Steel end point detection method, temperature measurement method and system

Abstract

The invention provides a steel end point detection method and system and a temperature measurement method and system.The steel end point detection method comprises the steps that a visible light image of to-be-detected steel is obtained, a plurality of parallel auxiliary light rays are irradiated in an irradiation area in the visible light image, and the end points of the steel are located in the irradiation area; segmenting the visible light image according to a preset color threshold to obtain a segmented image so as to distinguish the auxiliary light and other areas; obtaining coordinates of a detection point according to the segmentation map; and according to the detection point coordinates, obtaining end point coordinates of each steel material. The plurality of parallel auxiliary light rays are irradiated at the end points of the steel, and image segmentation is performed on the basis of the auxiliary light rays, so that the temperature measurement end points of the steel can be accurately acquired, the temperatures of a plurality of specified position points of each steel can be accurately measured, and the production efficiency of the steel is improved in the automatic production process of the steel. Accurate and rapid online temperature monitoring is achieved, and the automation and intelligence level of the steel production process is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a steel endpoint detection method, a temperature measurement method and a system. Background Art

[0002] The steel industry is a highly automated industry, and many temperature change detection scenarios in the production process of steel pipes, billets and other steel products are in the moving assembly line, such as: roller temperature measurement before entering the tempering furnace, cooling effect monitoring of steel pipes or billets after water quenching, and other transmission processes. Moreover, steel temperature monitoring is not only to detect the temperature of a certain point of the steel, but also to measure the axial temperature distribution of the steel. Taking the production process from billets to steel pipes as an example, this process requires multiple rounds of heating and cooling, and each process needs to monitor its temperature. If the heating or cooling process is unreasonable, resulting in uneven temperature distribution of the steel pipe or inadequate heating and cooling, the produced steel pipe will be insufficient in strength, or even crack and bend, etc., so temperature monitoring in each link of its production process is crucial.

[0003] The transmission methods of steel in the automated production process are usually divided into two types: roller conveyor and cooling bed conveyor. Figure 1 As shown, usually only one tube is transmitted. Based on the thermal image, the steel tube identification and temperature field data extraction can be completed, which is relatively easy to detect. Figure 2 As shown, its transmission efficiency is higher, but it also brings many difficulties: for example, the steel stays at a certain position for a short time, the stop position accuracy is not high, and the length and diameter of the steel are inconsistent. At this time, multiple steel pipes are usually basically aligned at one end, and the spatial position during the movement is not fixed, but the axis is parallel. The steel pipes are thick and thin, and the lengths are different. The temperature is also relatively close. It is difficult to directly segment them through thermal images or visible light images alone. This makes the traditional online temperature measurement method unable to apply to the cooling bed transmission method. The temperature measurement method based on manually holding an infrared temperature measuring gun is time-consuming and labor-intensive, difficult to manage, and has safety hazards, which also lowers the level of automation and intelligence in steel production. Summary of the invention

[0004] In view of the above defects of the prior art, the present invention provides a steel endpoint detection method, a temperature measurement method and a system to solve the technical problem that the temperature measurement endpoint of the steel cannot be accurately obtained under the cooling bed transmission mode.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides a method for detecting endpoints of steel, comprising: obtaining a visible light image of the steel to be detected, wherein a plurality of parallel auxiliary light rays are irradiated in an irradiated area in the visible light image, and the endpoints of the steel are located in the irradiated area; segmenting the visible light image according to a preset color threshold to obtain a segmentation map to distinguish the auxiliary light rays from other areas; obtaining detection point coordinates according to the segmentation map; and obtaining the endpoint coordinates of each of the steel according to the detection point coordinates.

[0006] In one embodiment of the present invention, the length direction of the auxiliary light is perpendicular to the arrangement direction of the steel.

[0007] In one embodiment of the present invention, obtaining the detection point coordinates according to the segmentation map includes: obtaining a plurality of auxiliary light regions according to the segmentation map; and obtaining a detection point coordinate corresponding to each auxiliary light region according to the auxiliary light region.

