A method, device, equipment and medium for measuring the center of a steel coil

Abstract

The present disclosure relates to the technical field of steel coil measurement, and provides a steel coil center measurement method, device, equipment and medium, the method comprising: obtaining a two-dimensional image on a first suspension rod, converting the two-dimensional image into a three-dimensional image, extracting the center coordinates of the first steel coil and the first inner diameter and the first outer diameter; obtaining ultrasonic data on a second suspension rod, extracting the boundary points on the inner contour and moving outward along the radius by a preset distance, the preset distance being the difference between the first outer diameter and the first inner diameter, and determining the outer contour, obtaining the center coordinates of the second steel coil according to the inner contour and the outer contour; adjusting the spacing and position of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils, so that they are respectively aligned with the center coordinates of the two steel coils. By adopting the above scheme, fast and accurate measurement and positioning of the center of the double steel coils are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel coil measurement, and in particular to a steel coil center measurement method, device, equipment and medium. Background Art

[0002] In the steel coil transportation industry, accurate steel coil center measurement can ensure that the boom is accurately aligned with the center of the steel coil, avoiding the risk of the steel coil falling off or being damaged due to deviation, and can significantly improve the safety of the lifting process.

[0003] Among them, the C-type double coil hoist is a device used for horizontal lifting of double steel coils. It can lift two steel coils at the same time, improving the lifting efficiency. When the C-type double coil hoist is aligned with the center of the two steel coils at the same time, the size, weight, position, shape, environment and other factors of the two steel coils will affect the accuracy and stability of the alignment process.

[0004] Therefore, a method is needed to quickly and accurately measure and locate the center of double steel coils. Summary of the invention

[0005] The present invention provides a steel coil center measurement method, device, equipment and medium for realizing fast and accurate measurement and positioning of the centers of double steel coils.

[0006] In a first aspect, the present disclosure provides a method for measuring the center of a steel coil, comprising:

[0007] Acquire a two-dimensional image on the first suspension rod, convert the two-dimensional image into a three-dimensional image, select multiple pixels in the three-dimensional image as initial seed points, add pixels that meet preset conditions to corresponding multiple seed areas, connect the multiple seed areas, and extract the center coordinates and the first inner diameter and the first outer diameter of the first steel coil according to the connected areas;

[0008] Acquire ultrasonic data on the second suspension rod, set a dynamic step size to move the search area, determine the variance in the horizontal and vertical directions within the search area to obtain the inner contour, extract the boundary points on the inner contour and move outward along the radius by a preset distance, the preset distance being the difference between the first outer diameter and the first inner diameter, and determine the outer contour, and obtain the center coordinates of the second steel coil according to the inner contour and the outer contour;

[0009] The spacing and position of the first suspension rod and the second suspension rod are adjusted according to the center coordinates of the two steel coils so as to align them with the center coordinates of the two steel coils respectively.

[0010] According to the steel coil center measurement method provided by the present disclosure, obtaining a two-dimensional image on the first suspension rod, and converting the two-dimensional image into a three-dimensional image includes:

[0011] The two-dimensional coordinates of each pixel of a two-dimensional image are (X, Y), where X is the row number and Y is the column number;

[0012] The depth information of each pixel is taken as Z, and the three-dimensional coordinates of each pixel are set to (X, Y, Z).

[0013] According to the steel coil center measurement method provided by the present disclosure, selecting multiple pixels in the three-dimensional image as initial seed points includes:

[0014] Obtain a depth histogram of the three-dimensional image, and extract a circular area whose depth value is greater than a threshold according to the histogram;

[0015] Select 4 pixels in the four directions of up, down, left, and right in the circular area as initial seeds.

[0016] According to the steel coil center measurement method provided by the present disclosure, adding pixels that meet preset conditions to corresponding multiple seed areas respectively includes:

[0017] Traverse the 6 neighboring pixels of each initial seed point, and for each neighboring pixel, check whether its texture feature falls within the preset range;

[0018] If the texture feature of the adjacent pixel is within a preset range, the pixel is added to the corresponding seed region and marked as visited;

[0019] Take the newly added pixel as the new seed point and continue to traverse the unvisited pixels in its 6-neighborhood;

[0020] Iterations continue until there are no more pixels that meet the criteria to be added.

