse or a vehicle by a crane.

[0009] Preferably, the step collecting cooling bed control system is in communication with the unmanned full-automatic crane control system; the step collecting cooling bed is locked and kept in a static state when the step collecting cooling bed is at the original position; information is sent to trigger a laser scanner to perform scanning; the shape of the square billet is scanned in real time; the square billet is scanned and positioned; and the position of the square billet is recognized.

[0010] Preferably, the shape recognition system comprises two sets of two-dimensional laser scanners and a high-precision moving mechanism or one set of two-dimensional laser scanner and a high-precision moving mechanism.

[0011] Preferably, the two sets of two-dimensional laser scanners and the moving mechanism are used for three-dimensional scanning function; the laser scanners are installed on both sides of the step collecting cooling bed and at the center position of the square billet section height; the step collecting cooling bed is locked when the step collecting cooling bed is at the original position; the moving mechanism moves and scans along the square billet section transversely; the square billet on the cooling bed is scanned; the four-point coordinates of each group of square billets are calculated by combining image processing technology, filtering and data analysis technology according to the fixed installation position of the scanner; the three-dimensional coordinates of each group of square billets are calculated; and the center point coordinates of the full-automatic crane lifting of each group of square billets are calculated.

[0012] Preferably, the configuration 1 set of two-dimensional laser scanner is adopted and equipped with a moving mechanism, the two-dimensional laser scanner and the moving mechanism are installed on the crown block, the scanner scans in real time with the movement of the crown block or the trolley, or the crown block is stationary, and the moving mechanism drives the scanner to scan; combined with the position coordinates of the trolley, image processing technology, comprehensive filtering, data clustering analysis are adopted, the scanning of the car part is carried out, the four-point coordinates of the bloom are calculated, and the center point coordinate of the full-automatic crane hoisting of each group of blooms is obtained through calculation.

[0013] Preferably, the laser scanner is installed on both sides of the step collecting cooling bed, the installation height is equal to the height of the cross section center of the bloom above the cooling bed, the laser scanner is triggered to scan the bloom cross section, and the bloom of all specifications is scanned at one time, the laser is irradiated to the surface of the measured object and returns to form data points in the scanning plane.

[0014] Preferably, the unmanned full-automatic crown block automatically hoists the single bloom or double blooms on the step collecting cooling bed into the warehouse or the train.

[0015] The application also provides a method for full-automatic scanning and positioning of a bloom on a continuous casting cooling bed, the method uses the full-automatic scanning and positioning system for the bloom on the continuous casting cooling bed, and the method comprises the following steps.

[0016] Step S1: The bloom conveyed to the cooling bed by the roller way is step conveyed to the cooling bed for storage, and the step collecting cooling bed device is stopped at the original position of the step beam after the current movement of the step collecting cooling bed is completed.

[0017] Step S2: The crown block control system sends a step collecting cooling bed locking signal, after receiving the feedback signal of the cooling bed control system, the shape recognition device is triggered to scan, the four-point coordinates of each group of blooms are obtained by the shape recognition system, and the hoisting coordinate point of each group of blooms is calculated.

[0018] Step S3: The step collecting cooling bed moves once, and the position of the bloom needs to be scanned and recognized again, and the latest bloom position coordinates after movement are recognized.

[0019] Step S4: The hoisting center point coordinate value of the bloom is calculated according to the coordinate points scanned for each group of blooms.

[0020] Compared with the prior art, the application has the following beneficial effects:

[0021] 1. When the full-automatic unmanned crown block is used to automatically hoist the high-temperature bloom on the cooling bed, high-precision positioning of the high-temperature bloom on the cooling bed can meet the requirements of full-automatic crane hoisting and improve the degree of automation.

[0022] 2、The present application is full-automatic accurate positioning and identification of materials on the step collecting cold bed, improves the identification accuracy of material position on the cold bed, meets the accuracy requirement of full-automatic crane automatic lifting, and improves the automation and intelligent level of production line. BRIEF DESCRIPTION OF DRAWINGS

[0023] Other features, objects, and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments thereof, read in conjunction with the accompanying drawings:

[0024] Figure 1 It is a schematic diagram of the identification system of the present application mode 1;

[0025] Figure 2 It is a schematic diagram of the identification system of the present application mode 2;

[0026] Figure 3 It is a schematic diagram of the scanning point data of the present application;

[0027] Figure 4 It is a schematic diagram of the scanning image of the present application;

[0028] Figure 5 It is a schematic diagram of the scanning calculation of the present application; DETAILED DESCRIPTION

[0029] The present application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0030] Referring to Figure 1 and Figure 2 The present application provides a kind of system and method for full-automatic scanning positioning continuous casting cold bed square billet, including high temperature regular material, cold bed control system, shape identification system and unmanned full-automatic crane.

