Automatic steel plate length measuring and positioning device and method based on visual identification

Abstract

The invention relates to the field of steel plate production, in particular to an automatic steel plate length measuring and positioning device and method based on visual recognition. According to the technical scheme, the device comprises a steel plate conveying roller way, a steel plate shearing mechanism, a visual positioning mechanism and a laser marking mechanism; a scale assembly is arranged on one side of the steel plate conveying roller way, and the visual positioning mechanism is aligned with the scale assembly and the steel plate conveying roller way and can move back and forth in the steel plate conveying direction. The laser marking mechanism comprises a length-direction laser marking device which can form length-direction laser marking lines parallel to the moving direction of the steel plate on the surface of the steel plate. The device has the beneficial effects that the laser marking mechanism is arranged above the steel plate to form laser marking on the surface of the steel plate, and the position of the head of the steel plate is accurately judged in cooperation with the movable visual positioning mechanism, so that the steel plate can be conveyed to a designated position and is cut and segmented by the fixed steel plate cutting mechanism; and the accuracy and the efficiency of shearing and segmenting the steel plate can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of steel plate processing equipment, and in particular to a device and method for automatically measuring and positioning steel plates based on visual recognition. Background Art

[0002] Steel plate segmentation shearing is an important process in the steel plate production process. Steel plates need to be segmented and sheared according to specified lengths or ranges of lengths. At present, the main methods for measuring and positioning steel plates during shearing include: (1) manual marking, in which a person uses a ruler to compare on site, marks the steel plate, and determines the shearing position; (2) mechanical marking, in which a movable marking device is used to replace manual measurement and marking on the steel plate to determine the shearing position; (3) mechanical sizing trolley, in which a movable sizing trolley is used to block the steel plate at a set position on the steel plate conveyor roller, and the steel plate can be sheared to a specified length through a fixed steel plate shearing mechanism; (4) pinch roller encoder measuring wheel, in which the steel plate is conveyed by the pinch roller, and the conveyed length of the steel plate is measured by the encoder on the pinch roller to determine the length of the steel plate; (5) Doppler laser length measuring instrument, in which a Doppler laser length measuring instrument is used to measure the length of the steel plate at the steel plate shearing mechanism to determine the length of the steel plate; (6) multi-camera visual length measurement, in which multiple cameras are fixedly set in the downstream direction of the steel plate shearing mechanism to take pictures of the steel plate on the steel plate conveyor roller and measure the length of the steel plate by image recognition.

