Method and device for shearing the ends of rolled pieces

Abstract

The application provides a rolling piece end shearing method and device, relates to the field of automatic detection technology, and comprises the following steps: acquiring a rolling piece end image; inputting the rolling piece end image into a rolling piece image segmentation model to output a segmented rolling piece end image; the rolling piece image segmentation model is obtained by training an image semantic segmentation model according to historical rolling piece end images and corresponding segmented historical rolling piece end images; extracting a rolling piece end contour on the segmented rolling piece end image; establishing a plane rectangular coordinate system on a plane where the rolling piece end contour is located, determining a plurality of preset sampling points on a coordinate axis parallel to the length direction of the rolling piece, determining the bending degree of the horizontal position of each preset sampling point according to the rolling piece end contour; determining a rolling piece end shearing point according to the bending degree of the horizontal position of each preset sampling point and a preset bending degree; and controlling a flying shear to shear the rolling piece according to the rolling piece end shearing point.

Description

Technical Field

[0001] This invention relates to the field of automatic inspection technology, and more particularly to a method and apparatus for shearing the end of a rolled piece. Background Technology

[0002] This section is intended to provide background or context for the embodiments of the invention set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section.

[0003] The rolling mill production line can be divided into three main parts: the heating zone, the rolling zone, and the collection zone. The rolling zone consists of multiple rolling mills, flying shears, water tanks, and other equipment. The flying shears perform the shearing operation on the ends of the rolled pieces. The length cut off the ends of the rolled pieces needs to be determined based on the shape of the ends. The length cut off directly affects the final yield. Too short a cutting length may result in irregular cross-sections, rendering the rolled steel unusable and causing production accidents. Too long a cutting length will lead to material waste. Therefore, how to properly shear the ends of the rolled pieces is a crucial issue in the steel rolling production process. Summary of the Invention

[0004] This invention provides a method for shearing the end of a rolled piece at an optimal shearing point, ensuring production quality, preventing production accidents, improving yield, and avoiding waste caused by cutting off excessive portions. The method includes:

[0005] Acquire images of the end of the rolled piece;

[0006] The end image of the rolled piece is input into the rolling piece image segmentation model, and the segmented end image of the rolled piece is output. The rolling piece image segmentation model is obtained by training the image semantic segmentation model based on the historical end images of the rolled piece and the corresponding segmented historical end images of the rolled piece.

[0007] Extract the end profile of the rolled piece from the segmented end image of the rolled piece;

[0008] Establish a Cartesian coordinate system on the plane containing the end profile of the rolled piece, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and determine the curvature of the horizontal position of each preset sampling point according to the end profile of the rolled piece.

[0009] The shearing point at the end of the rolled piece is determined based on the curvature of the horizontal position of each preset sampling point and the preset curvature of the production.

[0010] The flying shear is controlled to shear the rolled piece based on the shearing point at the end of the rolled piece.

[0011] This invention provides a shearing device for the end of a rolled piece, used to shear the rolled piece at the optimal shearing point, ensuring the production quality of the rolled piece, avoiding production accidents, improving the yield, and preventing waste caused by cutting off too much rolled piece. The device includes:

[0012] End image acquisition module, used to acquire end images of the rolled piece;

[0013] The image segmentation module is used to input the end image of the rolled piece into the image segmentation model and output the segmented end image of the rolled piece; the image segmentation model is obtained by training the image semantic segmentation model based on the historical end images of the rolled piece and the corresponding segmented historical end images of the rolled piece.

[0014] The contour extraction module is used to extract the end contour of the rolled piece from the segmented end image of the rolled piece;

[0015] The curvature determination module is used to establish a planar rectangular coordinate system on the plane where the end profile of the rolled piece is located, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and determine the curvature of the horizontal position of each preset sampling point according to the end profile of the rolled piece.

[0016] The shearing point determination module is used to determine the shearing point at the end of the rolled piece based on the curvature of the horizontal position of each preset sampling point and the preset curvature of the production.

[0017] The shearing control module is used to control the flying shear to shear the rolled piece based on the shearing point at the end of the rolled piece.

[0018] An embodiment of the present invention provides a computer device, including 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 a method for shearing the end of a rolled piece.

