A real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging

Abstract

A real-time positioning intelligent conveying system for steel plate blanks based on three-dimensional imaging comprises a speed acquisition module, a foreign body identification module, an area division module, a coordinate system construction module, an initial state acquisition module, a real-time state acquisition module, an analysis and judgment module, and a displacement judgment module. The beneficial effects of the present invention are as follows: by analyzing the real-time coordinate information and real-time image information of the slab in the transmission line of the roller conveyor, the real-time state of the slab on the transmission line of the roller conveyor is determined, the real-time state of the slab is judged, and it is analyzed whether the slab will collide with the transmission line of the roller conveyor and whether two slabs in transmission will collide, thereby avoiding damage to the roller conveyor due to collision with the slab, reducing the processing efficiency of the slab, and also avoiding deformation caused by collision between two slabs, reducing the waste of raw materials, and thus reducing costs.

Description

Technical Field

[0001] The present invention relates to the field of intelligent conveying technology, and in particular to a real-time positioning intelligent conveying system for steel plate blanks based on three-dimensional imaging. Background Art

[0002] After the slabs are smelted in the steelmaking process, they are transported to the medium plate plant via rollers. Currently, the processes of destacking, rotating, and transporting the slabs are completed manually. The operator at the operating table estimates the relative position and distance height of the slabs through the naked eye combined with the image displayed on the monitor inside the operating table by the on-site camera. Then, based on experience, the operator manually controls the hydraulic system of the stacking table to rise or fall, and manually controls the steel pusher to push the steel plate forward and backward to achieve the position change and transportation of the slabs.

[0003] Manual operation may cause improper operation due to visual errors, which may lead to collision between the slab and the conveyor platform, causing damage to the conveying system. In serious cases, production needs to be stopped for emergency repairs. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies and defects in the prior art and to provide a real-time positioning intelligent conveying system for steel plate blanks based on three-dimensional imaging. The real-time positioning intelligent conveying system for steel plate blanks based on three-dimensional imaging determines the real-time status of the slab on the transmission line of the roller transmission line by analyzing the real-time coordinate information and real-time image information of the slab in the transmission line of the roller transmission line, judges the real-time status of the slab, and analyzes whether the slab will collide with the transmission line of the roller transmission line and whether two slabs in transmission will collide, thereby avoiding damage to the roller transmission line due to collision with the slab, reducing the processing efficiency of the slab, and also avoiding deformation of the two slabs due to collision, reducing waste of raw materials, and thus reducing costs.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: a real-time positioning intelligent conveying system for steel plate blanks based on three-dimensional imaging, which includes a speed acquisition module: the speed acquisition module is used to obtain the transmission speed of the roller transmission line and the pushing speed of the pusher; a foreign object recognition module: the foreign object recognition module is used to identify the transmission line of the roller transmission line, determine whether there are foreign objects in the transmission line of the roller transmission line, and select the state of the pusher; an area division module: the area division module divides the transmission line of the roller transmission line into areas according to the pushing speed and the transmission speed, and obtains the slab placement area; a coordinate system construction module: the coordinate system construction module establishes a three-dimensional space coordinate system according to the transmission line of the roller transmission line; the initial state is taken as Collection module: The initial state acquisition module is used to collect the original image information, original coordinate information and original displacement data between the two transmission slabs of the slab; real-time state acquisition module: The real-time state acquisition module is used to collect the real-time image information, real-time coordinate information and real-time displacement data between the two transmission slabs during the transmission process; analysis and judgment module: The analysis module analyzes and judges based on the original image information and real-time image information, original coordinate information and real-time coordinate information to determine whether the slab will collide with the transmission line of the roller transmission line; displacement judgment module: The displacement judgment module judges based on the original displacement data and real-time displacement data to determine whether the slab will collide before entering the next process.

[0006] Furthermore, the foreign object recognition module is used to identify the transmission line of the roller transmission line, determine whether there are foreign objects in the transmission line of the roller transmission line, and select the pusher state, which specifically includes the following steps: scanning the transmission line of the roller transmission line from different angles by using a laser radar to obtain the transmission line contour; constructing a model according to the transmission line contour to obtain a transmission line imaging model; judging the transmission line imaging model: if there are foreign objects in the transmission line imaging model, the transmission line is checked and cleared, and the pusher is not turned on. After the foreign objects on the transmission line are cleared, the pusher is turned on; if there are no foreign objects in the transmission line imaging model, the pusher is turned on.