[0003] The current length measurement and positioning methods have the following problems: (1) Manual marking leads to inaccurate manual measurement, and after marking on the surface of the steel plate, the shearing equipment needs to be manually operated to move to the marking position for shearing, resulting in large errors; (2) Mechanical devices are used instead of manual marking. Although the marking process is more accurate than manual marking, there is still a problem that after marking, the shearing equipment needs to be manually operated to move to the marking position for shearing, resulting in large errors; (3) A mechanical sizing trolley is used to block and position the steel plate. Although there is no need to manually operate the shearing equipment for shearing, there is a problem that when the sizing trolley blocks the steel plate, it collides with the steel plate, causing damage to the sizing trolley or deformation and damage of the steel plate, which affects the length measurement accuracy; (4) The steel plate is clamped by a clamping roller encoder measuring wheel. When measuring length, there is a problem of inaccurate measurement accuracy due to slippage between the steel plate and the pinch roller. When the pinch roller is worn or dusty after long-term use, it will affect the circumference of the pinch roller, thereby affecting the accuracy of the steel plate length measurement. (5) When using a Doppler laser length meter to measure the length of a steel plate, although there is no need to directly contact the steel plate, when the thickness of the steel plate changes or there is a wave deformation or the steel plate jumps during the transportation process, it will affect the accuracy of the Doppler laser length meter in measuring the length of the steel plate. (6) When using multiple cameras for image recognition and detection, the images captured by multiple cameras need to be calibrated and calibrated. For steel plates with different length requirements, the position of the steel plate head relative to the camera will be different, and the images captured by the camera need to be re-calibrated, affecting the processing efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a device and method for automatic length measurement and positioning of steel plates based on visual recognition, and specifically to provide a device and method for measuring the length and positioning of steel plates using laser markings in combination with visual recognition, so as to solve the problems existing in the length measurement and positioning of the above-mentioned steel plates.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an automatic length measurement and positioning device for steel plates based on visual recognition, comprising a steel plate conveying roller, a steel plate shearing mechanism, a visual positioning mechanism and a laser marking mechanism; the steel plate shearing mechanism is fixed above the steel plate conveying roller, and a scale assembly is arranged on one side of the steel plate conveying roller in the downstream direction of the steel plate shearing mechanism, the visual positioning mechanism is aligned with the scale assembly and the steel plate conveying roller and can move back and forth along the conveying direction of the steel plate; the laser marking mechanism comprises a long-direction laser marker, the long-direction laser marker is arranged above the steel plate conveying roller and can form a long-direction laser marking line on the surface of the steel plate parallel to the moving direction of the steel plate; the visual positioning mechanism is used to detect the head of the steel plate on the steel plate conveying roller to determine whether it is aligned with the specified scale on the scale assembly, and the visual positioning mechanism is connected to the controller that controls the steel plate conveying roller at the same time.

[0006] Specifically, the laser marking mechanism also includes a widthwise laser marking device, which is fixedly mounted on the visual positioning mechanism and moves together with the visual positioning mechanism. The widthwise laser marking device faces the steel plate conveyor roller and forms a widthwise laser marking on the steel plate conveyor roller that is perpendicular to the scale assembly.

[0007] Specifically, a temperature sensor is also provided on one side of the steel plate conveyor roller. The temperature sensor is located in the downstream direction of the steel plate shearing mechanism and detects the temperature of the steel plate conveyed on the steel plate conveyor roller.

[0008] Specifically, a steel plate detection sensor is further provided on one side of the steel plate conveying roller. The steel plate detection sensor is located in the downstream direction of the steel plate shearing mechanism and detects whether there is a steel plate on the steel plate conveying roller.

[0009] Specifically, the visual positioning mechanism moves back and forth along the steel plate conveying direction via a linear rail trolley.

[0010] A method for automatic length measurement and positioning of steel plates based on visual recognition, which uses the above-mentioned automatic length measurement and positioning device for steel plates to measure the length and position the steel plates, specifically comprising the following steps: S01. The steel plate conveyor roller conveys the steel plate to be sheared, and the head of the steel plate has been sheared flush.

[0011] S02. The steel plate is conveyed forward by the steel plate conveyor roller, and the head of the steel plate passes through the steel plate shearing mechanism and enters the length measuring and positioning area with a ruler assembly.

[0012] S03. After the head of the steel plate enters the length measurement and positioning area, the visual positioning mechanism moves to the position where the scale of the ruler assembly is set according to the length of the steel plate to be sheared, and takes pictures of the ruler assembly and the top of the steel plate conveyor roller and performs image recognition. The scale value on the ruler assembly is the distance from the scale to the steel plate shearing mechanism.

[0013] S04. The steel plate conveyor roller continues to convey the steel plate forward until the head of the steel plate enters the shooting and identification range of the visual positioning mechanism. The long-direction laser marking device forms a long-direction laser marking line on the surface of the steel plate on the steel plate conveyor roller. The visual positioning mechanism determines the position of the steel plate head according to the relative position of the steel plate head in the captured image and the cursor formed by the long-direction laser marking line on the steel plate head relative to the set scale on the scale assembly, and uses the controller of the steel plate conveyor roller to reduce the conveying speed of the steel plate conveyor roller, so that when the head of the steel plate is aligned with the set scale on the scale assembly, the conveying speed of the steel plate conveyor roller is zero, thereby completing the length measurement and positioning of the steel plate.