[0019] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a method for shearing the end of a rolled piece.

[0020] An embodiment of the present invention provides a computer program product, which includes a computer program that, when executed by a processor, implements a method for shearing the end of a rolled piece.

[0021] This invention addresses the problems of irregular cross-sections caused by excessively short shearing lengths, leading to unusable rolled steel and production accidents, and excessively long shearing lengths resulting in material waste. The invention involves: acquiring an image of the rolled piece end; inputting this image into a rolled piece image segmentation model, outputting a segmented image of the rolled piece end; training an image semantic segmentation model based on historical rolled piece end images and corresponding segmented historical rolled piece end images; extracting the rolled piece end contour from the segmented image; establishing a Cartesian coordinate system on the plane containing the rolled piece end contour; determining multiple preset sampling points on coordinate axes parallel to the rolled piece length direction; determining the horizontal curvature of each preset sampling point based on the rolled piece end contour; determining the rolled piece end shearing point based on the horizontal curvature of each preset sampling point and a production preset curvature; and controlling the flying shear to shear the rolled piece based on the rolled piece end shearing point. The shearing point determined in this embodiment of the invention is the optimal shearing point, which realizes the shearing of the rolled piece at the optimal shearing point, ensuring the production quality of the rolled piece, avoiding production accidents, improving the yield, and avoiding waste caused by cutting off too many rolled pieces. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic flowchart of the rolling mill end shearing method according to an embodiment of the present invention;

[0024] Figure 2 This is a specific example diagram of the end shearing method for rolled parts according to an embodiment of the present invention;

[0025] Figure 3 This is a specific example diagram of the end shearing method for rolled parts according to an embodiment of the present invention;

[0026] Figure 4 This is a specific example diagram of the end shearing method for rolled parts according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the end shearing device for rolled pieces according to an embodiment of the present invention;

[0028] Figure 6 This is a specific example diagram of the rolling mill end shearing device according to an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of a computer device in an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0031] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0032] In the description of this specification, the terms "comprising," "including," "having," and "containing" are open-ended terms, meaning that they include but are not limited to. The terms "an embodiment," "a specific embodiment," "some embodiments," and "for example," etc., refer to specific features, structures, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. The order of steps involved in the various embodiments is used to illustrate the implementation of this application, and the order of steps is not limited and can be adjusted appropriately as needed.

[0033] The principles and spirit of the present invention will be explained in detail below with reference to several representative embodiments.

[0034] Figure 1 This is a schematic flowchart of the rolled piece end shearing method according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0035] Step 101: Obtain an image of the end of the rolled piece;

[0036] Step 102: Input the end image of the rolled piece into the rolling piece image segmentation model and output the segmented end image of the rolled piece; the rolling piece image segmentation model is obtained by training the image semantic segmentation model based on the historical end images of the rolled piece and the corresponding segmented historical end images of the rolled piece.

[0037] Step 103: Extract the end contour of the rolled piece from the segmented end image of the rolled piece;

[0038] Step 104: Establish a Cartesian coordinate system on the plane containing the end profile of the rolled piece, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and determine the curvature of the horizontal position of each preset sampling point according to the end profile of the rolled piece.

[0039] Step 105: Determine the shearing point at the end of the rolled piece based on the curvature of the horizontal position of each preset sampling point and the preset curvature of the production.

[0040] Step 106: Control the flying shear to shear the rolled piece according to the shearing point at the end of the rolled piece.

[0041] Depend on Figure 1 As shown in the process, this embodiment of the invention acquires an image of the rolled piece end; inputs the rolled piece end image into a rolled piece image segmentation model, and outputs a segmented rolled piece end image; the rolled piece image segmentation model is trained on an image semantic segmentation model based on historical rolled piece end images and corresponding segmented historical rolled piece end images; the rolled piece end contour is extracted from the segmented rolled piece end image; a Cartesian coordinate system is established on the plane containing the rolled piece end contour, and multiple preset sampling points are determined on coordinate axes parallel to the length direction of the rolled piece; the curvature of the horizontal position of each preset sampling point is determined based on the rolled piece end contour; the rolled piece end shearing point is determined based on the curvature of the horizontal position of each preset sampling point and the production preset curvature; and the rolled piece is controlled to be sheared by a flying shear based on the rolled piece end shearing point. The shearing point determined in this embodiment of the invention is the optimal shearing point, which realizes the shearing of the rolled piece at the optimal shearing point, ensuring the production quality of the rolled piece, avoiding production accidents, improving the yield, and avoiding waste caused by cutting off too much rolled piece.