[0007] Furthermore, the area division module divides the transmission line of the roller conveyor line into areas according to the pushing speed and the transmission speed, and obtaining the slab placement area specifically includes the following steps: obtaining the size information of the slab; calculating according to the size information of the slab and the pushing speed to obtain the slab drop time; calculating according to the slab drop time and the transmission speed to obtain the transmission line movement distance; dividing the transmission line into areas according to the transmission line movement distance to obtain the slab placement area, wherein the specific calculation formula for obtaining the transmission line movement distance is: Where L1 is the distance of the transmission line; S is the size of the slab; V1 is the transmission speed; and V2 is the steel pushing speed.

[0008] Furthermore, the coordinate system construction module establishes a three-dimensional space coordinate system according to the transmission line of the roller transmission line, which is specifically: setting the leftmost side of the transmission line as the coordinate origin; setting the X-axis in the width direction of the transmission line; setting the Y-axis in the length direction of the transmission line; and setting the Z-axis in a direction perpendicular to the transmission line.

[0009] Furthermore, the initial state acquisition module is used to acquire the original image information, original coordinate information of the slab and the original displacement data between the two transmission slabs, which specifically includes the following steps: scanning the slab that has just entered the transmission line from different angles by using a laser radar to obtain the original image information of the slab; combining the original image information of the slab with the three-dimensional space coordinate system to obtain the coordinates and obtain the original coordinate information, wherein the original coordinate information is specifically the original coordinate information of the corner point of the slab (x i ,y i , z i ); The original displacement data between the two transmission slabs is specifically the transmission line movement distance L1.

[0010] Furthermore, the real-time status acquisition module is used to collect real-time image information, real-time coordinate information, and real-time displacement data between two slabs during transmission, and specifically includes the following steps: scanning the slabs transmitted on the transmission line for a set time from different angles by using a laser radar to obtain real-time image information of the slabs; combining the real-time image information with the three-dimensional space coordinate system to obtain coordinates and obtain real-time coordinate information, wherein the real-time coordinate information is specifically the real-time coordinate information of the corner points of the slabs (x j ,y j , z j ); obtain the real-time displacement data between the two transmission slabs through calculation and processing of the original coordinate information and the real-time coordinate information.

[0011] Furthermore, the specific calculation formula for obtaining the real-time displacement data between the two transmission slabs is: Where D a is the distance between all corner points of the two transported slabs; i is the original length coordinate of the corner point of the slab; i, j is the number of slab corner points; y j is the real-time length coordinate of the corner point of the slab; D r is the real-time displacement data between the two transmission slabs; Min() is the minimum function.

[0012] Furthermore, the analysis and judgment module analyzes and judges based on the original image information and the real-time image information, the original coordinate information and the real-time coordinate information to determine whether the slab and the transmission line of the roller transmission line will collide, specifically including the following steps: extracting features of the original image information and the real-time image information through a spot detection algorithm to obtain the original slab features and the real-time slab features; judging and processing based on the original slab features and the real-time slab features: if the slab edge line in the original slab features and the slab edge line in the real-time slab features are parallel to each other, the output slab and the transmission line of the roller transmission line will not collide; if the slab edge line in the original slab features and the slab edge line in the real-time slab features are not parallel to each other, the original coordinate information and the real-time coordinate information are calculated and processed to obtain the real-time offset of the slab; judging and processing based on the real-time offset of the slab to determine whether the slab and the transmission line of the roller transmission line will collide.

[0013] Furthermore, the judgment and processing based on the real-time offset of the slab to determine whether the slab will collide with the transmission line of the roller transmission line specifically includes the following steps: obtaining the transported length of the slab, the length of the transmission line, and the distance data between the initial transportation of the slab and the edge of the transmission line; performing calculation and processing based on the transported length of the slab and the length of the transmission line to obtain the remaining transportation length of the slab; performing calculation and processing based on the real-time offset of the slab and the distance data between the initial transportation of the slab and the edge of the transmission line to obtain the remaining offset of the slab; performing judgment and processing based on the transported length of the slab and the remaining transportation length of the slab: if the transported length of the slab is greater than the remaining transportation length of the slab, and the real-time offset of the slab is less than the remaining offset of the slab, the output slab will not collide with the transmission line of the roller transmission line; if the transported length of the slab is less than the remaining transportation length of the slab, and the real-time offset of the slab is greater than the remaining offset of the slab, the output slab will collide with the transmission line of the roller transmission line.