[0008] In one embodiment of the present invention, the steel material is a steel pipe, and the normal direction of the plane supporting the steel pipe in the segmentation diagram is arranged longitudinally; according to each of the auxiliary light areas, a detection point coordinate corresponding to the auxiliary light area is obtained, including: according to the longitudinal coordinates of all pixel points in each of the auxiliary light areas, the pixel point when the longitudinal coordinate takes the minimum value; according to the pixel point with the minimum longitudinal coordinate, a detection point coordinate corresponding to the auxiliary light area is obtained.

[0009] In one embodiment of the present invention, the endpoint coordinates of each of the steel materials are obtained based on the detection point coordinates, including: grouping and sorting the detection point coordinates to obtain a detection point coordinate group for each of the steel materials; and obtaining the endpoint coordinates of each of the steel materials based on the detection point coordinate group for each of the steel materials.

[0010] In one embodiment of the present invention, the detection point coordinates are grouped and sorted to obtain a detection point coordinate group for each of the steel materials, including: grouping the detection point coordinates according to the arrangement direction of the steel materials; arranging the grouped detection point coordinates along the arrangement direction of the steel materials to obtain a detection point coordinate group for each of the steel materials.

[0011] To achieve the above-mentioned purpose and other related purposes, the present invention also provides a steel temperature measurement method, comprising: acquiring an infrared image of the steel to be detected; obtaining the endpoint coordinates of the steel in the visible light image according to the above-mentioned steel endpoint detection method; obtaining a coordinate conversion matrix between the two images based on the infrared image and the visible light image; obtaining the endpoint coordinates of the steel in the infrared image based on the endpoint coordinates of the steel in the visible light image and the coordinate conversion matrix; and obtaining the temperatures of multiple positions on the steel based on the endpoint coordinates of the steel in the infrared image.

[0012] In one embodiment of the present invention, the temperatures of multiple positions on the steel are obtained according to the endpoint coordinates of the steel in the infrared image, including: obtaining the coordinates of each temperature measuring point of the steel according to the endpoint coordinates of the steel in the infrared image and a preset number of temperature measuring points; and obtaining the temperatures of multiple positions on the steel according to the pixel values ​​corresponding to the coordinates of each temperature measuring point of the steel.

[0013] To achieve the above-mentioned purpose and other related purposes, the present invention also provides a steel temperature measurement system, including: a laser module, used to emit a linear characteristic laser to irradiate the steel to be detected; a visible light probe, used to take a visible light image of the steel to be detected; a thermal imaging probe, used to take an infrared image of the steel to be detected; a controller, used to control the start and stop of the laser module, the visible light probe and the thermal imaging probe; and a processing module, used to receive the visible light image and the infrared image, and obtain the temperature of multiple positions on the steel according to the above-mentioned steel temperature measurement method.

[0014] In one embodiment of the present invention, it also includes a personnel detection module, which sends a command to the controller to turn off the laser module when detecting that a person enters; the laser modules are provided in plurality, and the linear characteristic lasers emitted by the plurality of laser modules are parallel to each other and perpendicular to the arrangement direction of the steel, and each of the laser modules is provided with two line lasers for switching.