[0021] According to the steel coil center measurement method provided by the present disclosure, determining the variance in the horizontal and vertical directions within the search area to obtain the inner contour includes:

[0022] Set a circular search area, starting from the minimum ultrasonic signal intensity in the central area of ​​the ultrasonic data, and move the search area horizontally on the ultrasonic data;

[0023] Each time a step is moved, the variance in the horizontal and vertical directions in the search area is calculated, and when both variances are greater than the first threshold, it is determined as the initial inner contour boundary point;

[0024] Taking the initial inner contour boundary point as the new starting point for contour tracking, moving the search area clockwise, calculating the variance in the horizontal and vertical directions within the search area, and determining it as the inner contour boundary point when both variances are greater than the first threshold;

[0025] Fit all inner contour boundary points to obtain the inner contour.

[0026] According to the steel coil center measurement method provided by the present disclosure, obtaining the center coordinates of the second steel coil according to the inner contour and the outer contour includes:

[0027] Determine a first circle center according to the inner contour, and determine a first weight according to the roundness of the inner contour;

[0028] Determine a second center according to the outer contour, and determine a second weight according to the roundness of the outer contour;

[0029] The center coordinates of the second steel coil are calculated according to the corresponding weights of the first circle center and the second circle center.

[0030] According to the steel coil center measurement method provided by the present disclosure, adjusting the spacing and position of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils includes:

[0031] Determine the horizontal distance between the centers of the two steel coils according to the center coordinates of the two steel coils;

[0032] Adjust the angle between the first suspension rod and the second suspension rod so that the distance between the two suspension rods is equal to the horizontal distance between the centers of the steel coils;

[0033] Move the first suspension rod and the second suspension rod in the vertical direction to align them with the center coordinates of the steel coil.

[0034] In a second aspect, the present disclosure further provides a steel coil center measuring device, comprising:

[0035] A first coordinate module; used to obtain a two-dimensional image on the first suspension rod, convert the two-dimensional image into a three-dimensional image, select multiple pixels in the three-dimensional image as initial seed points, add pixels that meet preset conditions to corresponding multiple seed areas, connect the multiple seed areas, and extract the center coordinates of the first steel coil and the first inner diameter and the first outer diameter according to the connected areas;

[0036] A second coordinate module is used to obtain ultrasonic data on the second suspension rod, set a dynamic step size to move the search area, determine the variance in the horizontal and vertical directions within the search area to obtain the inner contour, extract the boundary points on the inner contour and move outward along the radius by a preset distance, the preset distance being the difference between the first outer diameter and the first inner diameter, and determine the outer contour, and obtain the center coordinates of the second steel coil according to the inner contour and the outer contour;

[0037] The alignment module is used to adjust the spacing and position of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils so that they are aligned with the center coordinates of the two steel coils respectively.

[0038] Compared with the prior art, the present disclosure relates to a method for measuring the center of a steel coil, which includes: obtaining a two-dimensional image on a first hanging rod, converting the two-dimensional image into a three-dimensional image, extracting the center coordinates of the first steel coil and the first inner diameter and the first outer diameter; obtaining ultrasonic data on a second hanging rod, extracting the boundary points on the inner contour and moving outward along the radius by a preset distance, the preset distance being the difference between the first outer diameter and the first inner diameter, and determining the outer contour, obtaining the center coordinates of the second steel coil according to the inner contour and the outer contour; adjusting the spacing and position of the first hanging rod and the second hanging rod according to the center coordinates of the two steel coils, so that they are respectively aligned with the center coordinates of the two steel coils. By adopting the above scheme, the center of the double steel coils can be measured and positioned quickly and accurately, which improves the intelligence and efficiency of steel coil lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present disclosure, the drawings required for use in the embodiments or prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 It is a schematic diagram of the double steel coil alignment of the C-type double coil plate hanger provided by the present disclosure;

[0041] Figure 2 is a flow chart of a method for measuring the center of a steel coil provided by the present disclosure;

[0042] Figure 3 is a schematic cross-sectional view of a steel coil provided by the present disclosure;

[0043] Figure 4 It is a schematic diagram of a steel coil center measuring device provided by the present disclosure;

[0044] Figure 5 A schematic diagram of the electronic device provided in the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions in the present disclosure will be clearly and completely described below in conjunction with the drawings in the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0046] like Figure 1As shown, the C-type double coil spreader is a lifting equipment specially designed for double steel coils. The main body of the spreader is C-shaped. This design allows the spreader to be easily inserted into the steel coil to achieve horizontal lifting. It can lift two steel coils at the same time, improving the lifting efficiency.