[0014] Furthermore, the displacement judgment module judges based on the original displacement data and the real-time displacement data to determine whether the slab will collide before entering the next process, specifically including the following steps: judging and processing the original displacement data and the real-time displacement data: if the original displacement data is equal to the real-time displacement data, the slab will not collide before entering the next process; if the original displacement data is less than the real-time displacement data, the slab will not collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output; if the original displacement data is greater than the real-time displacement data, the slab movement speed is obtained based on the original displacement data and the real-time displacement data, that is: Where, V1 is the slab moving speed; L2 is the original displacement data; D ris the real-time displacement data; T is the time taken for the slab to be transported; the collision time is calculated based on the real-time displacement data and the slab moving speed; the remaining transportation time is calculated based on the transmission speed of the roller transmission line and the remaining transportation length of the slab; judgment and processing are performed based on the collision time and the remaining transportation time: if the collision time is greater than the remaining transportation time, the slab will not collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output; if the collision time is less than or equal to the remaining transportation time, the slab will collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output.

[0015] After adopting the above technical scheme, the beneficial effects of the present invention are as follows: the real-time positioning intelligent conveying system for steel plate blanks based on three-dimensional imaging determines the real-time status of the slab on the transmission line of the roller transmission line by analyzing the real-time coordinate information and real-time image information of the slab in the transmission line of the roller transmission line, judges the real-time status of the slab, and analyzes whether the slab will collide with the transmission line of the roller transmission line and whether the two slabs in transmission will collide, thereby avoiding damage to the roller transmission line due to collision with the slab, reducing the processing efficiency of the slab, and also avoiding deformation caused by collision between the two slabs, reducing waste of raw materials, and thus reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a structural block diagram of the steel plate blank real-time positioning intelligent conveying system based on three-dimensional imaging proposed by the present invention;

[0018] Figure 2 A schematic diagram of a process for selecting a steel pusher state in the present invention;

[0019] Figure 3 A schematic diagram of the process of obtaining a slab placement area in the present invention;

[0020] Figure 4 A schematic diagram of the process of establishing a three-dimensional space coordinate system in the present invention;

[0021] Figure 5 It is a schematic diagram of the process of collecting the original image information, original coordinate information and original displacement data between two transmission slabs in the present invention;

[0022] Figure 6 This is a flow chart of collecting real-time image information, real-time coordinate information, and real-time displacement between two transported slabs during the transport process in the present invention;

[0023] Figure 7 A schematic diagram of a process for determining whether a slab will collide with a transmission line of a roller conveyor in the present invention;

[0024] Figure 8 This is a flow chart of determining whether a collision will occur between the slab and the transmission line of the roller conveyor line according to the real-time offset of the slab in the present invention;

[0025] Figure 9 This is a flow chart of determining whether a slab will collide before entering the next process in the present invention. DETAILED DESCRIPTION

[0026] See Figure 1 As shown, the technical solution adopted in this specific embodiment is: it includes a speed acquisition module: the speed acquisition module is used to obtain the transmission speed of the roller transmission line and the pushing speed of the steel pusher;

[0027] Foreign object recognition module: The foreign object recognition module is used to identify the transmission line of the roller transmission line, determine whether there is a foreign object in the transmission line of the roller transmission line, and select the pusher state;

[0028] Area division module: The area division module divides the transmission line of the roller conveyor line into areas according to the pushing speed and the transmission speed to obtain the slab placement area;

[0029] Coordinate system building module: the coordinate system building module establishes a three-dimensional space coordinate system according to the transmission line of the roller transmission line;

[0030] Initial state acquisition module: The initial state acquisition module is used to acquire the original image information, original coordinate information of the slab and the original displacement data between the two transmission slabs;

[0031] Real-time status acquisition module: The real-time status acquisition module is used to collect real-time image information, real-time coordinate information and real-time displacement data between two transported slabs during the transport process;

[0032] Analysis and judgment module: The analysis module performs analysis and judgment based on the original image information and real-time image information, the original coordinate information and the real-time coordinate information to determine whether the slab will collide with the transmission line of the roller conveyor line;

[0033] Displacement judgment module: The displacement judgment module judges based on the original displacement data and the real-time displacement data to determine whether the slab will collide before entering the next process.

