A steel end point detection method, temperature measurement method and system

Abstract

The application provides a steel end point detection method, a temperature measurement method and a system. The steel end point detection method comprises the following steps: obtaining a visible light image of a steel to be detected; a plurality of parallel auxiliary light rays are irradiated in an irradiation area in the visible light image, and an end point of the steel is located in the irradiation area; the visible light image is segmented according to a preset color threshold to obtain a segmentation image, so as to distinguish the auxiliary light rays from other areas; the coordinates of detection points are obtained according to the segmentation image; and the coordinates of the end points of each steel are obtained according to the coordinates of the detection points. A plurality of parallel auxiliary light rays are irradiated at the end points of the steels, and image segmentation is performed based on the auxiliary light rays. Therefore, the end points of the steels for temperature measurement can be accurately obtained, the temperatures of a plurality of specified position points of each steel can be accurately measured, accurate and rapid online monitoring of the temperature can be realized in the automatic production process of the steels, and the automation and intelligent level of the production process of the steels is further improved.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and in particular to a method and system for detecting the endpoints of steel materials and for measuring temperature. Background Technology

[0002] The steel industry is highly automated, and temperature change monitoring in the production of steel pipes, billets, and other steel products occurs frequently in moving production lines. Examples include: temperature measurement on roller conveyors before entering the tempering furnace, monitoring the cooling effect of water-quenched steel pipes or billets, and other transport processes. Furthermore, steel temperature monitoring involves not only measuring the temperature at a single point but also measuring the axial temperature distribution. Taking the production process from billet to pipe as an example, this process requires multiple rounds of heating and cooling, and the temperature at each stage needs to be monitored. If the heating or cooling process is inadequate, resulting in uneven temperature distribution or insufficient heating and cooling, the produced steel pipes may lack strength or even crack and bend. Therefore, temperature monitoring at every stage of the production process is crucial.

[0003] In automated production processes, steel is typically conveyed using two methods: roller conveyor and cooling bed conveyor. Roller conveyor methods include... Figure 1 As shown, typically only one pipe is transmitted. The identification of the steel pipe and the extraction of temperature field data can be completed based on the thermal map, making it relatively easy to inspect. The cold bed transmission method is as follows... Figure 2 As shown, while its transmission efficiency is higher, it also brings many challenges: for example, the steel's dwell time at a certain position is short, the accuracy of the dwell position is not high, and the length and diameter of the steel are inconsistent. In this case, multiple steel pipes are usually roughly aligned at one end, their spatial positions during travel are not fixed, but they are axially parallel. The steel pipes vary in thickness and length, and their temperatures are relatively similar. It is difficult to directly separate them using only thermal maps or visible light images, which makes traditional online temperature measurement methods unsuitable for cold bed transmission. Furthermore, temperature measurement methods based on manually held infrared thermometers are time-consuming, labor-intensive, difficult to manage, and pose safety hazards, thus lowering the level of automation and intelligence in steel production. Summary of the Invention

[0004] In view of the above-mentioned deficiencies of the prior art, the present invention provides a steel end point detection method, temperature measurement method and system to solve the technical problem that the temperature measurement end point of steel cannot be accurately obtained under the cold bed transmission method.

[0005] To achieve the above and other related objectives, the present invention provides a method for detecting the endpoints of steel, comprising: acquiring a visible light image of the steel to be detected, wherein multiple parallel auxiliary light rays are irradiated within an irradiation area in the visible light image, and the endpoints of the steel are located within the irradiation 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 the coordinates of detection points according to the segmentation map; and obtaining the coordinates of the endpoints of each steel member according to the coordinates of the detection points.

[0006] In one embodiment of the present invention, the longitudinal 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 based on the segmentation map includes: obtaining multiple auxiliary light regions based on the segmentation map; and obtaining the detection point coordinates corresponding to each auxiliary light region based on each 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 auxiliary light area, the coordinates of a detection point corresponding to the auxiliary light area are obtained, including: according to the ordinates of all pixels in each auxiliary light area, the pixel point whose ordinate is the minimum value is obtained; according to the pixel point whose ordinate is the minimum value, the coordinates of a detection point corresponding to the auxiliary light area are obtained.

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

[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 steel material, including: grouping the detection point coordinates according to the steel material according to the arrangement direction of the steel material; arranging the grouped detection point coordinates along the arrangement direction of the steel material to obtain a detection point coordinate group for each steel material.