[0042] To provide a clearer explanation of the above-mentioned end shearing method for rolled pieces, each step will be described in detail below.

[0043] Figure 2 This is a specific example diagram of the end shearing method for rolled parts according to an embodiment of the present invention.

[0044] In one embodiment of the present invention, reference is made to Figure 2Determining the shearing point and controlling the shearing of the rolled piece have a clear temporal relationship. Therefore, the cameras required for both functions must be installed in sequence. Considering the current running speed v of the rolled piece and the total time t consumed by image acquisition, image analysis and calculation, signal transmission, and flying shear action, industrial camera 1 needs to be installed at a distance no less than v·t in front of the flying shear. That is, the distance between industrial camera 1 and industrial camera 2 should be no less than v·t, and industrial camera 2 should be installed at the flying shear. Industrial camera 1 is used to acquire the image of the rolled piece end to determine the shearing point at the end of the rolled piece. Industrial camera 2 is used to acquire the shearing image of the rolled piece at the flying shear, measure the actual shearing length, and further adjust the shearing position so that the actual shearing length is equal to the shearing length at the end of the rolled piece. Specifically, the rolled piece is conveyed along the rolling direction on the roller conveyor. When the rolled piece passes the hot metal detector, industrial camera 1 is triggered to acquire the image of the rolled piece end. When the rolled piece passes the flying shear, industrial camera 2 acquires the shearing image of the rolled piece at the flying shear.

[0045] In one embodiment of the present invention, in order to remove the adverse effects of the complex environment, infrared filters are installed on the lenses of industrial camera 1 and industrial camera 2. Considering that the temperature of the rolled piece is generally around 1,000 degrees Celsius, the infrared filter used can be a high-pass filter with a wavelength of 760nm or higher that transmits infrared light and cuts off visible light. The resulting image of the end of the rolled piece is clearly visible and appears dark purple, while the background is generally black. However, the background may contain sunlight, blowtorches, etc., which will also be imaged in the image, appearing dark purple, similar to the image of the end of the rolled piece.

[0046] In one embodiment of the present invention, the end image of the rolled piece is input into the rolled piece image segmentation model, and the segmented end image of the rolled piece is output. The rolled piece image segmentation model is obtained by training an image semantic segmentation model based on historical end images of rolled pieces and corresponding segmented historical end images of rolled pieces. The image semantic segmentation model can be an FCN network model, a U-Net network model, etc. The embodiment of the present invention compares the MIoU (mean intersection-over-union ratio) and FPS (frames per second) of multiple image semantic segmentation models, and uses the PaddlePaddle lightweight PP-LiteSeg-B2 model. Based on a large number of historical end images of rolled pieces and corresponding segmented historical end images of rolled pieces, the image semantic segmentation model is trained to obtain the rolled piece image segmentation model.

[0047] In one embodiment of the present invention, step 103, extracting the end contour of the rolled piece from the segmented end image of the rolled piece, includes:

[0048] The contour extraction operator is used to extract the end contour of the rolled piece from the segmented end image of the rolled piece.

[0049] In one embodiment of the present invention, before extracting the end contour of the rolled piece from the segmented end image, the segmented end image of the rolled piece is subjected to grayscale processing; after extracting the end contour of the rolled piece from the segmented end image, the extracted end contour of the rolled piece is subjected to smoothing filtering processing.

[0050] In practice, the gen_contour_region_xld (contour extraction operator) in image processing is used to extract multiple contour segments from the segmented end image of the rolled piece, and each contour segment is connected into a complete and uninterrupted closed contour. Since the contour may have some burrs, the smooth_contours_xld (contour smoothing operator) is used to smooth it to obtain the end contour of the rolled piece.