[0034] See Figure 2 As shown, the foreign object recognition module is used to identify the transmission line of the roller transmission line, determine whether there is a foreign object in the transmission line of the roller transmission line, and select the pusher state, which specifically includes the following steps:

[0035] S1, scan the transmission line of the roller conveyor from different angles using a laser radar to obtain the transmission line profile;

[0036] S2, constructing a model according to the transmission line profile to obtain a transmission line imaging model;

[0037] S3, judging the transmission line imaging model: if there is foreign matter in the transmission line imaging model, the transmission line is checked and cleared, and the pusher is not turned on. After the foreign matter on the transmission line is cleared, the pusher is turned on; if there is no foreign matter in the transmission line imaging model, the pusher is turned on.

[0038] In this embodiment, if there are foreign objects in the transmission line of the roller transmission line, the pusher will not be turned on. It is necessary to check the transmission line of the roller transmission line and remove the foreign objects on the transmission line of the roller transmission line to avoid the slab colliding with the foreign objects during transportation, causing the slab to be deformed and waste raw materials. Therefore, after the foreign objects on the transmission line of the roller transmission line are removed, the pusher is turned on and the pusher pushes the slab into the transmission line of the roller transmission line for transportation.

[0039] See Figure 3 As shown, the area division module divides the transmission line of the roller conveyor line into areas according to the pushing speed and the transmission speed, and obtaining the slab placement area specifically includes the following steps:

[0040] S1, obtaining the size information of the slab;

[0041] S2, calculate the slab drop time based on the slab size information and the push steel speed;

[0042] S3, calculate according to the slab falling time and transmission speed to obtain the transmission line movement distance;

[0043] S4, dividing the transmission line into regions according to the transmission line movement distance to obtain the slab placement area, wherein the specific calculation formula for obtaining the transmission line movement distance is:

[0044]

[0045] Where L1 is the distance of the transmission line; S is the size of the slab; V1 is the transmission speed; and V2 is the steel pushing speed.

[0046] When the pushing speed and the transmission speed are fixed, each slab will fall into a fixed position of the transmission line of the roller conveyor under the action of the pusher. The distance between each two slabs is a fixed value. That is, during the pushing process of the slab, the movement distance of the transmission line is the original displacement data between the two slabs. The slab falling time is

[0047] See Figure 4 As shown, the coordinate system construction module establishes a three-dimensional space coordinate system according to the transmission line of the roller transmission line, which is specifically as follows: the leftmost side of the transmission line is set as the coordinate origin; the X-axis is set in the width direction of the transmission line; the Y-axis is set in the length direction of the transmission line; and the Z-axis is set in the direction perpendicular to the transmission line.

[0048] In this embodiment, the leftmost side of the transmission line is the position where the transmission line starts to transport the slab. If the slab does not collide with the transmission line of the roller transmission line, the original coordinate information of the corner point of the slab (x i ,y i , z i ), only y i will change, and y i When the slab may collide with the transmission line of the roller conveyor line, x i ,y i will change, so we need to i ,y i The changes in the slab surface are analyzed to further determine whether the slab collides with the transmission line of the roller transmission line. The Z axis is set in a direction perpendicular to the transmission line to facilitate the observation of the flatness of the slab surface and to determine whether the slab surface is deformed.

[0049] See Figure 5 As shown, the initial state acquisition module is used to acquire the original image information, original coordinate information of the slab and the original displacement data between the two transmission slabs, and specifically includes the following steps:

[0050] S1, scan the slab that has just entered the transmission line from different angles using a laser radar to obtain the original image information of the slab;

[0051] S2, the original image information of the slab is combined with the three-dimensional space coordinate system to obtain the coordinates to obtain the original coordinate information, which is specifically the original coordinate information of the corner points of the slab (x i ,y i , z i );

[0052] S3, the original displacement data between the two transmission slabs is specifically the transmission line movement distance L1.