[0015] The beneficial effects of the present invention: The present invention proposes a steel endpoint detection method, a temperature measurement method and a system. The endpoint detection method irradiates a plurality of parallel auxiliary light rays at the steel endpoint, performs image segmentation based on the auxiliary light rays, and then identifies the detection points from the segmentation image to obtain the temperature measurement endpoint coordinates of the steel. In this way, the temperature measurement endpoint of the steel can be obtained more accurately, so that when multi-point temperature measurement is performed subsequently, the temperature of multiple designated positions of each steel can be accurately measured, so that in the automated production process of steel, accurate and rapid online temperature monitoring can be achieved, further improving the automation and intelligence level of the steel production process. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 1 A schematic diagram of a roller conveying method provided in one embodiment of the present invention; Figure 2 A schematic diagram of a cooling bed transmission method provided by an embodiment of the present invention; Figure 3 A flow chart of a steel endpoint detection method provided by an embodiment of the present invention; Figure 4 A schematic diagram of an irradiation area provided by an embodiment of the present invention; Figure 5 A schematic diagram of an auxiliary light beam irradiating a steel material according to an embodiment of the present invention; Figure 6 A detailed flowchart of step S300 provided for one embodiment of the present invention; Figure 7 A detailed flowchart of step S320 provided for one embodiment of the present invention; Figure 8 A detailed flowchart of step S400 provided for one embodiment of the present invention; Fig. 9 A detailed flowchart of step S410 provided for one embodiment of the present invention; Fig.10 A flow chart of a steel temperature measurement method provided by an embodiment of the present invention; Fig.11 A detailed flowchart of step S50 provided for one embodiment of the present invention; Fig.12 A schematic diagram of a steel temperature measurement system provided in one embodiment of the present invention.

[0018] Explanation of the reference numerals: 101, laser module; 102, visible light probe; 103, thermal imaging probe; 104, controller; 105, processing module; 106, personnel detection module. DETAILED DESCRIPTION

[0019] The following describes the embodiments of the present invention through specific specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. It should be noted that the following embodiments and the features in the embodiments can be combined with each other without conflict. In addition to the specific methods, equipment, and materials used in the embodiments, according to the technical personnel in this technical field's grasp of the prior art and the records of the present invention, any methods, equipment, and materials of the prior art that are similar or equivalent to the methods, equipment, and materials described in the embodiments of the present invention can also be used to implement the present invention.

[0020] It should be understood that the terms used in the embodiments of the present invention are for describing specific embodiments rather than for limiting the scope of protection of the present invention. Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those generally understood by those skilled in the art.

[0021] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions under which the present invention can be implemented, so they have no substantive technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. In addition, the drawings only show the components related to the present invention rather than the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in actual implementation can be changed arbitrarily, and the component layout type may also be more complicated.

[0022] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In some of the embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0023] The flowchart and block diagram in the accompanying drawings illustrate the system architecture, functions and operations that may be implemented according to the methods and computer program products of various embodiments disclosed in the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for implementing 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 boxes represented in succession 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 the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0024] See also Figure 3 , Figure 3 A steel endpoint detection method provided in an embodiment of the present invention includes steps S100 to S400.

[0025] Step S100, obtain a visible light image of the steel to be inspected, wherein a plurality of parallel auxiliary light rays are irradiated in the irradiated area of ​​the visible light image, and the endpoints of the steel are located in the irradiated area. The visible light image is an image taken with a general high-definition camera, and its shooting angle needs to cover the steel to be inspected. In this step, the irradiated area is a virtual area, and its purpose is to illustrate the irradiation range of the auxiliary light rays. Since the endpoints of the steel need to be obtained by processing the auxiliary light rays in subsequent steps, the irradiated area needs to cover the endpoints of the steel to be inspected.

[0026] See also Figure 4 In a specific embodiment of the present invention, one end of the multiple steel pipes to be inspected is aligned (theoretically, they are aligned, but in reality there will be a slight offset), and the other ends are of different lengths. At this time, two irradiation areas can be set, one of which is smaller and corresponds to the end where the multiple steel pipes are aligned, and a small amount of auxiliary light can be set in this irradiation area; the other irradiation area is larger and can cover the other end of the steel pipes of all lengths, and a larger number of auxiliary light can be set in this irradiation area.

[0027] In this step, the auxiliary light is used to assist in locating the endpoints of the steel. After the auxiliary light is irradiated on the steel, an auxiliary light area will be obtained. By processing these auxiliary light areas, the endpoints of the steel are obtained. In order to facilitate the subsequent segmentation process, the color of the auxiliary light should be as different as possible from the color of other areas such as the steel and background in the visible light image, for example, it can be green or red. Figure 5The figure shows a visible light image with only one auxiliary light. From this figure, we can see that the color of the steel itself is close, and the color of the steel and the background area is also close. If we simply segment the steel, it is difficult to achieve accurate segmentation. Figure 5 As can be seen, the auxiliary light has obvious color difference from other areas and can be easily segmented.