[0014] S05. After the length measurement and positioning of the steel plate are completed, the steel plate shearing mechanism can shear the steel plate, thereby completing the shearing process of the steel plate of the set length.

[0015] Specifically, in step S04, after the head of the steel plate enters the shooting and identification range of the visual positioning mechanism, in addition to using the cursor formed by the long-directional laser marking line on the head of the steel plate to determine the position of the head of the steel plate, the visual positioning mechanism also determines whether the steel plate has a wavy tolerance problem based on the shape of the long-directional laser marking line formed by the long-directional laser marking line on the surface of the steel plate in the image.

[0016] Specifically, there are two long-direction laser marking devices, and two parallel long-direction laser marking lines are formed on the surface of the steel plate on the steel plate conveyor roller. The visual positioning mechanism determines whether the steel plate has a tilt error problem by the positions of two cursors formed by the two parallel long-direction laser marking lines on the head of the steel plate in the image.

[0017] Specifically, in step S04, after the head of the steel plate enters the shooting and identification range of the visual positioning mechanism, the widthwise laser marking device on the visual positioning mechanism also forms a widthwise laser marking line on the steel plate conveyor roller that is perpendicular to the scale assembly. The widthwise laser marking line coincides with the set scale on the scale assembly. The visual positioning mechanism determines whether the steel plate has reached the set position by whether the head of the steel plate in the image coincides with the widthwise laser marking line.

[0018] The beneficial effects of the present invention are as follows: a laser marking mechanism is arranged above the steel plate to form laser markings on the surface of the steel plate. Through laser markings in different directions, in conjunction with a movable visual positioning mechanism, the position of the head of the steel plate can be accurately judged, and the steel plate conveying roller is controlled to convey the steel plate to a specified position, and the steel plate is sheared and segmented by a fixed steel plate shearing mechanism, which can effectively improve the accuracy and efficiency of the shearing and segmenting of the steel plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Attached Figure 1 It is a schematic diagram of the overall structure of a steel plate automatic length measurement and positioning device based on visual recognition in an embodiment. DETAILED DESCRIPTION

[0020] Example 1, reference Figure 1A steel plate automatic length measurement and positioning device based on visual recognition, comprising a steel plate conveying roller 1, a steel plate shearing mechanism 2, a visual positioning mechanism 3 and a laser marking mechanism 4; the steel plate shearing mechanism 2 is fixed above the steel plate conveying roller 1, and a ruler assembly 5 is arranged on one side of the steel plate conveying roller 1 in the downstream direction of the steel plate shearing mechanism 2, the visual positioning mechanism 3 is aligned with the ruler assembly 5 and the steel plate conveying roller 1 and can move back and forth along the steel plate conveying direction; the laser marking mechanism 4 includes a long-direction laser marking device 41, the long-direction laser The marking device 41 is arranged above the steel plate conveyor roller 1 and can form a long laser marking line 42 on the surface of the steel plate parallel to the moving direction of the steel plate; the visual positioning mechanism 3 is used to detect the head of the steel plate on the steel plate conveyor roller 1 to determine whether it is aligned with the specified scale on the ruler assembly 5, and the visual positioning mechanism 3 is also connected to the controller that controls the steel plate conveyor roller 1, and the controller that controls the steel plate conveyor roller 1 is also connected to the steel plate shearing mechanism 2. When the steel plate completes the length measurement and positioning, the steel plate shearing mechanism 2 can be controlled to shear the steel plate. In addition, preferably, in this embodiment, the visual positioning mechanism 3 moves back and forth along the conveying direction of the steel plate through a linear track trolley, wherein a camera is arranged on the visual positioning mechanism 3, and the camera captures the image on the steel plate conveyor roller and the image recognition software recognizes and processes the image.