[0047] When the C-type double coil spreader is accurately aligned with the double center of the steel coil, the steel coil can maintain a balanced state during the lifting process, thereby reducing the risk of shaking and tilting caused by the center of gravity offset. In addition, when the spreader can accurately align the center of the two steel coils at one time, it will greatly reduce the adjustment time due to position offset during the lifting process, thereby improving the lifting efficiency.

[0048] Figure 2 is a flow chart of a method for measuring the center of a steel coil provided by the present disclosure, such as Figure 2 As shown, the method includes:

[0049] Step S110: acquiring a two-dimensional image on the first suspension rod, converting the two-dimensional image into a three-dimensional image, selecting a plurality of pixels in the three-dimensional image as initial seed points, respectively adding pixels satisfying preset conditions into corresponding plurality of seed regions, regionally connecting the plurality of seed regions, and extracting the center coordinates and the first inner diameter and the first outer diameter of the first steel coil according to the connected regions;

[0050] Specifically, Figure 1 As shown, an optical sensor such as a depth camera, such as an RGB-D camera, is installed on the first suspension rod, and a two-dimensional image of the first steel coil is obtained through the optical sensor, and the two-dimensional image includes depth information, and the two-dimensional image is converted into a three-dimensional image according to the depth information. Among them, converting the two-dimensional image into a three-dimensional image can provide rich three-dimensional spatial information, especially for steel coils with uneven surfaces, the three-dimensional image can more accurately reflect the real state of the steel coil, thereby ensuring the accuracy of the measurement, and helping to more accurately identify the position and shape of the steel coil.

[0051] Further, in the three-dimensional image, multiple representative pixels are selected as initial seed points, and the initial seed points are located in different areas of the three-dimensional image of the steel coil, so that the entire three-dimensional image can be covered in subsequent expansion;

[0052] Connecting multiple seed regions to form a complete steel coil region can be achieved through morphological operations such as expansion, corrosion, opening and closing operations.

[0053] Step S120: Acquire ultrasonic data on the second suspension rod, set a dynamic step size to move the search area, determine the variance in the horizontal and vertical directions within the search area to obtain the inner contour, extract the boundary points on the inner contour and move outward along the radius by a preset distance, the preset distance being the difference between the first outer diameter and the first inner diameter, and determine the outer contour, and obtain the center coordinates of the second steel coil according to the inner contour and the outer contour;

[0054] Specifically, Figure 1 As shown, an ultrasonic sensor is installed on the second suspension rod. The sensor continuously sends ultrasonic waves and receives reflected ultrasonic signals, thereby obtaining distance data of the steel coil at different positions.

[0055] Furthermore, in order to search the steel coil contour more efficiently, a dynamic step size can be set. In the early stage of the search, the step size is large to quickly locate the approximate position of the steel coil; in the later stage of the search, after the approximate position of the steel coil is preliminarily determined, the step size is gradually reduced to improve the accuracy. Then, according to the set search strategy, such as grid search, spiral search, etc., the search area is gradually moved until the inner contour of the steel coil is found.

[0056] At each search position, the variance of the ultrasonic data in the horizontal and vertical directions is calculated. Since the surface of the steel coil is continuous, the ultrasonic data will change significantly at the contour of the steel coil, so the variance will increase; when the variance exceeds the threshold, the inner contour boundary point of the steel coil is found. By connecting all boundary points that exceed the threshold, the inner contour of the steel coil can be obtained. This embodiment utilizes the changing characteristics of the ultrasonic data at the contour, can effectively identify the inner contour of the steel coil, and can accurately locate the position of the contour.