[0028] In the present invention, auxiliary light is needed to locate the endpoint of the steel. Therefore, multiple parallel auxiliary light beams are set. In order to better locate, in a specific embodiment of the present invention, the length direction of the auxiliary light beam is perpendicular to the arrangement direction of the steel. The auxiliary light beams are strips, and their length direction is the direction corresponding to the projection of the auxiliary light beam as a straight line. The arrangement direction of the steel corresponds to the length direction of the steel itself, for example Figure 1 and Figure 2 In the test, the arrangement direction of the steel is horizontal. Setting these two directions vertically will make the projection area of ​​the auxiliary light on the steel relatively small, which is more conducive to obtaining the position of the detection point. Figure 4 The diagram shows the situation where the length direction of the auxiliary light is perpendicular to the arrangement direction of the steel.

[0029] Step S200: segment the visible light image according to a preset color threshold to obtain a segmentation map to distinguish the auxiliary light and other areas. The segmentation map can be a binary image, for example, and the auxiliary light and other areas correspond to different values. In this step, other areas refer to all areas other than the auxiliary light.

[0030] Step S300: Obtain the coordinates of the detection points according to the segmentation map. This step mainly processes the segmentation map to identify the positions of the detection points therein, thereby obtaining the coordinate information of the detection points.

[0031] See also Figure 6 In a specific embodiment of the present invention, step S300 includes step S310 and step S320.

[0032] Step S310: Obtain multiple auxiliary light regions according to the segmentation graph. Since each auxiliary light will form a corresponding auxiliary light region on each steel, there will be multiple auxiliary light regions in the final segmentation graph. In this step, each auxiliary light region is extracted from the segmentation graph so that it can be processed one by one later.

[0033] Step S320, according to each auxiliary light area, obtain the coordinates of a detection point corresponding to the auxiliary light area. The detection point in this step is the point on the steel material where temperature detection is required, and this position can be set according to demand. After the detection point selection rule is set, the processing process of step S320 can be specifically set according to the rule. The following takes a steel pipe as an example, and defines the top of the steel pipe as the detection point to illustrate the process of obtaining the detection point coordinates.

[0034] See also Figure 7 In a specific embodiment of the present invention, the steel material is a steel pipe, and the normal direction of the plane supporting the steel pipe (i.e., the transportation plane) in the segmentation diagram is arranged longitudinally. In specific implementation, the angle of the probe for shooting the visible light image can be adjusted so that the normal direction of the transportation plane is arranged longitudinally in the visible light image; or before the visible light image is segmented, the visible light image is rotated so that the normal direction of the transportation plane is arranged longitudinally. In this way, in the segmentation diagram obtained after the segmentation process, the normal direction of the transportation plane will be arranged longitudinally. Obviously, it is more convenient to adjust the angle of the probe for shooting the visible light image.

[0035] Under the above premise, step S320 includes step S321 and step S322.

[0036] Step S321, according to the ordinates of all the pixels in each auxiliary light area, obtain the pixel point when the ordinate takes the minimum value. In the image, the coordinates of the upper left corner are generally (0,0) and the coordinates of the lower right corner are the largest. The auxiliary light is irradiated on the steel pipe, and the auxiliary light area formed is an arc shape as a whole. When its Y coordinate takes the minimum value, it corresponds to the top position of the steel pipe. There may be only one pixel point when the ordinate takes the minimum value, or there may be multiple pixels.

[0037] Step S322: Obtain the coordinates of a detection point corresponding to the auxiliary light area according to the pixel point with the minimum vertical coordinate. If only one pixel point is obtained in step S321, then the pixel point can be used as the detection point, and its coordinates are the detection point coordinates; if multiple pixel points are obtained, any one of them or the pixel point close to the middle position can be selected as the detection point.