[0053] See Figure 6 As shown, the real-time status acquisition module is used to acquire real-time image information, real-time coordinate information, and real-time displacement data between two transported slabs during the transport process, and specifically includes the following steps:

[0054] S1, using laser radar to scan the slab on the transmission line for a set time from different angles to obtain real-time image information of the slab;

[0055] S2, the real-time image information is combined with the three-dimensional space coordinate system to obtain coordinates, and the real-time coordinate information is obtained. The real-time coordinate information is specifically the real-time coordinate information of the corner points of the slab (x j ,y j , z j );

[0056] S3, calculating and processing the original coordinate information and the real-time coordinate information to obtain the real-time displacement data between the two transmission slabs, wherein the specific calculation formula for obtaining the real-time displacement data between the two transmission slabs is:

[0057]

[0058] Where D a is the distance between all corner points of two transported slabs; i is the original length coordinate of the corner point of the slab; i, j is the number of slab corner points; y j is the real-time length coordinate of the corner point of the slab; D r is the real-time displacement data between the two transmission slabs; Min() is the minimum function.

[0059] It is understood by those skilled in the art that a slab is generally a rectangular parallelepiped, and therefore, there are eight corner points of the slab, so there are also eight real-time coordinate information of the corner points. When it is necessary to calculate the real-time displacement data between two transmission slabs, it is only necessary to calculate the y value of the length direction of the transmission line. As the state of the slab changes, the y values ​​of the four corner points of the slab are different. Since the slab is a rectangular parallelepiped, the y values ​​of the other four corner points are the same as the y values ​​of the symmetrical corner points, so D a There are sixteen calculation results, which are screened by the minimum function. The minimum calculation result is the real-time displacement data between the two transmission slabs.

[0060] See Figure 7 As shown, the analysis and judgment module analyzes and judges based on the original image information and the real-time image information, the original coordinate information and the real-time coordinate information to determine whether the slab will collide with the transmission line of the roller conveyor line, specifically including the following steps:

[0061] S1, extracting features from the original image information and the real-time image information through a spot detection algorithm to obtain original slab features and real-time slab features;

[0062] S2, judging and processing based on the original slab features and the real-time slab features: if the slab edges in the original slab features and the slab edges in the real-time slab features are parallel to each other, the output slab will not collide with the transmission line of the roller conveyor; if the slab edges in the original slab features and the slab edges in the real-time slab features are not parallel to each other, calculating and processing the original coordinate information and the real-time coordinate information to obtain the real-time offset of the slab;

[0063] S3, based on the real-time offset of the slab, determines whether the slab will collide with the transmission line of the roller conveyor line. Figure 8 , specifically including the following steps:

[0064] 1) Obtain data on the transported length of the slab, the length of the transport line, and the distance between the start of slab transport and the edge of the transport line;

[0065] 2) Calculate the remaining transport length of the slab based on the transported length of the slab and the length of the transmission line;

[0066] 3) Calculate and process the remaining slab offset based on the real-time slab offset and the distance between the slab and the edge of the transmission line at the beginning of transportation to obtain the remaining slab offset;

[0067] 4) Make judgment and process based on the transported length of the slab and the remaining transport length of the slab: if the transported length of the slab is greater than the remaining transport length of the slab, and the real-time offset of the slab is less than the remaining offset of the slab, the output slab will not collide with the transmission line of the roller transmission line; if the transported length of the slab is less than the remaining transport length of the slab, and the real-time offset of the slab is greater than the remaining offset of the slab, the output slab will collide with the transmission line of the roller transmission line.

[0068] Those skilled in the art will understand that, when the slab is transmitted on the transmission line of the roller transmission line, if the slab is always transmitted in the state when it just enters the transmission line of the roller transmission line, then the slab edge line in the real-time slab feature and the slab edge line in the original slab feature are always parallel, indicating that the position of the slab in the transmission line of the roller transmission line has not shifted, and therefore, the slab will not collide with the transmission line of the roller transmission line. When the slab edge line in the original slab feature and the slab edge line in the real-time slab feature are not parallel to each other, that is, there is an intersection between the extension lines of the two, it indicates that the slab rotates during the transmission process. Therefore, it is necessary to combine the transported length of the slab, the remaining transport length of the slab, the real-time offset of the slab, and the remaining offset of the slab to make a judgment and further analyze whether the slab will collide with the transmission line of the roller transmission line.