[0021] In this embodiment, the above device is specifically described in combination with a steel plate automatic length measurement and positioning method based on visual recognition, which specifically includes the following steps: S01. The steel plate conveying roller 1 conveys the steel plate to be sheared, and the head of the steel plate has been sheared flush.

[0022] S02, the steel plate is transported forward by the steel plate conveying roller 1, and the head of the steel plate passes through the steel plate shearing mechanism 2 and enters the length measuring and positioning area with the ruler assembly 5.

[0023] S03. After the head of the steel plate enters the length measurement and positioning area, the visual positioning mechanism 3 moves to the position where the scale of the ruler component 5 is set according to the length of the steel plate to be sheared, and takes pictures of the ruler component 5 and the top of the steel plate conveyor roller 1 and performs image recognition. The scale value on the ruler component 5 is the distance from the scale to the steel plate shearing mechanism 2.

[0024] S04, the steel plate conveyor roller 1 continues to convey the steel plate forward until the head of the steel plate enters the shooting and identification range of the visual positioning mechanism 3, and the long-direction laser marking device 41 forms a long-direction laser marking line 42 on the surface of the steel plate on the steel plate conveyor roller 1. The visual positioning mechanism 3 judges the position of the steel plate head according to the relative position of the steel plate head in the captured image and the cursor formed by the long-direction laser marking line 42 on the steel plate head relative to the set scale on the ruler assembly 5, and uses the controller of the steel plate conveyor roller 1 to reduce the conveying speed of the steel plate conveyor roller 1, so that when the head of the steel plate is aligned with the set scale on the ruler assembly, the conveying speed of the steel plate conveyor roller 1 is zero, thereby completing the length measurement and positioning of the steel plate. In addition, after the head of the steel plate enters the shooting and identification range of the visual positioning mechanism 3, in addition to using the cursor formed by the long-directional laser marking line 42 on the head of the steel plate to determine the position of the head of the steel plate, the visual positioning mechanism 3 also determines whether the steel plate has a wavy problem based on the shape of the long-directional laser marking line 42 formed on the surface of the steel plate in the image; when the steel plate is wavy, the long-directional laser marking line 42 will be wavy on the surface of the steel plate. The visual positioning mechanism 3 can quickly determine whether there is wavy deformation on the surface of the steel plate by collecting the shape of the long-directional laser marking line 42, and determine whether the wavy deformation of the steel plate exceeds the normal range by analyzing the degree of wavyness of the long-directional laser marking line 42. Furthermore, there are two long-direction laser marking devices 41, and two parallel long-direction laser marking lines 42 are formed on the surface of the steel plate on the steel plate conveyor roller. The visual positioning mechanism 3 can also determine whether the steel plate has a problem of tilting beyond the tolerance through the positions of two cursors formed by the two parallel long-direction laser marking lines on the head of the steel plate in the image. Only when the steel plate is not tilted, the connecting line of the two cursors formed by the two parallel long-direction laser marking lines 42 on the head of the steel plate is perpendicular to the scale assembly. The visual positioning mechanism 3 can quickly determine whether the steel plate has a problem of tilting beyond the normal range by processing and analyzing the image. If the above-mentioned wave deformation of the steel plate exceeds the normal range or the tilt of the steel plate exceeds the normal range, the processing can be stopped in time and an alarm can be issued for intervention.

[0025] S05. After the length measurement and positioning of the steel plate are completed, the steel plate shearing mechanism 2 can shear the steel plate, thereby completing the shearing process of the steel plate of the set length.