[0038] The above steps are only explained by taking steel pipe as an example. It is also applicable to pipe steel, but not necessarily applicable to other shapes of steel, such as square billets. For other shapes of steel, different processing procedures can be set as needed to obtain detection points.

[0039] Step S400: Obtain the endpoint coordinates of each steel material according to the detection point coordinates. The more auxiliary rays there are, the more detection point coordinates on each steel material will be obtained, and ultimately the endpoints of the steel material need to be obtained according to these detection points.

[0040] See also Figure 8 In a specific embodiment of the present invention, step S400 includes step S410 and step S420.

[0041] Step S410: Group and sort the detection point coordinates to obtain a detection point coordinate group for each steel material. There are many detection points obtained in step S300, and they are not related to each other. In this step, the detection point coordinates need to be processed to put the detection point coordinates of each steel material in one group and arrange them in order.

[0042] See also Fig. 9 In a specific embodiment of the present invention, step S410 includes: S411, grouping the detection point coordinates according to the arrangement direction of the steel; the arrangement direction of the steel, as mentioned above, is equivalent to the length direction of the steel. When performing the grouping, for example, a straight line parallel to the arrangement direction of the steel can be drawn through the coordinate point (0,0), and then the distance from all the detection points to the straight line is calculated, and these detection points are divided into multiple groups according to the interval to which the distance belongs. S412, arranging the grouped detection point coordinates along the arrangement direction of the steel to obtain a detection point coordinate group for each steel. Arranging along the arrangement direction of the steel means that the horizontal coordinate (or vertical coordinate) gradually increases (or gradually decreases).

[0043] Step S420: Obtain the endpoint coordinates of each steel material according to the detection point coordinate group of each steel material. For example, the detection point coordinate group of all steel materials is recorded as {(P 11 ,P 12 ,…,P 1c ),(P 21 ,P 22 ,…,P 2d ),…,(P N1 ,P N2 ,…,P Nf )}, where N is the number of steels on the visible light image, c is the number of detection points on the first steel, d is the number of detection points on the second steel, and f is the number of detection points on the Nth steel. The number of detection points on each steel is related to the length of the steel and the density of the auxiliary light. Since these coordinates have been sorted, the endpoint coordinates of all steels are {(P 11 ,P 1c ),(P 21 ,P 2d ),…,(P N1 ,P Nf )}. Among them, P 11 and P 1c Corresponding to the two end points of the first steel bar, P 21 and P2d Corresponding to the two end points of the second steel bar, P N1 and P Nf The corresponding two end points are the end points of the Nth steel bar. At this point, the end point coordinates of all steel bars can be obtained.

[0044] See also Fig.10 , Fig.10 A steel temperature measurement method provided in an embodiment of the present invention includes steps S10 to S50.

[0045] Step S10, obtaining an infrared image of the steel to be inspected. In this step, when obtaining the infrared image, try to keep the angle consistent with the visible light image, so as to ensure that the steel endpoints in the visible light image appear in the infrared image, which is beneficial for subsequent further processing.

[0046] Step S20: Obtain the endpoint coordinates of the steel in the visible light image according to the aforementioned steel endpoint detection method. For example, the endpoint coordinates of the visible light image are {(P 11 ,P 1c ),(P 21 ,P 2d ),…,(P N1 ,P Nf )}.

[0047] Step S30: Obtain a coordinate transformation matrix between the infrared image and the visible light image. In this step, the transformation relationship between the two images needs to be solved, which can be achieved in many ways.

[0048] In a specific embodiment of the present invention, three or more reference points are set within the field of view of two cameras. These reference points are located in the horizontal plane and appear in both the infrared image and the visible light image. Then, the coordinate transformation matrix is ​​solved based on the coordinates of these reference points in the two images.