[0057] Due to the boundary effect, the reflected signal of ultrasound at the inner contour is usually stronger than the signal in other areas. The inner contour is usually the part where the ultrasonic data changes most significantly, is easiest to identify and extract, and is most likely to form a peak. By first determining the inner contour, the accuracy and reliability of the data can be ensured, the noise and interference in subsequent processing can be reduced, and the basis for subsequent outer contour extraction can be provided. In addition, when extracting the outer contour, if it is extracted directly from the original ultrasonic data, it may face the problem of large data volume and high processing complexity. Extracting the inner contour first can greatly simplify the subsequent processing flow. Based on the determined inner contour, the position and shape of the outer contour can be more easily determined, reducing the amount of calculation and processing time.

[0058] Furthermore, each boundary point on the inner contour is moved outward by a preset distance along its normal direction (i.e., radial direction), and the difference is calculated as the preset distance based on the first outer diameter and the first inner diameter extracted from step S110, and the preset distance is the thickness of the steel coil, thereby obtaining the outer contour. This embodiment is based on accurate recognition of the inner contour boundary points and accurate calculation of the preset distance, and makes full use of the known inner diameter and outer diameter information. By moving the preset distance outward along the normal direction of the boundary point, it can ensure that the outer contour is consistent with the inner contour in shape and size, and matches the actual thickness of the steel coil. It can not only accurately determine the outer contour of the steel coil, improve the accuracy of contour extraction, but also provide a reliable basis for subsequent center coordinate calculation.

[0059] Step S130: adjusting the spacing and positions of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils so as to align them with the center coordinates of the two steel coils respectively.

[0060] Specifically, the horizontal spacing between the two suspension rods is calculated according to the X-axis and Y-axis distances of the center coordinates of the two steel coils.

[0061] By adjusting the angle between the boom brackets, the spacing between the two booms can be precisely adjusted to ensure that they match the horizontal distance of the center coordinates of the steel coil.

[0062] When lifting two steel coils, ensuring that the two lifting rods can accurately align with the center coordinates of each steel coil can not only ensure the efficiency and safety of the operation, but also effectively prevent the steel coils from sliding or tilting during the lifting process.

[0063] Compared with the prior art, the present invention obtains a two-dimensional image on the first suspension rod, converts the two-dimensional image into a three-dimensional image, extracts the center coordinates of the first steel coil and the first inner diameter and the first outer diameter; obtains ultrasonic data on the second suspension rod, extracts the boundary points on the inner contour and moves outward along the radius by a preset distance, the preset distance being the difference between the first outer diameter and the first inner diameter, and determines the outer contour, obtains the center coordinates of the second steel coil according to the inner contour and the outer contour; adjusts the spacing and position of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils, so that they are respectively aligned with the center coordinates of the two steel coils. By adopting the above scheme, the center of the double steel coils can be measured and positioned quickly and accurately, improving the intelligence and efficiency of steel coil measurement.

[0064] In one embodiment, obtaining a two-dimensional image on the first suspension rod in step S110 and converting the two-dimensional image into a three-dimensional image includes:

[0065] The two-dimensional coordinates of each pixel of a two-dimensional image are (X, Y), where X is the row number and Y is the column number;

[0066] The depth information of each pixel is taken as Z, and the three-dimensional coordinates of each pixel are set to (X, Y, Z).

[0067] Specifically, a two-dimensional image consists of a series of pixels, each of which has a unique two-dimensional coordinate (X, Y), where X represents the row number (horizontally) where the pixel is located, and Y represents the column number (vertically) where the pixel is located. The coordinate (X, Y) defines the position of the pixel on the two-dimensional plane.

[0068] In the process of converting a 2D image into a 3D image, a depth value (Z) is assigned to each pixel, which represents the distance between the pixel and the observation sensor in 3D space. Among them, the depth camera can directly measure the depth information of each pixel in the scene.

[0069] After obtaining the depth information (Z) of each pixel, it is combined with the original two-dimensional coordinates (X, Y) to form a three-dimensional coordinate (X, Y, Z). The three-dimensional coordinate defines the position of the pixel in three-dimensional space.