[0051] Figure 3 This is a specific example diagram of the end shearing method for rolled parts according to an embodiment of the present invention.

[0052] In one embodiment of the present invention, reference is made to Figure 3 Regarding step 104, a Cartesian coordinate system is established on the plane containing the end profile of the rolled piece. Multiple preset sampling points are determined on coordinate axes parallel to the length direction of the rolled piece. The detailed process for determining the curvature of the horizontal position of each preset sampling point based on the end profile of the rolled piece is as follows:

[0053] Step 301: Use the contour fitting operator to divide the end contour of the rolled piece into multiple line segments;

[0054] Step 302: Select line segments within a preset slope range based on the slope of each line segment;

[0055] Step 303: Fit a first horizontal line to the lower part of the end profile of the rolled piece and a second horizontal line to the upper part of the end profile of the rolled piece according to the line segments within the preset slope range;

[0056] Step 304: Establish a plane rectangular coordinate system on the plane where the end profile of the rolled piece is located, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and project each preset sampling point vertically to the lower part and the upper part of the end profile of the rolled piece.

[0057] Step 305: The distance between the projected coordinates of the preset sampling point at the lower part of the end profile of the rolled piece and the first horizontal line, and the sum of the distance between the projected coordinates of the preset sampling point at the upper part of the end profile of the rolled piece and the second horizontal line, are determined as the curvature of the preset sampling point at the horizontal position.

[0058] In practice, the front end of the rolled piece end profile is arc-shaped, and the rear end is rectangular. The standard for flying shear cutting is to completely remove the arc-shaped area of ​​the rolled piece end profile, leaving only the rectangular area. Therefore, it is necessary to find the boundary line between the arc-shaped area and the rectangular area, which is the optimal cutting point. The segment_contours_xld (profile segmentation operator) is used to divide the rolled piece end profile into multiple line segments using a polyline approximation method. Continuous line segments with an inclination radius ranging from -0.05 to 0.05 are selected in each line segment and distributed near the two parallel straight lines above and below the rectangular area. A rectangular coordinate system is established on the plane containing the end profile of the rolled piece. The y-axis coordinates of all preset points on the line segment are taken, and the average value of the y-axis coordinates of all preset points is calculated. Based on the average value of the y-axis coordinates of all preset points, each line segment with an inclination radius ranging from -0.05 to 0.05 can be divided into two groups of continuous line segments l1 and l2, one greater than the average value and the other less than the average value. Based on the preset points on continuous line segments l1 and l2, a first horizontal line S1 is fitted to the lower part of the end profile of the rolled piece, and a second horizontal line S2 is fitted to the upper part of the end profile of the rolled piece. Multiple preset sampling points are determined on a coordinate axis parallel to the length direction of the rolled piece. The domain of the preset sampling points is [x...]. min ,x max Each preset sampling point is vertically projected onto the lower and upper parts of the end profile of the rolled piece. The sum of the distance between the projected coordinates of the preset sampling point at the lower part of the end profile and the first horizontal line, and the distance between the projected coordinates of the preset sampling point at the upper part of the end profile and the second horizontal line, is determined as the curvature of the horizontal position of the preset sampling point. The distance between the projected coordinates of the preset sampling point at the lower part of the end profile and the first horizontal line, and the distance between the projected coordinates of the preset sampling point at the upper part of the end profile and the second horizontal line, are determined according to the following formulas:

[0059]

[0060] Where Δy1 represents the distance between the projected coordinates of the preset sampling point at the lower part of the end profile of the rolled piece and the first horizontal line; y down The y-axis coordinate represents the projection of the preset sampling point at the lower part of the end profile of the rolled piece; Δy2 represents the y-axis coordinate corresponding to the first horizontal line; Δy2 represents the distance between the projected coordinates of the preset sampling point on the upper part of the end profile of the rolled piece and the second horizontal line; y up The y-axis coordinate represents the projection of the preset sampling point on the upper part of the end profile of the rolled piece; This represents the y-axis coordinate corresponding to the second horizontal line. The sum of Δy1 and Δy2 is determined as the curvature of the horizontal position of the preset sampling point: Δy = Δy1 + Δy2; Δy represents the curvature of the horizontal position of the preset sampling point.