[0049] Step S40: Obtain the endpoint coordinates of the steel in the infrared image according to the endpoint coordinates of the steel in the visible light image and the coordinate transformation matrix. This step is to transform the endpoint coordinates in the visible light image through the coordinate transformation matrix to obtain the endpoint coordinates of the steel in the infrared image {(P' 11 ,P' 1c ),(P' 21 ,P' 2d ),…,(P' N1 ,P' Nf )}.

[0050] Step S50: obtaining the temperatures of multiple positions on the steel material according to the endpoint coordinates of the steel material in the infrared image.

[0051] See also Fig.11 In a specific embodiment of the present invention, step S50 includes: S51, according to the endpoint coordinates of the steel in the infrared image and the preset number of temperature measurement points, obtain the coordinates of each temperature measurement point of the steel; for example, each steel needs to detect the temperature of ten points, then the coordinates of ten temperature measurement points can be calculated according to the endpoints of each steel. S52, according to the pixel value corresponding to each temperature measurement point coordinate of the steel, obtain the temperature of multiple positions on the steel.

[0052] It can be understood that the above-mentioned processing of the visible light image or infrared image may also include processing processes such as distortion correction and image enhancement, which are conventional processing methods in image processing.

[0053] It should be noted that the step division of the above methods is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they contain the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0054] See also Fig.12 , Fig.12 A steel temperature measurement system provided in one embodiment of the present invention includes a laser module 101 , a visible light probe 102 , a thermal imaging probe 103 , a controller 104 and a processing module 105 .

[0055] The laser module 101 is used to emit a linear characteristic laser to illuminate the steel to be inspected. Multiple laser modules 101 can be configured according to the length range of the steel. All laser modules 101 are connected to the control box through cables, and their switch states are controlled by the PLC controller in the control box and powered by the power supply in the control box.

[0056] The visible light probe 102 is used to take a visible light image of the steel to be inspected, and the thermal imaging probe 103 is used to take an infrared image of the steel to be inspected. The two probes are arranged adjacent to each other as much as possible so that the visual ranges of the obtained visible light image and infrared image are close.

[0057] The controller 104 is used to control the start and stop of the laser module, the visible light probe and the thermal imaging probe. In the automated production line of steel, a PLC controller is often set to control the automated production process. To save costs, the PLC controller can be directly used as the controller 104 in the present invention, that is, the function of controlling the start and stop of each component is realized by the PLC controller.

[0058] The processing module 105 is used to receive visible light images and infrared images, and obtain the temperature of multiple positions on the steel according to the above-mentioned steel temperature measurement method. The processing module 105 can be, for example, an industrial computer or a computer, on which software is installed. By inputting the visible light image and the infrared image into the software, the temperature of each point can be automatically output. During specific execution, the temperature of each point can be displayed in a visual manner in the software interface, and the opening state of the laser module 101 can also be displayed in the software interface, and some basic software settings can also be provided to configure the temperature measurement process, such as setting the number of temperature measurement points, etc. Data can be transmitted between the processing module 105 and the controller 104 through optical fiber.

[0059] In a specific embodiment of the present invention, a personnel detection module 106 is further included. When the personnel detection module 106 detects that a person has entered, it sends a command to the controller 104 to shut down the laser module 101. The personnel detection module 106 can, for example, directly recognize the image of the scene to determine whether there is a person entering. The advantage of this is that the safety of laser use can be ensured.

[0060] In a specific embodiment of the present invention, a plurality of laser modules 101 are provided, and the linear characteristic lasers emitted by the plurality of laser modules 101 are parallel to each other and perpendicular to the arrangement direction of the steel. The purpose of doing so has been described in detail in the previous description of the relevant method and will not be repeated here. Two linear lasers are provided in each laser module 101 for switching, one for use and one for backup, and can be switched once according to a preset time (for example, 12 hours or 24 hours) to ensure that the laser module 101 can operate stably for a long time.