[0070] In one implementation, selecting a plurality of pixels in the three-dimensional image as initial seed points includes:

[0071] Obtain a depth histogram of the three-dimensional image, and extract a circular area whose depth value is greater than a threshold according to the histogram;

[0072] Select 4 pixels in the four directions of up, down, left, and right in the circular area as initial seeds.

[0073] Specifically, the depth histogram can count the distribution of depth values ​​in the image. In a three-dimensional image, each pixel has an associated depth value (Z coordinate). The depth values ​​can form a histogram, with the horizontal axis representing different depth value ranges and the vertical axis representing the number of pixels in each depth value range.

[0074] In order to obtain the depth histogram of a 3D image, we first need to traverse all the pixels in the image and count the number of times each depth value appears. These statistical results can then be plotted into a histogram to analyze the distribution of depth values ​​in the image.

[0075] In the depth histogram, we can observe the distribution of the number of pixels in different depth value ranges. By analyzing the histogram, we can set a suitable depth threshold to filter out the area of ​​interest, that is, the ring area. Figure 3 gray area.

[0076] Since the steel coil is usually in the shape of a ring, the extracted pixels are likely to be located in the ring area, which is the candidate area for selecting the initial seed point.

[0077] After the circular area is determined, the initial seed points are selected in the area. In order to ensure that the seed points are evenly distributed and representative, four pixels can be selected in the four directions of the circular area as initial seeds.

[0078] In one implementation, adding pixels satisfying a preset condition to corresponding multiple seed regions respectively includes:

[0079] Traverse the 6 neighboring pixels of each initial seed point, and for each neighboring pixel, check whether its texture feature falls within the preset range;

[0080] If the texture feature of the adjacent pixel is within a preset range, the pixel is added to the corresponding seed region and marked as visited;

[0081] Take the newly added pixel as the new seed point and continue to traverse the unvisited pixels in its 6-neighborhood;

[0082] Iterations continue until there are no more pixels that meet the criteria to be added.

[0083] Specifically, when traversing the 6-neighborhood pixels of the initial seed point, the texture features of each adjacent pixel are judged. The texture features include the color, brightness, contrast, gradient, etc. of the pixel.

[0084] If the texture features of the adjacent pixels are within the preset range, it means that the pixel is part of the surface of the steel coil, so it is added to the corresponding seed area and marked as visited. This ensures that the added pixels will not be checked repeatedly in the subsequent traversal process, thereby improving the efficiency of the algorithm.

[0085] Since this embodiment matches and merges based on texture features at the pixel level of the three-dimensional image, it can accurately determine the position of the steel coil in the image and achieve high-precision positioning. It is also highly robust to factors such as lighting changes and noise interference and can work stably in different environments.

[0086] In one implementation, determining the variance in the horizontal and vertical directions within the search area to obtain the inner contour includes:

[0087] Set a circular search area, starting from the minimum ultrasonic signal intensity in the central area of ​​the ultrasonic data, and move the search area horizontally on the ultrasonic data;

[0088] Each time a step is moved, the variance in the horizontal and vertical directions in the search area is calculated, and when both variances are greater than the first threshold, it is determined as the initial inner contour boundary point;

[0089] Taking the initial inner contour boundary point as the new starting point for contour tracking, moving the search area clockwise, calculating the variance in the horizontal and vertical directions within the search area, and determining it as the inner contour boundary point when both variances are greater than the first threshold;

[0090] Fit all inner contour boundary points to obtain the inner contour.

[0091] Specifically, first, determine the central area of ​​the ultrasonic data and find the minimum point of the ultrasonic signal intensity in the area. This minimum point is usually located inside the steel coil and is used as the starting point of the search; a circular search area is set with this minimum point as the center, and the size of the search area can be determined according to the resolution of the ultrasonic data.

[0092] Secondly, the search area is moved horizontally on the ultrasonic data. With each step, the variance of all pixels in the search area in the horizontal and vertical directions is calculated. Variance is a statistic that measures the degree of data dispersion, which can reflect the change of pixel values ​​in the search area. When the search area moves to the vicinity of the inner contour boundary, the variance in the horizontal and vertical directions will increase significantly due to the difference in pixel values ​​on both sides of the boundary. If at a certain position, the variance in both directions is greater than the preset first threshold, then the position can be considered as the initial inner contour boundary point.