[0031] High temperature regular material includes single square billet, multiple square billet combination, wire rod and the like, is lifted by using clamp hanger or is lifted by using electromagnetic hanger.

[0032] The cold bed control system is provided with a step collecting cold bed and its control system at the outlet end of the bloom production line continuous casting machine and the outlet end of the wire rod rolling mill. The output bloom is sent to the step collecting cold bed through the conveying roller way, and is hoisted into the warehouse or the car by the crane at the step collecting cold bed. The step collecting cold bed control system communicates with the unmanned automatic crane control system. When the step collecting cold bed is in the original position, the step collecting cold bed is locked to keep it in a static state, and then information is sent to trigger the laser scanner to scan in real time. The shape of the bloom is scanned, the bloom is positioned, and the position of the bloom is identified.

[0033] The shape identification system adopts two modes:

[0034] 1. Two sets of two-dimensional laser scanners are configured and equipped with high-precision moving mechanisms to realize three-dimensional scanning function. The laser scanners are installed on both sides of the step collecting cold bed at the height of the center of the bloom cross section. When the step collecting cold bed is in the original position, the step collecting cold bed is locked, and the moving mechanism moves transversely along the bloom cross section to scan, so as to realize accurate scanning of the bloom on the cold bed. According to the fixed installation position of the scanner, combined with image processing technology, filter and data analysis technology are comprehensively used to calculate the 4-point coordinates of each group of blooms, and the three-dimensional coordinates of each group of blooms are calculated to obtain the center point coordinates of the automatic crane hoisting of each group of blooms.

[0035] 2. One set of two-dimensional laser scanner is configured and equipped with high-precision moving mechanism. The scanner and the moving mechanism are installed on the crane. The scanner scans in real time with the movement of the crane car or trolley, or the crane is stationary, and the moving mechanism drives the scanner to scan. Combined with the position coordinates of the car and trolley, image processing technology, filter and data clustering analysis are comprehensively used to realize accurate scanning of the car part, calculate the 4-point coordinates of the bloom, and calculate the center point coordinates of the automatic crane hoisting of each group of blooms.

[0036] The laser scanner is installed on both sides of the step collecting cold bed at the height of the center of the smallest bloom cross section on the cold bed. The laser scanner scans the bloom cross section. All sizes of blooms can be scanned at one time. The laser irradiates the surface of the measured object and returns, so as to form equidistant lines in the scanning plane. The X and Y plane is intercepted, and the data points in the scanning plane during the rotation of the scanner are intercepted in the equidistant line in the specified range. The straight line intercepted from the scanning plane is an equidistant straight line. All straight lines are traversed, and a plurality of equidistant planes are combined according to the adjacent connection characteristics of the straight lines. Each plane is a plurality of data blocks.

[0037] In the process of target recognition and extraction based on laser scanning, point cloud data is segmented into different curved surface data subsets by data blocking, and these data subsets imply different curved surface types and design parameters.Feature extraction is to extract the curved surface types and design parameters implied in the data subsets.The extracted features mainly include quadric surface features.The quadric surface feature extraction process includes quadric surface data processing, feature curve fitting and feature constraint solving.The quadric surface data processing is mainly aimed at calculating the X and Y values of the square blank center point, and the boundary points of the projection data block are extracted.The feature curve fitting is mainly to intercept the data block in different equidistant lines to fit the barycentric point in the straight line, and the feature constraint solving is mainly to calculate the coordinates of the square blank center point to obtain the real-time position coordinate data of the scanned square blank.

[0038] The unmanned full-automatic overhead crane automatically hoists and transports single or double square blanks on the step collecting cold bed into the warehouse or the train for operation.The unmanned full-automatic overhead crane needs to be provided with a large car and a small car position detection device, and a height position detection device of a clamp or a lifting tool.The large car and the small car position detection device is generally provided with a laser ranging detection device or a Gray bus position detection device, and the height of the clamp or the lifting tool is generally detected by a rotary absolute value encoder detection device.