[0061] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A steel endpoint detection method, characterized in that: include: Acquire a visible light image of the steel to be inspected, wherein a plurality of parallel auxiliary light rays are irradiated in an irradiation area of ​​the visible light image, and an end point of the steel is located in the irradiation area; Segmenting the visible light image according to a preset color threshold to obtain a segmentation map to distinguish the auxiliary light from other areas; According to the segmentation map, the coordinates of the detection points are obtained; The endpoint coordinates of each of the steel products are obtained according to the detection point coordinates.

2. The steel endpoint detection method according to claim 1, characterized in that: The length direction of the auxiliary light is perpendicular to the arrangement direction of the steel materials.

3. The steel endpoint detection method according to claim 1, characterized in that: According to the segmentation map, the coordinates of the detection points are obtained, including: According to the segmentation map, a plurality of auxiliary light regions are obtained; According to each auxiliary light area, a detection point coordinate corresponding to the auxiliary light area is obtained.

4. The steel endpoint detection method according to claim 3, characterized in that: The steel material is a steel pipe, and the normal direction of the plane supporting the steel pipe in the segmentation diagram is arranged along the longitudinal direction; According to each auxiliary light area, obtaining a detection point coordinate corresponding to the auxiliary light area includes: According to the ordinates of all the pixel points in each auxiliary light area, the pixel point at which the ordinate takes the minimum value is obtained; According to the pixel point with the minimum vertical coordinate, the coordinates of a detection point corresponding to the auxiliary light area are obtained.

5. The steel endpoint detection method according to claim 1, characterized in that: According to the detection point coordinates, the endpoint coordinates of each of the steel products are obtained, including: Grouping and sorting the detection point coordinates to obtain a detection point coordinate group for each of the steel products; According to the detection point coordinate group of each steel product, the endpoint coordinates of each steel product are obtained.

6. The steel endpoint detection method according to claim 5, characterized in that: The detection point coordinates are grouped and sorted to obtain a detection point coordinate group for each steel material, including: According to the arrangement direction of the steel materials, the detection point coordinates are grouped according to the steel materials; The grouped detection point coordinates are arranged along the arrangement direction of the steel materials to obtain a detection point coordinate group for each of the steel materials.

7. A method for measuring temperature of steel, characterized in that: include: Acquire infrared images of the steel to be inspected; According to any one of claims 1 to 6, the endpoint coordinates of the steel in the visible light image are obtained; According to the infrared image and the visible light image, a coordinate transformation matrix between the two images is obtained; Obtaining the endpoint coordinates of the steel in the infrared image according to the endpoint coordinates of the steel in the visible light image and the coordinate conversion matrix; The temperatures of multiple positions on the steel material are obtained according to the endpoint coordinates of the steel material in the infrared image.

8. The steel material temperature measurement method according to claim 7, characterized in that: According to the endpoint coordinates of the steel in the infrared image, the temperatures of multiple positions on the steel are obtained, including: According to the endpoint coordinates of the steel in the infrared image and the preset number of temperature measurement points, the coordinates of each temperature measurement point of the steel are obtained; The temperatures of multiple positions on the steel material are obtained according to the pixel values ​​corresponding to the coordinates of each temperature measuring point on the steel material.

9. A steel temperature measurement system, characterized in that: include: A laser module is used to emit a linear characteristic laser to illuminate the steel to be inspected; A visible light probe, used for taking a visible light image of the steel to be inspected; A thermal imaging probe, used for taking an infrared image of the steel to be inspected; A controller, used to control the start and stop of the laser module, the visible light probe and the thermal imaging probe; and A processing module is used to receive the visible light image and the infrared image, and obtain the temperature of multiple positions on the steel according to the steel temperature measurement method according to claim 7 or 8.

10. The steel material temperature measurement system according to claim 9, characterized in that: It also includes a personnel detection module, which sends a command to the controller to turn off the laser module when detecting that a person enters; There are multiple laser modules, and the linear characteristic lasers emitted by the multiple laser modules are parallel to each other and perpendicular to the arrangement direction of the steel materials. Each laser module is provided with two linear lasers for switching.

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