[0011] To achieve the above and other related objectives, the present invention also provides a method for measuring the temperature of steel, comprising: acquiring an infrared image of the steel to be tested; obtaining the endpoint coordinates of the steel in a visible light image according to the above-described steel endpoint detection method; obtaining a coordinate transformation matrix between the infrared image and the visible light image; 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 transformation matrix; and obtaining the temperature at multiple locations on the steel according to the endpoint coordinates of the steel in the infrared image.

[0012] In one embodiment of the present invention, the temperature of multiple locations on the steel is obtained based on the endpoint coordinates of the steel in an infrared image, including: obtaining the coordinates of each temperature measuring point of the steel based on the endpoint coordinates of the steel in the infrared image and a preset number of temperature measuring points; and obtaining the temperature of multiple locations on the steel based on the pixel value corresponding to the coordinates of each temperature measuring point of the steel.

[0013] To achieve the above and other related objectives, the present invention also provides a steel temperature measurement system, comprising: a laser module for emitting a linear characteristic laser to irradiate the steel to be tested; a visible light probe for capturing a visible light image of the steel to be tested; a thermal imaging probe for capturing an infrared image of the steel to be tested; a controller for controlling the start and stop of the laser module, the visible light probe, and the thermal imaging probe; and a processing module for receiving the visible light image and the infrared image, and obtaining the temperature at multiple locations on the steel according to the above-described steel temperature measurement method.

[0014] In one embodiment of the present invention, a personnel detection module is further included. When the personnel detection module detects personnel entering, it sends an instruction to the controller to shut down the laser module. Multiple laser modules are provided, 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. Each laser module is provided with two line lasers for switching.

[0015] The beneficial effects of this invention are as follows: This invention proposes a steel end-point detection method, temperature measurement method, and system. The end-point detection method involves irradiating multiple parallel auxiliary light rays at the end points of the steel material, performing image segmentation based on these auxiliary light rays, identifying detection points from the segmented image, and obtaining the coordinates of the temperature measurement end points of the steel material. This allows for more accurate acquisition of the steel temperature measurement end points, enabling accurate measurement of the temperature at multiple specified locations on each steel material during subsequent multi-point temperature measurement. This allows for accurate and rapid online temperature monitoring during automated steel production, further improving the automation and intelligence level of the steel production process. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a roller conveyor system provided in an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of a cold bed transmission method provided in an embodiment of the present invention;

[0019] Figure 3 A flowchart of a steel end point detection method provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of an irradiation area provided in an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of an auxiliary light beam illuminating steel according to an embodiment of the present invention;

[0022] Figure 6 A detailed flowchart of step S300 provided in an embodiment of the present invention;

[0023] Figure 7 A detailed flowchart of step S320 provided in an embodiment of the present invention;

[0024] Figure 8 A detailed flowchart of step S400 provided in an embodiment of the present invention;

[0025] Figure 9 A detailed flowchart of step S410 provided in an embodiment of the present invention;

[0026] Figure 10 A flowchart of a steel temperature measurement method provided in an embodiment of the present invention;

[0027] Figure 11 A detailed flowchart of step S50 provided in an embodiment of the present invention;

[0028] Figure 12 This is a schematic diagram of a steel temperature measurement system provided in an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached diagram: 101, laser module; 102, visible light probe; 103, thermal imaging probe; 104, controller; 105, processing module; 106, personnel detection module. Detailed Implementation

[0030] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. In addition to the specific methods, equipment, and materials used in the embodiments, based on the knowledge of the prior art and the description of the present invention by those skilled in the art, any prior art methods, equipment, and materials similar to or equivalent to those described in the embodiments of the present invention can be used to implement the present invention.

[0031] It should be understood that the terminology used in the embodiments of this invention is for describing specific implementations and not for limiting the scope of protection of this invention. Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art.

[0032] The structures, proportions, and sizes illustrated in the accompanying drawings are solely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the implementation of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and objectives of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the drawings only show components relevant to the invention and are not drawn according to the actual number, shape, and size of components in practice. In actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may be more complex.

[0033] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In some embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0034] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions, and operations that may be implemented in the methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0035] Please see Figure 3 , Figure 3 A method for detecting the endpoints of steel provided in an embodiment of the present invention includes steps S100 to S400.

[0036] Step S100: Acquire a visible light image of the steel to be inspected. Multiple parallel auxiliary light rays illuminate the illumination area in the visible light image, and the endpoints of the steel are located within this illumination area. The visible light image is an image captured by a standard high-definition camera, and its shooting angle needs to cover the steel to be inspected. In this step, the illumination area is a virtual area, its purpose being to illustrate the illumination range of the auxiliary light rays. Since subsequent steps require processing the auxiliary light rays to obtain the endpoints of the steel, the illumination area needs to cover the endpoints of the steel to be inspected.