[0039] The present application provides a kind of full-automatic scanning positioning continuous casting cold bed square billet method, comprising the following steps:

[0040] Step S1: the square billet conveyed to the cold bed by the step collecting cold bed device is transported to the cold bed by roller, and is stored on the cold bed, and when the current movement of the step collecting cold bed ends, it is stopped at the original position of the step beam.

[0041] Step S2: the crane control system sends a step collecting cold bed locking signal, and after receiving the feedback signal of the cold bed control system, triggers the shape recognition device to trigger scanning, and obtains the 4-point coordinates of each group of square billets by the shape recognition system, so as to calculate the crane hoisting coordinate point of each group of square billets.

[0042] Step S3: the step collecting cold bed moves once, and the position of the square billet needs to be scanned again to identify the latest square billet position coordinate after movement.

[0043] Step S4: the hoisting center point coordinate value of the square billet is calculated according to the coordinate points scanned by each group of square billets.

[0044] Step S4.1: according to the installation position of the laser scanner, the large and small car coordinate values of the crane during scanning are installed on the crane, or the coordinates in the library area are installed in the fixed position on the ground, and then the 4 coordinate points (X1, Y1 X2, Y2 X3, Y3 X4, Y4) of each group of square billets scanned are obtained.

[0045] Step S4.2: The first group of billets scans out the center point X10, Y10 coordinates:

[0046]

[0047] X10 is the average value of the X-axis coordinate values of the center points of the first group of billets detected by the laser scanner;

[0048] Y10 is the average value of the Y-axis coordinate values of the center points of the first group of billets detected by the laser scanner;

[0049] 1X1, 1X2, 1X3, 1X4 are the X-axis coordinate values of the four points of the first group of billets detected by the laser scanner;

[0050] 1Y1, 1Y2, 1Y3, 1Y4 are the Y-axis coordinate values of the four points of the first group of billets detected by the laser scanner.

[0051] Step S4.3: Assuming that the laser scanner is installed at a fixed coordinate value (X0, Y0), the actual position of the first group of billets is actually measured and recorded by the crown block, assuming X11, Y11, thereby measuring the deviation amount between the scanned billet coordinate value and the actually measured coordinate value, thereby obtaining Δx, Δy:

[0052] Δx1 = X11 - X10;

[0053] Δy1 = Y11 - Y10.

[0054] X11 is the actual measurement value of the X-axis of the actual position of the first group of billets;

[0055] X10 is the average value of the X-axis coordinate values of the center points of the first group of billets detected by the laser scanner;

[0056] Δx1 is the difference between the true value of the X-axis coordinate value of the center point of the first group of billets and the measurement value of the laser scanner;

[0057] Y11 is the actual measurement value of the Y-axis of the actual position of the first group of billets;

[0058] Y10 is the average value of the Y-axis coordinate values of the center points of the first group of billets detected by the laser scanner;

[0059] Δy1 is the difference between the true value of the Y-axis coordinate value of the center point of the first group of billets and the measurement value of the laser scanner.

[0060] Step S4.4: The second group of billets scans out the center point X20, Y20 coordinates:

[0061]

[0062] X20 is the average value of the X-axis coordinate values of the center points of the second group of billets detected by the laser scanner;

[0063] Y20 is the average value of the Y-axis coordinate values of the center points of the second group of billets detected by the laser scanner;

[0064] 2X1, 2X2, 2X3, 2X4 are the X-axis coordinate values of the four points of the second group of billets detected by the laser scanner;

[0065] 2Y1, 2Y2, 2Y3, 2Y4 are the Y-axis coordinate values of the four points of the second group of billets detected by the laser scanner.

[0066] Step S4.5: Record the actual measurement of the actual position of the second group of billets by the crown block, assuming X21, Y21, so as to measure the deviation between the scanned billet coordinate values and the actually measured coordinate values, and thus obtain Δx, Δy:

[0067] Δx2 = X21 - X20;

[0068] Δy2 = Y21 - Y20.

[0069] X21 is the actual measurement value of the X-axis of the actual position of the second group of billets;

[0070] X20 is the average value of the X-axis coordinate values of the center points of the second group of billets detected by the laser scanner;

[0071] Δx2 is the difference between the true value of the X-axis coordinate value of the center point of the second group of billets and the measurement value of the laser scanner;

[0072] Y21 is the actual measurement value of the Y-axis of the actual position of the second group of billets;

[0073] Y20 is the average value of the Y-axis coordinate values of the center points of the first group of billets detected by the laser scanner;

[0074] Δy2 is the difference between the true value of the Y-axis coordinate value of the center point of the first group of billets and the measurement value of the laser scanner.