[0069] See Figure 9 As shown, the displacement judgment module judges based on the original displacement data and the real-time displacement data to determine whether the slab will collide before entering the next process, which specifically includes the following steps:

[0070] S1, judge and process the original displacement data and the real-time displacement data: if the original displacement data is equal to the real-time displacement data, the slab will not collide before entering the next process; if the original displacement data is less than the real-time displacement data, the slab will not collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output; if the original displacement data is greater than the real-time displacement data, calculate based on the original displacement data and the real-time displacement data to obtain the slab movement speed, that is:

[0071]

[0072] Where, V1 is the slab moving speed; L2 is the original displacement data; D r is the real-time displacement data; T is the time taken for the slab to be transported;

[0073] S2, calculate the collision time based on the real-time displacement data and the slab moving speed;

[0074] S3, calculating the remaining transportation time based on the transmission speed of the roller conveyor line and the remaining transportation length of the slab;

[0075] S4, make judgment and process according to the collision time and the remaining transportation time: if the collision time is greater than the remaining transportation time, the slab will not collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output; if the collision time is less than or equal to the remaining transportation time, the slab will collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output.

[0076] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging, characterized by: It includes: Speed ​​acquisition module: The speed acquisition module is used to obtain the transmission speed of the roller transmission line and the pushing speed of the steel pusher; Foreign object recognition module: The foreign object recognition module is used to identify the transmission line of the roller transmission line, determine whether there is a foreign object in the transmission line of the roller transmission line, and select the pusher state; Area division module: The area division module divides the transmission line of the roller conveyor line into areas according to the pushing speed and the transmission speed to obtain the slab placement area; Coordinate system building module: the coordinate system building module establishes a three-dimensional space coordinate system according to the transmission line of the roller transmission line; Initial state acquisition module: The initial state acquisition module is used to acquire the original image information, original coordinate information of the slab and the original displacement data between the two transmission slabs; Real-time status acquisition module: The real-time status acquisition module is used to collect real-time image information, real-time coordinate information and real-time displacement data between two transported slabs during the transport process; Analysis and judgment module: The analysis and judgment module analyzes and judges based on the original image information and real-time image information, the original coordinate information and the real-time coordinate information to determine whether the slab will collide with the transmission line of the roller conveyor line, specifically including the following steps: S1, extracting features from the original image information and the real-time image information through a spot detection algorithm to obtain original slab features and real-time slab features; S2, judging and processing based on the original slab features and the real-time slab features: if the slab edges in the original slab features and the slab edges in the real-time slab features are parallel to each other, the output slab will not collide with the transmission line of the roller conveyor; if the slab edges in the original slab features and the slab edges in the real-time slab features are not parallel to each other, calculating and processing the original coordinate information and the real-time coordinate information to obtain the real-time offset of the slab; S3, judging and processing based on the real-time offset of the slab to determine whether the slab will collide with the transmission line of the roller conveyor line, specifically including the following steps: 1) Obtain data on the transported length of the slab, the length of the transport line, and the distance between the start of slab transport and the edge of the transport line; 2) Calculate the remaining transport length of the slab based on the transported length of the slab and the length of the transmission line; 3) Calculate and process the remaining slab offset based on the real-time slab offset and the distance between the slab and the edge of the transmission line at the beginning of transportation to obtain the remaining slab offset; 4) Determine and process based on the transported length of the slab and the remaining transport length of the slab: if the transported length of the slab is greater than the remaining transport length of the slab, and the real-time offset of the slab is less than the remaining offset of the slab, the output slab will not collide with the transmission line of the roller conveyor; if the transported length of the slab is less than the remaining transport length of the slab, and the real-time offset of the slab is greater than the remaining offset of the slab, the output slab will collide with the transmission line of the roller conveyor; Displacement judgment module: The displacement judgment module judges based on the original displacement data and the real-time displacement data to determine whether the slab will collide before entering the next process.

2. The real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging according to claim 1 is characterized by: The foreign object recognition module is used to identify the transmission line of the roller conveyor line, determine whether there is a foreign object in the transmission line of the roller conveyor line, and select the state of the pusher, which specifically includes the following steps: S1, scan the transmission line of the roller conveyor from different angles using a laser radar to obtain the transmission line profile; S2, constructing a model according to the transmission line profile to obtain a transmission line imaging model; S3, judging the transmission line imaging model: if there is foreign matter in the transmission line imaging model, the transmission line is checked and cleared, and the pusher is not turned on. After the foreign matter on the transmission line is cleared, the pusher is turned on; If there is no foreign matter in the transmission line imaging model, start the steel pusher.