[0061] In one embodiment of the present invention, for step 105, determining the shearing point at the end of the rolled piece based on the curvature of the horizontal position of each preset sampling point and the preset curvature during production includes:

[0062] The curvature at the horizontal position of each preset sampling point is fitted to obtain the functional relationship between the curvature at the end of the rolled piece and the horizontal position; based on the preset curvature and the functional relationship between the curvature at the end of the rolled piece and the horizontal position, the shearing point at the end of the rolled piece is determined.

[0063] Figure 4 This is a specific example diagram of the end shearing method for rolled parts according to an embodiment of the present invention.

[0064] In specific implementation, refer to Figure 4 The domain of the preset sampling points is [x min ,x max Within this framework, based on the preset curvature and the functional relationship between the curvature of the rolled piece end and its horizontal position, the shear point at the rolled piece end is determined. This point is reached when the curvature Δy at the rolled piece end is lower than the minimum curvature Δy required by production. min The point x on the x-axis corresponding to time opt The shear point at the end of the rolled piece is identified; the pixel coordinates in the image are converted to world coordinates based on the camera resolution, thus obtaining the x-coordinate of the shear point at the end of the rolled piece. opt The shear length L of the rolled piece end, measured in world coordinates from the end of the rolled piece. opt The length L cut from the end of the rolled piece opt The signal is sent to the PLC (Programmable Logic Controller) control system, which then controls the flying shear to cut according to this length.

[0065] In one embodiment of the present invention, controlling the flying shear to shear the rolled piece according to the shearing point at the end of the rolled piece includes:

[0066] Determine the end shearing length of the rolled piece based on the shearing point at the end of the rolled piece; control the flying shear to shear the rolled piece based on the end shearing length of the rolled piece.

[0067] In one embodiment of the present invention, controlling the flying shear to shear the rolled piece according to the shearing length at the end of the rolled piece includes:

[0068] Obtain the shearing image of the rolled piece at the flying shear; determine the shearing position and actual shearing length based on the shearing image; adjust the shearing position so that the actual shearing length is equal to the shearing length at the end of the rolled piece; control the flying shear to shear the rolled piece at the adjusted shearing position.

[0069] In practice, since the camera position and the flying shear position are fixed, the position of the flying shear in the shearing image of the rolled piece is fixed, and the flying shear position is x. cutWhile controlling the flying shear, the PLC triggers a high-level signal via hard-wired control to activate industrial camera 2, determining the position of the workpiece endpoint as x0. Therefore, the actual sheared pixel length |x cut -x0|, converting it to the world coordinate system, yields the actual shear length L. cut For the actual shear length L opt and the shearing length L at the end of the rolled piece cut The difference is taken, and the PLC can calculate the actual cutting length L. opt and the shearing length L at the end of the rolled piece cut The difference is used to dynamically update the shearing parameters, forming a closed-loop optimization control; that is, the difference is sent to the PLC as a negative feedback verification parameter to correct the accuracy of the PLC control of the shearing length in real time, until the actual shearing length L is reached. opt and the shearing length L at the end of the rolled piece cut Similarly, the flying shear is controlled to shear the rolled piece at the adjusted shearing position.

[0070] It should be noted that although the operation of the method of the present invention has been described in a specific order in the above embodiments and figures, this does not require or imply that the operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0071] The implementation of the end shearing device for rolled pieces can refer to the implementation of the method described above, and will not be repeated here. The term "module" or "unit" used below can refer to a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0072] Based on the same inventive concept, this invention also proposes a shearing device for the end of a rolled piece, such as... Figure 5 As shown, the device includes:

[0073] End image acquisition module 501 is used to acquire end images of the rolled piece;

[0074] The image segmentation module 502 is used to input the end image of the rolled piece into the image segmentation model and output the segmented end image of the rolled piece; the image segmentation model is obtained by training the image semantic segmentation model based on the historical end images of the rolled piece and the corresponding segmented historical end images of the rolled piece.