[0037] Please see Figure 4 In one specific embodiment of the present invention, multiple steel pipes to be detected are aligned at one end (theoretically aligned, but in reality there will be a slight offset), while the other ends are of different lengths. In this case, two illumination areas can be set up. One illumination area is smaller and corresponds to the end where the multiple steel pipes are aligned. A small number of auxiliary lights can be set in this illumination area. The other illumination area is larger and can cover the other end of all the steel pipes of all lengths. A larger number of auxiliary lights can be set in this illumination area.

[0038] In this step, the auxiliary light is used to assist in locating the endpoints of the steel. After the auxiliary light shines on the steel, an auxiliary light region is obtained. By processing these auxiliary light regions, the endpoints of the steel are determined. To facilitate subsequent segmentation processing, the color of the auxiliary light should be significantly different from the colors of the steel, background, and other areas in the visible light image; for example, it could be green or red. Figure 5The image shown depicts a visible light image with only one auxiliary ray. As can be seen from this image, the steel itself is a similar color to the background area, making accurate segmentation of the steel difficult. However, it's possible to achieve this by simply dividing the steel into segments. Figure 5 As can be seen, the auxiliary light has a significant color difference from other areas, making it easy to segment.

[0039] In this invention, auxiliary light rays are needed to locate the endpoints of the steel. Therefore, multiple parallel auxiliary light rays are provided. To improve positioning, in a specific embodiment of this invention, the length direction of the auxiliary light rays is perpendicular to the arrangement direction of the steel. The auxiliary light rays are individual rays, and their length direction corresponds to the direction in which the auxiliary light ray is projected 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 this setup, the steel components are arranged horizontally. Setting these two directions perpendicularly results in a smaller projection area of ​​the auxiliary light on the steel, making it easier to determine the location of the detection point. Figure 4 The diagram illustrates the case where the length direction of the auxiliary light beam is perpendicular to the arrangement direction of the steel.

[0040] Step S200: Segment the visible light image according to a preset color threshold to obtain a segmentation map, thereby distinguishing auxiliary light rays from other regions. The segmentation map can be, for example, a binary image, with different values ​​corresponding to auxiliary light rays and other regions. In this step, "other regions" refers to all regions other than the auxiliary light rays.

[0041] Step S300: Obtain the coordinates of the detection points based on the segmentation map. This step mainly involves processing the segmentation map to identify the locations of the detection points and thus obtain their coordinate information.

[0042] Please see Figure 6 In a specific embodiment of the present invention, step S300 includes steps S310 and S320.

[0043] Step S310: Based on the segmentation image, multiple auxiliary ray regions are obtained. Since each auxiliary ray forms a corresponding auxiliary ray region on each piece of steel, the final segmentation image will contain multiple auxiliary ray regions. In this step, each auxiliary ray region is extracted from the segmentation image for subsequent processing.

[0044] Step S320: Obtain the coordinates of a detection point corresponding to each auxiliary light area. The detection point in this step is the point on the steel that needs temperature detection; this location can be set according to requirements. After setting the rules for selecting the detection points, the processing procedure in step S320 can be specifically set according to these rules. The following example uses a steel pipe, defining the top of the steel pipe as the detection point, to illustrate the process of obtaining the detection point coordinates.

[0045] Please see Figure 7 In one 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 transport plane) in the segmentation diagram is arranged longitudinally. In practice, the angle of the probe capturing the visible light image can be adjusted to ensure the normal direction of the transport plane is arranged longitudinally in the visible light image; or the visible light image can be rotated before segmentation to ensure the normal direction of the transport plane is arranged longitudinally. Thus, in the segmented diagram obtained after segmentation, the normal direction of the transport plane will be arranged longitudinally. Clearly, adjusting the angle of the probe capturing the visible light image is more convenient.

[0046] Under the above premise, step S320 includes steps S321 and S322.

[0047] Step S321: Based on the y-coordinates of all pixels in each auxiliary light region, obtain the pixel whose y-coordinate is at its minimum value. In the image, the coordinates of the top left corner are generally (0,0), and the coordinates of the bottom right corner are at their maximum. When the auxiliary light shines on the steel pipe, the overall auxiliary light region is arc-shaped. When its y-coordinate is at its minimum value, it corresponds to the top position of the steel pipe. There may be only one pixel with the minimum y-coordinate, or there may be multiple pixels.