3. The real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging according to claim 1 is characterized by: The area division module divides the transmission line of the roller conveyor line into areas according to the pushing speed and the transmission speed, and obtains the slab placement area, specifically including the following steps: S1, obtaining the size information of the slab; S2, calculate the slab drop time based on the slab size information and the push steel speed; S3, calculate according to the slab falling time and transmission speed to obtain the transmission line movement distance; S4, dividing the transmission line into regions according to the transmission line movement distance to obtain the slab placement area, wherein the specific calculation formula for obtaining the transmission line movement distance is: Where L1 is the distance of the transmission line; S is the size of the slab; V1 is the transmission speed; and V2 is the steel pushing speed.

4. The real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging according to claim 1 is characterized in that: The coordinate system construction module establishes a three-dimensional space coordinate system according to the transmission line of the roller transmission line, which is specifically as follows: the leftmost side of the transmission line is set as the coordinate origin; the X axis is set in the width direction of the transmission line; the Y axis is set in the length direction of the transmission line; and the Z axis is set in the direction perpendicular to the transmission line.

5. The real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging according to claim 1 is characterized in that: The initial state acquisition module is used to acquire the original image information, original coordinate information and original displacement data between two transmission slabs of the slab, and specifically includes the following steps: S1, scan the slab that has just entered the transmission line from different angles using a laser radar to obtain the original image information of the slab; S2, the original image information of the slab is combined with the three-dimensional space coordinate system to obtain the coordinates to obtain the original coordinate information, which is specifically the original coordinate information of the corner points of the slab (x i ,y i , z i ); S3, the original displacement data between the two transmission slabs is specifically the transmission line movement distance L1.

6. The real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging according to claim 1 is characterized by: The real-time status acquisition module is used to acquire real-time image information, real-time coordinate information, and real-time displacement data between two transported slabs during the transport process, and specifically includes the following steps: S1, using laser radar to scan the slab on the transmission line for a set time from different angles to obtain real-time image information of the slab; S2, the real-time image information is combined with the three-dimensional space coordinate system to obtain coordinates, and the real-time coordinate information is obtained. The real-time coordinate information is specifically the real-time coordinate information of the corner points of the slab (x j ,y j , z j ); S3, calculating and processing the original coordinate information and the real-time coordinate information to obtain the real-time displacement data between the two transmission slabs.

7. The real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging according to claim 6 is characterized by: The specific calculation formula for obtaining the real-time displacement data between the two transmission slabs in S3 is: Where D a is the distance between all corner points of the two transported slabs; i is the original length coordinate of the corner point of the slab; i, j is the number of slab corner points; y j is the real-time length coordinate of the corner point of the slab; D r is the real-time displacement data between the two transmission slabs; Min() is the minimum function.

8. The real-time positioning and intelligent conveying system for steel plate blanks based on three-dimensional imaging according to claim 1 is characterized by: The displacement judgment module judges whether a slab will collide before entering the next process based on the original displacement data and the real-time displacement data, and specifically includes the following steps: S1, judge and process the original displacement data and the real-time displacement data: if the original displacement data is equal to the real-time displacement data, the slab will not collide before entering the next process; if the original displacement data is less than the real-time displacement data, the slab will not collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output; if the original displacement data is greater than the real-time displacement data, calculate based on the original displacement data and the real-time displacement data to obtain the slab movement speed, that is: Where, V1 is the slab moving speed; L2 is the original displacement data; D r is the real-time displacement data; T is the time taken for the slab to be transported; S2, calculate the collision time based on the real-time displacement data and the slab moving speed; S3, calculating the remaining transportation time based on the transmission speed of the roller conveyor line and the remaining transportation length of the slab; S4, make judgment and process according to the collision time and the remaining transportation time: if the collision time is greater than the remaining transportation time, the slab will not collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output; if the collision time is less than or equal to the remaining transportation time, the slab will collide before entering the next process, and the transmission line maintenance information of the roller transmission line is output.

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