[0075] Step S4.6: According to steps S4.1-S4.5, multiple groups can be tested to obtain the average value of the deviation, and the deviation Δx, Δy is calculated:

[0076]

[0077] n is the number of groups of measured billets;

[0078] Δx1Δx2…Δxn is the difference between the true value of the X-axis coordinate value of the center of each group of billets and the measurement value of the laser scanner;

[0079] Δy1, Δy2... Δyn are the differences between the real values and the measured values of the Y-axis coordinate values of the center of each group of billets;

[0080] Δx is the average of the differences between the real values and the measured values of the X-axis coordinate values of the center of the billets;

[0081] Δy is the average of the differences between the real values and the measured values of the Y-axis coordinate values of the center of the billets.

[0082] Step S4.7: configure the deviation amounts Δx, Δy into the shape recognition system, so as to calculate the final crane automatic hoisting point coordinates X, Y:

[0083] The first group of hoisting point coordinates (X1, Y1):

[0084] X1 = X10 + Δx, Y = Y10 + Δy;

[0085] X1 is the real coordinate value of the X-axis of the actual position of the first group of billets;

[0086] Y1 is the real coordinate value of the Y-axis of the actual position of the first group of billets;

[0087] X10 is the average of the X-axis coordinate values of the center of the first group of billets detected by the laser scanner;

[0088] Y10 is the average of the Y-axis coordinate values of the center of the first group of billets detected by the laser scanner;

[0089] Δx is the average of the differences between the real values and the measured values of the X-axis coordinate values of the center of the billets;

[0090] Δy is the average of the differences between the real values and the measured values of the Y-axis coordinate values of the center of the billets.

[0091] The second group of hoisting point coordinates (X2, Y2):

[0092] X2 = X20 + Δx, Y2 = Y20 + Δy;

[0093] X2 is the real coordinate value of the X-axis of the actual position of the second group of billets;

[0094] Y2 is the real coordinate value of the Y-axis of the actual position of the second group of billets;

[0095] X20 is the average of the X-axis coordinate values of the center of the second group of billets detected by the laser scanner;

[0096] Y20 is the average of the Y-axis coordinate values of the center of the second group of billets detected by the laser scanner;

[0097] Delta x is the average value of the difference between the real value and the laser scanner measured value of the X-axis coordinate value of the center point of the square billet;

[0098] Delta y is the average value of the difference between the real value and the laser scanner measured value of the Y-axis coordinate value of the center point of the square billet.

[0099] The n group of lifting point coordinates (Xn, Yn) is:

[0100] Xn = Xn0 + Delta x, Yn = Yn0 + Delta y;

[0101] Xn is the real coordinate value of the X-axis of the actual position of the n group of square billets;

[0102] Yn is the real coordinate value of the Y-axis of the actual position of the n group of square billets;

[0103] Xn0 is the average value of the X-axis coordinate value of the center point of the n group of square billets detected by the laser scanner;

[0104] Yn0 is the average value of the Y-axis coordinate value of the center point of the n group of square billets detected by the laser scanner;

[0105] Delta x is the average value of the difference between the real value and the laser scanner measured value of the X-axis coordinate value of the center point of the square billet;

[0106] Delta y is the average value of the difference between the real value and the laser scanner measured value of the Y-axis coordinate value of the center point of the square billet.

[0107] The present application adopts full-automatic unmanned trolley to hoist the high-temperature square billet on the cooling bed, and high-precision positioning is performed on the high-temperature square billet on the cooling bed, so that the requirements of full-automatic trolley hoisting can be met, and the automation degree is improved; the present application performs full-automatic accurate positioning and identification on the materials collected on the cooling bed, improves the identification accuracy of the material position on the cooling bed, meets the accuracy requirements of full-automatic trolley automatic hoisting, and improves the automation and intelligent level of the production line.

[0108] Those skilled in the art know that, in addition to implementing the system provided by the present application and each device, module and unit thereof in the form of pure computer readable program code, the same functions can also be achieved by logically programming the method steps to make the system provided by the present application and each device, module and unit thereof in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers. Therefore, the system provided by the present application and each device, module and unit thereof can be considered as a hardware component, and the devices, modules and units included therein for achieving various functions can also be considered as structures within the hardware component; the devices, modules and units for achieving various functions can also be considered as both software modules for implementing methods and structures within hardware components.

[0109] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other at will without conflict.