[0075] The contour extraction module 503 is used to extract the end contour of the rolled piece from the segmented end image of the rolled piece;

[0076] The curvature determination module 504 is used to establish a plane rectangular coordinate system on the plane where the end profile of the rolled piece is located, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and determine the curvature of the horizontal position of each preset sampling point according to the end profile of the rolled piece.

[0077] The shearing point determination module 505 is used to determine the shearing point at the end of the rolled piece based on the curvature of the horizontal position of each preset sampling point and the production preset curvature.

[0078] The shearing control module 506 is used to control the flying shear to shear the rolled piece according to the shearing point at the end of the rolled piece.

[0079] In one embodiment of the present invention, the contour extraction module 503 is specifically used for:

[0080] The contour extraction operator is used to extract the end contour of the rolled piece from the segmented end image of the rolled piece.

[0081] Figure 6 This is a specific example diagram of the shearing device at the end of the rolled piece in an embodiment of the present invention. For example... Figure 6 As shown, in one embodiment of the present invention, Figure 5 The end shearing device for the rolled piece shown also includes:

[0082] The grayscale processing module 601 is used to perform grayscale processing on the segmented end image of the rolled piece before extracting the end contour of the rolled piece from the segmented end image of the rolled piece.

[0083] The filtering module 602 is used to perform smoothing filtering on the extracted end contour of the rolled piece after extracting it from the segmented end image of the rolled piece.

[0084] In one embodiment of the present invention, the curvature determination module 504 is specifically used for:

[0085] The profile of the rolled piece end is divided into multiple line segments using a profile fitting operator;

[0086] Based on the slope of each line segment, select line segments within a preset slope range;

[0087] Based on line segments within a preset slope range, a first horizontal line is fitted to the lower part of the end profile of the rolled piece, and a second horizontal line is fitted to the upper part of the end profile of the rolled piece.

[0088] Establish a plane rectangular coordinate system on the plane where the end profile of the rolled piece is located, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and project each preset sampling point vertically to the lower part and the upper part of the end profile of the rolled piece.

[0089] The distance between the projected coordinates of the preset sampling point at the lower part of the end profile of the rolled piece and the first horizontal line, and the sum of the distance between the projected coordinates of the preset sampling point at the upper part of the end profile of the rolled piece and the second horizontal line, are used to determine the curvature of the preset sampling point at the horizontal position.

[0090] In one embodiment of the present invention, the shear point determination module 505 is specifically used for:

[0091] The curvature at the horizontal position of each preset sampling point and the horizontal position of each preset sampling point are fitted to obtain the functional relationship between the curvature at the end of the rolled piece and the horizontal position.

[0092] Based on the preset curvature and the functional relationship between the curvature of the rolled piece end and the horizontal position, the shearing point at the end of the rolled piece is determined.

[0093] In one embodiment of the present invention, the shearing control module 506 is specifically used for:

[0094] Determine the shear length at the end of the rolled piece based on the shear point at the end of the rolled piece;

[0095] The flying shear is controlled to cut the rolled piece based on the shearing length at the end of the rolled piece.

[0096] In one embodiment of the present invention, the shearing control module 506 is specifically used for:

[0097] Obtain the shearing image of the rolled piece at the flying shear;

[0098] Based on the shearing image of the rolled piece, determine the shearing location and the actual shearing length;

[0099] Adjust the shearing position so that the actual shearing length is equal to the shearing length at the end of the rolled piece;

[0100] Control the flying shear to shear the rolled piece at the adjusted shearing position.

[0101] It should be noted that although several modules of the end shearing device for rolled pieces have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0102] Based on the aforementioned inventive concept, such as Figure 7 As shown, the present invention also proposes a computer device 700, including a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and executable on the processor 702. When the processor 702 executes the computer program 703, it implements the aforementioned end shearing method for rolled pieces.

[0103] Based on the aforementioned inventive concept, the present invention proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned end shearing method for rolled pieces.

[0104] Based on the aforementioned inventive concept, the present invention proposes a computer program product, which includes a computer program that, when executed by a processor, implements a method for shearing the end of a rolled piece.