[0026] In a further embodiment, the laser marking mechanism 4 further includes a width laser marking device 43, which is fixedly arranged on the visual positioning mechanism 3 and moves together with the visual positioning mechanism 3, and the width laser marking device 43 faces the steel plate conveying roller 1 and forms a width laser marking line 44 on the steel plate conveying roller 1 which is perpendicular to the scale assembly 5. Correspondingly, in the automatic length measurement and positioning method of the steel plate, specifically in step S04, after the head of the steel plate enters the shooting and recognition range of the visual positioning mechanism 3, the width laser marking device 43 on the visual positioning mechanism 3 also forms a width laser marking line 44 on the steel plate conveying roller 1 which is perpendicular to the scale assembly 5, and the width laser marking line 44 coincides with the set scale on the scale assembly 5. The visual positioning mechanism 3 determines whether the steel plate has reached the set position by whether the head of the steel plate in the image coincides with the width laser marking line 44. This further improves the accuracy of the position judgment of the head of the steel plate.

[0027] In a further preferred embodiment, a temperature sensor 6 is further provided on one side of the steel plate conveyor roller 1. The temperature sensor 6 is located in the downstream direction of the steel plate shearing mechanism 2 and detects the temperature of the steel plate conveyed on the steel plate conveyor roller 1. The temperature sensor 6 can detect the temperature of the steel plate. When the temperature of the steel plate is too high, the visual positioning mechanism 3 can automatically correct the deviation of the set length according to the length deviation value caused by the expansion of the steel plate under the temperature state, and move to the scale position after the deviation correction, thereby effectively avoiding the problem that the temperature of the steel plate affects the length measurement accuracy.

[0028] In addition, a steel plate detection sensor 7 is also provided on one side of the steel plate conveyor roller 1. The steel plate detection sensor 7 is located in the downstream direction of the steel plate shearing mechanism 2 and detects whether there is a steel plate on the steel plate conveyor roller 1. The steel plate detection sensor 7 can be used to detect whether there is a steel plate on the steel plate conveyor roller 1. When the same whole steel plate needs to be sheared and segmented multiple times, each time a shearing is completed, the sheared steel plate will be separated from the unsheared steel plate behind due to the obstruction of the steel plate shearing mechanism 2. When the steel plate detection sensor 7 changes from detecting a steel plate to not detecting a steel plate, it means that the shearing of the steel plate has been completed. At this time, the visual positioning mechanism can be restarted to perform the next round of steel plate length measurement, positioning and shearing.

[0029] Of course, the above are only preferred embodiments of the present invention, and are not intended to limit the scope of use of the present invention. Therefore, any equivalent changes made to the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A steel plate automatic length measurement and positioning device based on visual recognition, characterized in that: It includes a steel plate conveyor roller, a steel plate shearing mechanism, a visual positioning mechanism and a laser marking mechanism; the steel plate shearing mechanism is fixed above the steel plate conveyor roller, a ruler assembly is arranged on one side of the steel plate conveyor roller in the downward direction of the steel plate shearing mechanism, the visual positioning mechanism is aligned with the ruler assembly and the steel plate conveyor roller and can move back and forth along the steel plate conveying direction; the laser marking mechanism includes a long-direction laser marker, the long-direction laser marker is arranged above the steel plate conveyor roller and can form a long-direction laser marking line on the surface of the steel plate parallel to the moving direction of the steel plate; the visual positioning mechanism is used to detect the head of the steel plate on the steel plate conveyor roller to determine whether it is aligned with the specified scale on the ruler assembly, and the visual positioning mechanism is connected to the controller that controls the steel plate conveyor roller.

2. According to claim 1, the automatic length measurement and positioning device for steel plates based on visual recognition is characterized in that: The laser marking mechanism also includes a widthwise laser marking device, which is fixedly mounted on the visual positioning mechanism and moves together with the visual positioning mechanism. The widthwise laser marking device faces the steel plate conveyor roller and forms a widthwise laser marking perpendicular to the scale assembly on the steel plate conveyor roller.

3. The automatic length measurement and positioning device for steel plates based on visual recognition according to claim 1 is characterized in that: A temperature sensor is also provided on one side of the steel plate conveying roller. The temperature sensor is located in the downstream direction of the steel plate shearing mechanism and detects the temperature of the steel plate conveyed on the steel plate conveying roller.