Claims

1. A fully automated scanning and positioning system for square billets in continuous casting cooling bed, characterized in that, It includes a regular material control system, a cooling bed control system, a shape recognition system, and an unmanned fully automated overhead crane; the cooling bed control system is communicatively connected to both the shape recognition system and the unmanned fully automated overhead crane; the shape recognition system is communicatively connected to the unmanned fully automated overhead crane. The cooling bed control system includes a step-collecting cooling bed, which conveys the billet in a step-by-step manner via roller conveyors. When the current movement of the step-collecting cooling bed ends, it stops at the original position of the step beam. The cooling bed control system is equipped with a walking collecting cooling bed and a walking collecting cooling bed control system at the outlet end of the billet production line continuous casting machine and the outlet end of the wire rod mill. The produced billets are sent to the walking collecting cooling bed after passing through the conveyor rollers, and are then hoisted into the warehouse or loaded onto a truck by an overhead crane on the walking collecting cooling bed. The stepping collecting cooling bed control system communicates with the unmanned fully automatic overhead crane control system. When the stepping collecting cooling bed is in its original position, it locks the stepping collecting cooling bed and keeps it stationary. It sends information to trigger the laser scanner to scan the shape of the billet in real time, scans and positions the billet, and identifies the position of the billet. The unmanned fully automated overhead crane will automatically hoist or transport single or double billets from the cooling bed into the warehouse or load them onto a train. The shape recognition system includes either a system equipped with two sets of two-dimensional laser scanners and a high-precision moving mechanism or a system equipped with one set of two-dimensional laser scanners and a high-precision moving mechanism. The system employs two sets of two-dimensional laser scanners equipped with a moving mechanism for three-dimensional scanning. The laser scanners are installed on both sides of the step-collecting cooling bed, at the center of the billet cross-section. When the step-collecting cooling bed is in its original position, it is locked, and the moving mechanism moves laterally along the billet cross-section to scan the billet on the cooling bed. Based on the fixed installation position of the scanners, combined with image processing technology, filtering and data analysis techniques are used to calculate the coordinates of four points for each group of billets. The three-dimensional coordinates of each group of billets are then calculated, and the coordinates of the center point for the overhead crane to lift each group of billets are also calculated.

2. The fully automated scanning and positioning system for continuous casting cooling bed billets according to claim 1, characterized in that, The regular materials include single square billets, combinations of multiple square billets, and wire rods; the regular materials are lifted using clamp lifting tools or electromagnetic lifting tools.

3. The fully automated scanning and positioning system for continuous casting cooling bed billets according to claim 1, characterized in that, The system employs a 2D laser scanner equipped with a moving mechanism. The 2D laser scanner and the moving mechanism are mounted on an overhead crane. The scanner performs real-time scanning as the overhead crane moves (either the main trolley or the trolley), or the moving mechanism controls the scanner to scan while the overhead crane remains stationary. Combining the position coordinates of the main trolley or the trolley with image processing technology, filtering and data clustering analysis are comprehensively used to scan the hopper section, calculate the coordinates of the four points of the billet, and then calculate the coordinates of the center point of the overhead crane hoisting for each group of billets.

4. The fully automated scanning and positioning system for continuous casting cooling bed billets according to claim 1, characterized in that, The laser scanner is installed on both sides of the step-collecting cooling bed, with the installation height equal to the center height of the billet cross-section on the cooling bed. The laser scanner is triggered to scan the billet cross-section, and all sizes of billets are scanned at once. The laser irradiates the billet surface and returns, forming data points in the scanning plane.

5. A method for fully automated scanning and positioning of square billets in continuous casting cooling bed, characterized in that, The method utilizes the fully automated scanning and positioning continuous casting cooling bed billet system as described in any one of claims 1-4, and the method includes the following steps: Step S1: The walking collecting cooling bed conveys the billet in a stepping motion via roller conveyor. When the current movement of the walking collecting cooling bed is completed, it stops at the original position of the walking beam. Step S2: The overhead crane control system sends a stepping collection cooling bed locking signal. After receiving the feedback signal from the cooling bed control system, it triggers the shape recognition system to scan. The shape recognition system scans and obtains the coordinates of 4 points for each group of billets, and calculates the coordinates of the center point of the overhead crane hoisting for each group of billets. Step S3: After the step-collecting cooling bed moves once, the position of the billet needs to be scanned and identified again to identify the latest position coordinates of the billet after the movement; Step S4: Calculate the coordinates of the center point of the billet being lifted from the coordinate points scanned for each group of billets.

Images