[0093] Then, the contour tracking process begins with the initial inner contour boundary point as the new starting point. The goal of contour tracking is to find all the points on the inner contour and connect them to form a complete contour. During the tracking process, the search area will move clockwise, and the variance of the pixels in the search area in the horizontal and vertical directions will be recalculated after each move.

[0094] If at a certain position, the variances in both directions are greater than the first threshold, the position is determined as a horizontal boundary point of the inner contour and is added to the inner contour point set.

[0095] In this embodiment, firstly moving in the horizontal direction can quickly locate the approximate position of the initial inner contour boundary point, because the horizontal movement can cover a larger search range, so that the area with obvious signal strength changes can be found more quickly. Once the area is found, the search range can be narrowed, and then a more refined contour tracking can be further performed, which is conducive to shortening the search process. In addition, when the search area is moved in the horizontal direction, the change of the ultrasonic signal in the horizontal direction can be observed, which helps to determine the preliminary position of the inner contour. Then, starting from this preliminary position, the search area is moved in the clockwise direction, which can further refine the boundary of the contour and improve the accuracy of the detection. Then, first moving the search area horizontally can quickly exclude most of the irrelevant areas and reduce the amount of calculation for subsequent processing. Once the initial inner contour boundary point is determined, the search range can be narrowed to the area around the point, thereby reducing unnecessary calculations.

[0096] In one embodiment, obtaining the center coordinates of the second steel coil according to the inner contour and the outer contour includes:

[0097] Determine a first circle center according to the inner contour, and determine a first weight according to the roundness of the inner contour;

[0098] Determine a second center according to the outer contour, and determine a second weight according to the roundness of the outer contour;

[0099] The center coordinates of the second steel coil are calculated according to the corresponding weights of the first circle center and the second circle center.

[0100] Specifically, the circularity of the contour can be evaluated by calculating the standard deviation of the distance from the point on the contour to the center of the circle. The higher the circularity, that is, the smaller the standard deviation, the closer the contour is to a perfect circle, the higher the accuracy of the center of the circle, and the higher the weight.

[0101] By multiplying the coordinates of the first center and the second center by their corresponding weights respectively, and then adding the results and dividing them by the total weight, a comprehensive center coordinate that takes into account the inner and outer contour information can be obtained. It can adapt to steel coils of different shapes and qualities, and even when the inner or outer contour is disturbed or damaged, a relatively accurate result can be obtained.

[0102] In one embodiment, adjusting the spacing and position of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils includes:

[0103] Determine the horizontal distance between the centers of the two steel coils according to the center coordinates of the two steel coils;

[0104] Adjust the angle between the first suspension rod and the second suspension rod so that the distance between the two suspension rods is equal to the horizontal distance between the centers of the steel coils;

[0105] Move the first suspension rod and the second suspension rod in the vertical direction to align them with the center coordinates of the steel coil.

[0106] Specifically, based on the horizontal distance between the centers of the steel coils and the distance between the two booms, the angle that the two booms should form in the horizontal direction can be calculated. A control system (such as a PLC or a robot controller) is used to send instructions to the drive device to rotate the booms according to the calculated target angle. The angle between the first boom and the second boom is adjusted so that their distance is equal to the horizontal distance between the centers of the steel coils.

[0107] After the included angle between the two suspension rods is determined, the first suspension rod and the second suspension rod are moved in the vertical direction by the lifting mechanism to align with the center coordinates of the steel coil.

[0108] By accurately determining the center coordinates of the steel coil and adjusting the angle and position of the boom, two steel coils can be accurately and stably grabbed at the same time, thereby improving the accuracy and efficiency of lifting.

[0109] A steel coil center measuring device provided by the present disclosure is described below. The detection system described below and the detection method described above can be referenced to each other.