4. The automatic length measurement and positioning device for steel plates based on visual recognition according to claim 1 is characterized in that: A steel plate detection sensor is also provided on one side of the steel plate conveying roller. The steel plate detection sensor is located in the downstream direction of the steel plate shearing mechanism and detects whether there is a steel plate on the steel plate conveying roller.

5. The automatic length measurement and positioning device for steel plates based on visual recognition according to claim 1 is characterized in that: The visual positioning mechanism moves back and forth along the steel plate conveying direction via a linear rail trolley.

6. A method for automatic length measurement and positioning of steel plates based on visual recognition, characterized in that: The steel plate automatic length measurement and positioning device according to any one of claims 1 to 5 is used to measure the length and position the steel plate, which specifically comprises the following steps: S01. The steel plate conveyor roller conveys the steel plate to be sheared, and the head of the steel plate has been sheared flush; S02, the steel plate is conveyed forward by the steel plate conveyor roller, and the head of the steel plate passes through the steel plate shearing mechanism and enters the length measurement and positioning area with a ruler assembly; S03. After the head of the steel plate enters the length measurement and positioning area, the visual positioning mechanism moves to the position where the scale of the ruler assembly is set according to the length of the steel plate to be sheared, and takes pictures of the ruler assembly and the top of the steel plate conveyor roller and performs image recognition. The scale value on the ruler assembly is the distance from the scale to the steel plate shearing mechanism; S04, the steel plate conveyor roller conveys the steel plate continuously forward until the head of the steel plate enters the shooting and identification range of the visual positioning mechanism, and the long-direction laser marking device forms a long-direction laser marking line on the surface of the steel plate on the steel plate conveyor roller. The visual positioning mechanism determines the position of the steel plate head according to the relative position of the steel plate head in the captured image and the cursor formed by the long-direction laser marking line on the steel plate head relative to the set scale on the ruler assembly, and uses the controller of the steel plate conveyor roller to reduce the conveying speed of the steel plate conveyor roller, so that when the head of the steel plate is aligned with the set scale on the ruler assembly, the conveying speed of the steel plate conveyor roller is zero, thereby completing the length measurement and positioning of the steel plate; S05. After the steel plate is measured and positioned, the steel plate shearing mechanism can shear the steel plate, thereby completing the shearing process of the steel plate of the set length.

7. The method for automatic length measurement and positioning of steel plates based on visual recognition according to claim 6, characterized in that: In step S04, after the head of the steel plate enters the shooting and identification range of the visual positioning mechanism, in addition to using the cursor formed by the long-directional laser marking line on the head of the steel plate to determine the position of the head of the steel plate, the visual positioning mechanism also determines whether the steel plate has a wavy tolerance problem based on the shape of the long-directional laser marking line formed by the long-directional laser marking line on the surface of the steel plate in the image.

8. The method for automatic length measurement and positioning of steel plates based on visual recognition according to claim 7, characterized in that: There are two long-direction laser marking devices, and two parallel long-direction laser marking lines are formed on the surface of the steel plate on the steel plate conveyor roller. The visual positioning mechanism determines whether the steel plate has a tilt error problem by the positions of two cursors formed by the two parallel long-direction laser marking lines on the head of the steel plate in the image.

9. The method for automatic length measurement and positioning of steel plates based on visual recognition according to claim 6, characterized in that: In step S04, after the head of the steel plate enters the shooting and identification range of the visual positioning mechanism, the widthwise laser marking device on the visual positioning mechanism also forms a widthwise laser marking line on the steel plate conveyor roller that is perpendicular to the scale assembly. The widthwise laser marking line coincides with the set scale on the scale assembly. The visual positioning mechanism determines whether the steel plate has reached the set position by whether the head of the steel plate in the image coincides with the widthwise laser marking line.

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