A device and method for automatic length measurement and positioning of steel plates based on visual recognition

Abstract

The present invention relates to the field of steel plate production, and in particular to an automatic length measurement and positioning device and method for steel plates based on visual recognition. The following technical scheme is adopted: it includes a steel plate conveyor roller, a steel plate shearing mechanism, a visual positioning mechanism and a laser marking mechanism; a ruler assembly is provided on one side of the steel plate conveyor roller, 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, which 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 beneficial effect is: by arranging a laser marking line on the surface of the steel plate by arranging a laser marking line above the steel plate, and cooperating with the movable visual positioning mechanism, the position of the head of the steel plate can be accurately judged, so that the steel plate can be conveyed to the specified position, and the fixed steel plate shearing mechanism can perform shearing and segmenting, which can effectively improve the accuracy and efficiency of the shearing and segmenting of the steel plate.

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 segment shearing is an important process in the steel plate production process. Steel plates need to be segmented into specified lengths or ranges of lengths. At present, the main methods for measuring and positioning the length of 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 cutting position; (2) mechanical marking, in which a movable marking device is used instead of manual measurement to measure the length and mark the steel plate to determine the cutting 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 length of the steel plate conveyed is measured by the encoder on the pinch roller, thereby determining 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 fixed 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 has the problem of inaccurate manual measurement, and after marking the surface of the steel plate, the shearing equipment needs to be manually operated to move to the marking position for shearing, which results 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 the problem that after marking, the shearing equipment needs to be manually operated to move to the marking position for shearing, which results in large errors; (3) Mechanical sizing trolleys are used to block and position the steel plate. Although there is no need for manual shearing equipment to shear, there is a problem that when the sizing trolley blocks the steel plate, it will cause collision with the steel plate, resulting in damage to the sizing trolley or deformation 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 caused by sliding between the steel plate and the pinch roller. When the pinch roller is worn or sticky with dust after long-term use, it will affect the circumference of the pinch roller, thereby affecting the accuracy of measuring the length of the steel plate; (5) When using a Doppler laser length meter to measure the length of the 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, 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 above-mentioned steel plate length measurement and positioning.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a device for automatic length measurement and positioning of steel plates based on visual recognition, comprising 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, and a scale assembly is provided on one side of the steel plate conveyor 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 conveyor roller and can move back and forth along the steel plate conveying direction; the laser marking mechanism includes a long-direction laser marker, which is provided 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 scale assembly, and the visual positioning mechanism is also connected to the controller that controls the steel plate conveyor roller.

[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 further 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:

[0011] S01. The steel plate conveyor roller conveys the steel plate to be sheared, and the head of the steel plate has been sheared flush.

[0012] 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.

[0013] 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 cut, 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.

[0014] S04. The steel plate conveyor roller continues to convey the steel plate forward until the head of the steel plate enters the shooting and recognition range of the visual positioning mechanism. The long-direction laser marker 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 steel plate head 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.

[0015] 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.

[0016] Specifically, in step S04, after the head of the steel plate enters the shooting and recognition 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.

[0017] 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 problem by the position of the two cursors formed by the two parallel long-direction laser marking lines on the head of the steel plate in the image.

[0018] Specifically, in step S04, after the head of the steel plate enters the shooting and recognition range of the visual positioning mechanism, the width-wise laser marking device on the visual positioning mechanism also forms a width-wise laser marking line on the steel plate conveyor roller that is perpendicular to the scale assembly. The width-wise 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 width-wise laser marking line.

[0019] The beneficial effects of the present invention are as follows: by arranging a laser marking mechanism above the steel plate to form laser markings on the surface of the steel plate, through the laser markings in different directions, in conjunction with the movable visual positioning mechanism, the position of the steel plate head can be accurately judged, and the steel plate conveying roller is controlled to convey the steel plate to the specified position, and the fixed steel plate shearing mechanism is used to shear and segment the steel plate, which can effectively improve the accuracy and efficiency of the steel plate shearing and segmenting. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Attachment Figure 1 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

[0021] Example 1, reference Figure 1, a steel plate automatic length measurement and positioning device based on visual recognition, comprising a steel plate conveyor 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 conveyor roller 1, and a scale assembly 5 is provided on one side of the steel plate conveyor roller 1 in the downstream direction of the steel plate shearing mechanism 2, the visual positioning mechanism 3 is aligned with the scale assembly 5 and the steel plate conveyor roller 1 and can move back and forth along the steel plate conveying direction; the laser marking mechanism 4 includes a long-direction laser marker 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 scale assembly 5. The visual positioning mechanism 3 is also connected to the controller that controls the steel plate conveyor roller 1. 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 steel plate conveying direction via a linear track trolley, wherein a camera is provided 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.

[0022] In this embodiment, the above-mentioned device is described in detail in conjunction with a method for automatic length measurement and positioning of steel plates based on visual recognition, which specifically includes the following steps:

[0023] 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.

[0024] S02. The steel plate is conveyed forward by the steel plate conveyor roller 1. The head of the steel plate passes through the steel plate shearing mechanism 2 and enters the length measurement and positioning area with the ruler assembly 5.