[0110] like Figure 4 As shown, a steel coil center measuring device comprises:

[0111] A first coordinate module; used to obtain a two-dimensional image on the first suspension rod, convert the two-dimensional image into a three-dimensional image, select multiple pixels in the three-dimensional image as initial seed points, add pixels that meet preset conditions to corresponding multiple seed areas, connect the multiple seed areas, and extract the center coordinates of the first steel coil and the first inner diameter and the first outer diameter according to the connected areas;

[0112] A second coordinate module is used to obtain ultrasonic data on the second suspension rod, set a dynamic step size to move the search area, determine the variance in the horizontal and vertical directions within the search area to obtain the inner contour, extract the boundary points on the inner contour and move outward along the radius by a preset distance, the preset distance being the difference between the first outer diameter and the first inner diameter, and determine the outer contour, and obtain the center coordinates of the second steel coil according to the inner contour and the outer contour;

[0113] The alignment module is used to adjust the spacing and position of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils so that they are aligned with the center coordinates of the two steel coils respectively.

[0114] An electronic device provided in an embodiment of the present application is Figure 5 As shown, the electronic device includes a processor 502 and a memory 501, wherein the memory stores a computer program that can be run on the processor, and the processor implements the steps of the method provided in the above embodiment when executing the computer program.

[0115] See also Figure 5 The electronic device further includes: a bus 503 and a communication interface 504, a processor 502, a communication interface 504 and a memory 501 are connected via the bus 503; the processor 502 is used to execute an executable module stored in the memory 501, such as a computer program.

[0116] The memory 501 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 504 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0117] The bus 503 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0118] Among them, the memory 501 is used to store programs, and the processor 502 executes the program after receiving the execution instruction. The method executed by the device defined by the process disclosed in any embodiment of the present application can be applied to the processor 502 or implemented by the processor 502.

[0119] The processor 502 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 502. The above processor 502 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 501, and the processor 502 reads the information in the memory 501 and completes the steps of the above method in combination with its hardware.

[0120] Corresponding to the above-mentioned steel coil center measurement method, an embodiment of the present application also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer-readable storage medium stores computer-executable instructions or a computer program. When the computer-executable instructions or the computer program are called and executed by a processor, the computer-executable instructions prompt the processor to execute the steps of the above-mentioned steel coil center measurement method.

[0121] The steel coil center measuring device provided in the embodiment of the present application can be specific hardware on the device or software or firmware installed on the device. The device provided in the embodiment of the present application has the same implementation principle and technical effects as the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding contents in the aforementioned method embodiment. Technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can all refer to the corresponding processes in the aforementioned method embodiment, and will not be repeated here.

[0122] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0123] For another example, the flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the device, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0126] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the steel coil center measurement method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0127] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0128] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solution of the present application, rather than to limit it. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solution recorded in the aforementioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiment of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for measuring the center of a steel coil, characterized in that: The following steps are involved: Acquire a two-dimensional image on the first suspension rod, convert the two-dimensional image into a three-dimensional image, select multiple pixels in the three-dimensional image as initial seed points, add pixels that meet preset conditions to corresponding multiple seed areas, connect the multiple seed areas, and extract the center coordinates and the first inner diameter and the first outer diameter of the first steel coil according to the connected areas; Acquire ultrasonic data on the second suspension rod, set a dynamic step size to move the search area, determine the variance in the horizontal and vertical directions in the search area to obtain the inner contour, extract the boundary points on the inner contour and move outward along the radius by a preset distance, the preset distance is the difference between the first outer diameter and the first inner diameter, and determine the outer contour, and obtain the center coordinates of the second steel coil according to the inner contour and the outer contour; determining the variance in the horizontal and vertical directions in the search area to obtain the inner contour includes: Set a circular search area, starting from the minimum ultrasonic signal intensity in the central area of ​​the ultrasonic data, and move the search area horizontally on the ultrasonic data; Each time a step is moved, the variance in the horizontal and vertical directions in the search area is calculated, and when both variances are greater than the first threshold, it is determined as the initial inner contour boundary point; Taking the initial inner contour boundary point as the new starting point for contour tracking, moving the search area clockwise, calculating the variance in the horizontal and vertical directions within the search area, and determining it as the inner contour boundary point when both variances are greater than the first threshold; Fit all inner contour boundary points to obtain the inner contour; The spacing and position of the first suspension rod and the second suspension rod are adjusted according to the center coordinates of the two steel coils so as to align them with the center coordinates of the two steel coils respectively.