[0105] This invention addresses the problems of irregular cross-sections caused by excessively short shearing lengths, leading to unusable rolled steel and production accidents, and excessively long shearing lengths resulting in material waste. The invention involves: acquiring an image of the rolled piece end; inputting this image into a rolled piece image segmentation model, outputting a segmented image of the rolled piece end; training an image semantic segmentation model based on historical rolled piece end images and corresponding segmented historical rolled piece end images; extracting the rolled piece end contour from the segmented image; establishing a Cartesian coordinate system on the plane containing the rolled piece end contour; determining multiple preset sampling points on coordinate axes parallel to the rolled piece length direction; determining the horizontal curvature of each preset sampling point based on the rolled piece end contour; determining the rolled piece end shearing point based on the horizontal curvature of each preset sampling point and a production preset curvature; and controlling the flying shear to shear the rolled piece based on the rolled piece end shearing point. The shearing point determined in this embodiment of the invention is the optimal shearing point, which realizes the shearing of the rolled piece at the optimal shearing point, ensuring the production quality of the rolled piece, avoiding production accidents, improving the yield, and avoiding waste caused by cutting off too many rolled pieces.

[0106] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (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, 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, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function 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 function specified in one or more boxes.

[0109] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable 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.

[0110] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for shearing the end of a rolled piece, characterized in that, include: Acquire images of the end of the rolled piece; The end image of the rolled piece is input into the rolling piece image segmentation model, and the segmented end image of the rolled piece is output. The rolling piece image segmentation model is obtained by training the image semantic segmentation model based on the historical end images of the rolled piece and the corresponding segmented historical end images of the rolled piece. Extract the end profile of the rolled piece from the segmented end image of the rolled piece; Establish a Cartesian coordinate system on the plane containing the end profile of the rolled piece, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and determine the curvature of the horizontal position of each preset sampling point according to the end profile of the rolled piece. The shearing point at the end of the rolled piece is determined based on the curvature of the horizontal position of each preset sampling point and the preset curvature of the production. Control the flying shear to shear the rolled piece based on the shearing point at the end of the rolled piece; Based on the curvature of the horizontal position of each preset sampling point and the production preset curvature, the shearing point at the end of the rolled piece is determined, including: fitting the curvature of the horizontal position of each preset sampling point and the horizontal position of each preset sampling point to obtain the functional relationship between the curvature of the end of the rolled piece and the horizontal position. Based on the preset curvature and the functional relationship between the curvature of the rolled piece end and the horizontal position, the shearing point at the end of the rolled piece is determined.

2. The method according to claim 1, characterized in that, Extract the end profile of the rolled piece from the segmented end image, including: The contour extraction operator is used to extract the end contour of the rolled piece from the segmented end image of the rolled piece.

3. The method according to claim 1, characterized in that, Before extracting the end profile of the rolled piece from the segmented end image, the process includes: Perform grayscale processing on the segmented end image of the rolled piece; After extracting the end profile of the rolled piece from the segmented end image, the process includes: The extracted end profile of the rolled piece is smoothed by filtering.

4. The method according to claim 1, characterized in that, Establish a Cartesian coordinate system on the plane containing the end profile of the rolled piece. Determine multiple preset sampling points on coordinate axes parallel to the length direction of the rolled piece. Based on the end profile of the rolled piece, determine the curvature of the horizontal position of each preset sampling point, including: The profile of the rolled piece end is divided into multiple line segments using a profile fitting operator; Based on the slope of each line segment, select line segments within a preset slope range; Based on line segments within a preset slope range, a first horizontal line is fitted to the lower part of the end profile of the rolled piece, and a second horizontal line is fitted to the upper part of the end profile of the rolled piece. Establish a plane rectangular coordinate system on the plane where the end profile of the rolled piece is located, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and project each preset sampling point vertically to the lower part and the upper part of the end profile of the rolled piece. The distance between the projected coordinates of the preset sampling point at the lower part of the end profile of the rolled piece and the first horizontal line, and the sum of the distance between the projected coordinates of the preset sampling point at the upper part of the end profile of the rolled piece and the second horizontal line, are used to determine the curvature of the preset sampling point at the horizontal position.