[0025] 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 assembly 5 is set according to the length of the steel plate to be cut, and takes pictures of the ruler assembly 5 and the top of the steel plate conveyor roller 1 and performs image recognition. The scale value on the ruler assembly 5 is the distance from the scale to the steel plate shearing mechanism 2.

[0026] 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. 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 cursor formed by the steel plate head in the captured image and the long-direction laser marking line 42 on the steel plate head relative to the set scale on the scale 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 scale 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 recognition 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 wave-shaped deviation 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 a wave deformation on the surface of the steel plate by collecting the shape of the long-directional laser marking line 42, and determine whether the wave deformation of the steel plate exceeds the normal range by analyzing the degree of wave shape of the long-directional laser marking line 42. Furthermore, the long-direction laser marking device 41 is two and forms two long-direction laser marking lines 42 parallel to each other on the surface of the steel plate on the steel plate conveyor roller. The visual positioning mechanism 3 can also judge whether the steel plate has a problem of tilting beyond the tolerance through the position of the two cursors formed by the two long-direction laser marking lines parallel to each other on the head of the steel plate in the image. Only when the steel plate is not tilted, the line connecting the two cursors formed by the two long-direction laser marking lines 42 parallel to each other on the head of the steel plate is perpendicular to the scale assembly. The visual positioning mechanism 3 can quickly judge whether the steel plate has a problem of tilting beyond the normal range by processing and analyzing the image. If the above-mentioned steel plate wave deformation exceeds the normal range or the steel plate tilt exceeds the normal range, the processing can be stopped in time and an alarm can be issued for intervention.

[0027] 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.

[0028] In a further embodiment, the laser marking mechanism 4 further includes a widthwise laser marking device 43, which is fixedly mounted on the visual positioning mechanism 3 and moves with the visual positioning mechanism 3. The widthwise laser marking device 43 faces the steel plate conveyor roller 1 and forms a widthwise laser marking line 44 on the steel plate conveyor roller 1 that is perpendicular to the scale assembly 5. Accordingly, in the automatic length measurement and positioning method for steel plates, specifically in step S04, after the steel plate head enters the imaging and recognition range of the visual positioning mechanism 3, the widthwise laser marking device 43 on the visual positioning mechanism 3 also forms a widthwise laser marking line 44 on the steel plate conveyor roller 1 that is perpendicular to the scale assembly 5. The widthwise laser marking line 44 coincides with the set scale mark on the scale assembly 5. The visual positioning mechanism 3 determines whether the steel plate has reached the set position by determining whether the steel plate head in the image coincides with the widthwise laser marking line 44. This further improves the accuracy of determining the position of the steel plate head.

[0029] In a further preferred embodiment, a temperature sensor 6 is further provided on one side of the steel plate conveyor roller 1. This temperature sensor 6 is located downstream of the steel plate shearing mechanism 2 and detects the temperature of the steel plate being 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 automatically corrects the set length based on the length deviation caused by the expansion of the steel plate at this temperature and moves to the corrected scale position, effectively preventing the problem of the steel plate temperature affecting the length measurement accuracy.

[0030] In addition, a steel plate detection sensor 7 is 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 goes 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.

[0031] 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 based on the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for automatic length measurement and positioning of steel plates based on visual recognition, characterized by: The steel plate is measured and positioned using an automatic length measuring and positioning device for steel plates. The automatic length measuring and positioning device for steel plates includes 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 provided on one side of the steel plate conveying roller in the downstream direction of the steel plate shearing mechanism. The visual positioning mechanism aligns the scale assembly and the steel plate conveying roller and can move back and forth along the direction of steel plate conveyance. The laser marking mechanism includes a long-direction laser marker, which is provided above the steel plate conveying roller and can form a long-direction laser marker on the surface of the steel plate. A longitudinal laser marking line is 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 scale assembly, and the visual positioning mechanism is also connected to the controller that controls the steel plate conveyor roller; the laser marking mechanism also includes a width laser marking device, which is fixedly mounted on the visual positioning mechanism and moves together with the visual positioning mechanism. The width laser marking device is oriented toward the steel plate conveyor roller and forms a width laser marking line on the steel plate conveyor roller that is perpendicular to the scale assembly; specifically, the steps include: 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 steel plate head 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 cut, and takes pictures of the ruler assembly and 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 recognition 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, and the visual positioning mechanism sets the relative position of the scale on the ruler assembly according to the cursor formed by the steel plate head and the long-direction laser marking line in the captured image. At the same time, the width-direction laser marking device on the visual positioning mechanism also forms a width-direction laser marking line perpendicular to the ruler assembly on the steel plate conveyor roller, and the width-direction laser marking line coincides with the set scale on the ruler assembly. The visual positioning mechanism judges whether the steel plate has reached the set position by whether the steel plate head in the image coincides with the width-direction laser marking line, 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 steel plate head 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 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.

2. The method for automatic length measurement and positioning of steel plates based on visual recognition according to claim 1, characterized in that: In step S04, after the head of the steel plate enters the shooting and recognition 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.

3. The method for automatic length measurement and positioning of steel plates based on visual recognition according to claim 2, 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 judges whether there is a problem of excessive tilt of the steel plate 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.

4. The method for automatic length measurement and positioning of steel plates based on visual recognition according to claim 1, 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.

5. The method for automatic length measurement and positioning of steel plates based on visual recognition according to claim 1, 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.

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

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