2. The method for measuring the center of a steel coil according to claim 1, characterized in that: The acquiring of the two-dimensional image on the first suspension rod and converting the two-dimensional image into a three-dimensional image comprises: The two-dimensional coordinates of each pixel of a two-dimensional image are (X, Y), where X is the row number and Y is the column number; The depth information of each pixel is taken as Z, and the three-dimensional coordinates of each pixel are set to (X, Y, Z).

3. The method for measuring the center of a steel coil according to claim 1, characterized in that: The selecting of a plurality of pixels in the three-dimensional image as initial seed points comprises: Obtain a depth histogram of the three-dimensional image, and extract a circular area whose depth value is greater than a threshold according to the histogram; Select 4 pixels in the four directions of up, down, left, and right in the circular area as initial seeds.

4. The method for measuring the center of a steel coil according to claim 1, characterized in that: The adding pixels satisfying the preset conditions to the corresponding plurality of seed regions respectively comprises: Traverse the 6 neighboring pixels of each initial seed point, and for each neighboring pixel, check whether its texture feature falls within the preset range; If the texture feature of the adjacent pixel is within a preset range, the pixel is added to the corresponding seed region and marked as visited; Take the newly added pixel as the new seed point and continue to traverse the unvisited pixels in its 6-neighborhood; Iterations continue until there are no more pixels that meet the criteria to be added.

5. The method for measuring the center of a steel coil according to claim 1, characterized in that: The obtaining of the center coordinates of the second steel coil according to the inner contour and the outer contour comprises: Determine a first circle center according to the inner contour, and determine a first weight according to the roundness of the inner contour; Determine a second center according to the outer contour, and determine a second weight according to the roundness of the outer contour; The center coordinates of the second steel coil are calculated according to the corresponding weights of the first circle center and the second circle center.

6. The method for measuring the center of a steel coil according to claim 1, characterized in that: The step of adjusting the spacing and position of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils comprises: Determine the horizontal distance between the centers of the two steel coils according to the center coordinates of the two steel coils; Adjust the angle between the first suspension rod and the second suspension rod so that the distance between the two suspension rods is equal to the horizontal distance between the centers of the steel coils; Move the first suspension rod and the second suspension rod in the vertical direction to align them with the center coordinates of the steel coil.

7. A steel coil center measuring device, characterized in that: include: First coordinate module; Used to obtain a two-dimensional image on the first suspension rod, convert the two-dimensional image into a three-dimensional image, select multiple pixels in the three-dimensional image as initial seed points, add pixels that meet preset conditions to corresponding multiple seed areas, connect the multiple seed areas, and extract the center coordinates and the first inner diameter and the first outer diameter of the first steel coil according to the connected areas; The second coordinate module is used to obtain ultrasonic data on the second suspension rod, set a dynamic step size to move the search area, determine the variance in the horizontal and vertical directions in the search area to obtain the inner contour, extract the boundary points on the inner contour and move outward along the radius by a preset distance, the preset distance is the difference between the first outer diameter and the first inner diameter, and determine the outer contour, and obtain the center coordinates of the second steel coil according to the inner contour and the outer contour; the determination of the variance in the horizontal and vertical directions in the search area to obtain the inner contour includes: Set a circular search area, starting from the minimum ultrasonic signal intensity in the central area of ​​the ultrasonic data, and move the search area horizontally on the ultrasonic data; Each time a step is moved, the variance in the horizontal and vertical directions in the search area is calculated, and when both variances are greater than the first threshold, it is determined as the initial inner contour boundary point; Taking the initial inner contour boundary point as the new starting point for contour tracking, moving the search area clockwise, calculating the variance in the horizontal and vertical directions within the search area, and determining it as the inner contour boundary point when both variances are greater than the first threshold; Fit all inner contour boundary points to obtain the inner contour; The alignment module is used to adjust the spacing and position of the first suspension rod and the second suspension rod according to the center coordinates of the two steel coils so that they are aligned with the center coordinates of the two steel coils respectively.

8. An electronic device comprising: processor; A memory storing a program, wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer-readable storage medium stores instructions or computer programs, and when the instructions or computer programs are executed on a device, the device executes the method according to any one of claims 1 to 6.

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