5. The method according to claim 1, characterized in that, Based on the shearing point at the end of the rolled piece, control the flying shear to shear the rolled piece, including: Determine the shear length at the end of the rolled piece based on the shear point at the end of the rolled piece; The flying shear is controlled to cut the rolled piece based on the shearing length at the end of the rolled piece.

6. The method according to claim 5, characterized in that, Based on the shearing length at the end of the rolled piece, control the flying shear to shear the rolled piece, including: Obtain the shearing image of the rolled piece at the flying shear; Based on the shearing image of the rolled piece, determine the shearing location and the actual shearing length; Adjust the shearing position so that the actual shearing length is equal to the shearing length at the end of the rolled piece; Control the flying shear to shear the rolled piece at the adjusted shearing position.

7. A shearing device for the end of a rolled piece, characterized in that, include: End image acquisition module, used to acquire end images of the rolled piece; The image segmentation module is used to input the end image of the rolled piece into the image segmentation model and output the segmented end image of the rolled piece; the image segmentation model is obtained by training the image semantic segmentation model based on the historical end images of the rolled piece and the corresponding segmented historical end images of the rolled piece. The contour extraction module is used to extract the end contour of the rolled piece from the segmented end image of the rolled piece; The curvature determination module is used to establish a planar rectangular coordinate system on the plane where the end profile of the rolled piece is located, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and determine the curvature of the horizontal position of each preset sampling point according to the end profile of the rolled piece. The shearing point determination module is used to determine the shearing point at the end of the rolled piece based on the curvature of the horizontal position of each preset sampling point and the preset curvature of the production. The shearing control module is used to control the flying shear to shear the rolled piece according to the shearing point at the end of the rolled piece; The shear point determination module is specifically used to: fit the curvature of the horizontal position of each preset sampling point and the horizontal position of each preset sampling point to obtain the functional relationship between the curvature of the rolled piece end and the horizontal position; and determine the shear point of the rolled piece end based on the preset curvature and the functional relationship between the curvature of the rolled piece end and the horizontal position.

8. The apparatus according to claim 7, characterized in that, The contour extraction module is specifically used for: The contour extraction operator is used to extract the end contour of the rolled piece from the segmented end image of the rolled piece.

9. The apparatus according to claim 7, characterized in that, Also includes: The grayscale processing module is used to perform grayscale processing on the segmented end image of the rolled piece before extracting the end contour of the rolled piece from the segmented end image. The filtering module is used to extract the end contour of the rolled piece from the segmented end image of the rolled piece and then perform smoothing filtering on the extracted end contour.

10. The apparatus according to claim 7, characterized in that, The curvature determination module is specifically used for: The profile of the rolled piece end is divided into multiple line segments using a profile fitting operator; Based on the slope of each line segment, select line segments within a preset slope range; Based on line segments within a preset slope range, a first horizontal line is fitted to the lower part of the end profile of the rolled piece, and a second horizontal line is fitted to the upper part of the end profile of the rolled piece. Establish a plane rectangular coordinate system on the plane where the end profile of the rolled piece is located, determine multiple preset sampling points on the coordinate axis parallel to the length direction of the rolled piece, and project each preset sampling point vertically to the lower part and the upper part of the end profile of the rolled piece. The distance between the projected coordinates of the preset sampling point at the lower part of the end profile of the rolled piece and the first horizontal line, and the sum of the distance between the projected coordinates of the preset sampling point at the upper part of the end profile of the rolled piece and the second horizontal line, are used to determine the curvature of the preset sampling point at the horizontal position.

11. The apparatus according to claim 7, characterized in that, The shearing control module is specifically used for: Determine the shear length at the end of the rolled piece based on the shear point at the end of the rolled piece; The flying shear is controlled to cut the rolled piece based on the shearing length at the end of the rolled piece.

12. The apparatus according to claim 11, characterized in that, The shearing control module is specifically used for: Obtain the shearing image of the rolled piece at the flying shear; Based on the shearing image of the rolled piece, determine the shearing location and the actual shearing length; Adjust the shearing position so that the actual shearing length is equal to the shearing length at the end of the rolled piece; Control the flying shear to shear the rolled piece at the adjusted shearing position.

13. 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 method of any one of claims 1 to 6.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

15. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

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