[0048] Step S322: Obtain the coordinates of a detection point corresponding to the auxiliary light area based on the pixel with the minimum vertical coordinate. If only one pixel is obtained in step S321, then that pixel can be used as a detection point, and its coordinates are the detection point coordinates; if multiple pixels are obtained, any one of them or the pixel closest to the middle position can be selected as the detection point.

[0049] The above steps are illustrated using steel pipes as an example. They are applicable to all types of steel pipes, but may not be suitable for other shapes, such as square steel billets. For other shapes, different processing procedures can be set up to obtain testing points as needed.

[0050] Step S400: Obtain the endpoint coordinates of each steel piece based on the detection point coordinates. The more auxiliary rays there are, the more detection point coordinates will be obtained on each steel piece. Ultimately, the endpoints of the steel pieces need to be determined based on these detection points.

[0051] Please see Figure 8 In a specific embodiment of the present invention, step S400 includes steps S410 and S420.

[0052] Step S410: Group and sort the detection point coordinates to obtain a detection point coordinate group for each steel material. Since there are many detection points obtained in step S300, and they are unrelated to each other, this step requires processing the detection point coordinates to group the detection point coordinates of each steel material together and arrange them in order.

[0053] Please see Figure 9 In a specific embodiment of the present invention, step S410 includes: S411, grouping the coordinates of the detection points according to the arrangement direction of the steel; the arrangement direction of the steel, as mentioned earlier, is equivalent to the length direction of the steel. In specific 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 detection points to this straight line can be calculated. Based on the interval to which the distance belongs, these detection points are divided into multiple groups. 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).

[0054] Step S420: Obtain the endpoint coordinates of each steel material based on the coordinate set of the detection points for each steel material. For example, the coordinate set of the detection points for all steel materials is denoted 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 steel bars in the visible light image, c is the number of detection points on the first steel bar, d is the number of detection points on the second steel bar, and f is the number of detection points on the Nth steel bar. The number of detection points on each steel bar is related to the length of the steel bar and the density of the auxiliary light. Since these coordinates have been sorted, the endpoint coordinates of all steel bars are {(P 11 ,P 1c ),(P 21 ,P 2d ),…,(P N1 ,P Nf )}. Among them, P 11 and P 1c This corresponds to the two ends of the first steel bar, P. 21 and P2d This corresponds to the two ends of the second steel bar, P. N1 and P Nf This corresponds to the two endpoints of the Nth steel bar. At this point, the endpoint coordinates of all steel bars can be obtained.

[0055] Please see Figure 10 , Figure 10 A method for measuring the temperature of steel provided in an embodiment of the present invention includes steps S10 to S50.

[0056] Step S10: Acquire an infrared image of the steel to be inspected. In this step, when acquiring the infrared image, try to keep the angle consistent with the visible light image. This ensures that the endpoints of the steel in the visible light image appear in the infrared image, which is beneficial for subsequent processing.

[0057] Step S20: Following the aforementioned steel endpoint detection method, obtain the endpoint coordinates of the steel in the visible light image. For example, the endpoint coordinates of the visible light image are {(P 11 ,P 1c ),(P 21 ,P 2d ),…,(P N1 ,P Nf )}.

[0058] Step S30: Obtain the coordinate transformation matrix between the infrared and visible light images. This step requires solving the transformation relationship between the two images, which can be achieved through various methods.

[0059] 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.

[0060] Step S40: Based on the endpoint coordinates of the steel in the visible light image and the coordinate transformation matrix, obtain the endpoint coordinates of the steel in the infrared image. This step involves transforming the endpoint coordinates in the visible light image using a coordinate transformation matrix to obtain the endpoint coordinates {(P' 11 ,P' 1c ),(P' 21 ,P' 2d ),…,(P' N1 ,P' Nf )}.

[0061] Step S50: Based on the endpoint coordinates of the steel in the infrared image, obtain the temperature at multiple locations on the steel.

[0062] Please seeFigure 11 In a specific embodiment of the present invention, step S50 includes: S51, obtaining the coordinates of each temperature measuring point of the steel according to the endpoint coordinates of the steel in the infrared image and the preset number of temperature measuring points; for example, if the temperature of each steel needs to be measured at ten points, then the coordinates of the ten temperature measuring points can be calculated according to the endpoints of each steel. S52, obtaining the temperature at multiple locations on the steel according to the pixel value corresponding to the coordinates of each temperature measuring point of the steel.

[0063] Understandably, the above-mentioned processing of visible light or infrared images may also include distortion correction, image enhancement, and other processing procedures, which are all conventional processing methods in image processing.

[0064] It should be noted that the steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split 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 or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0065] Please see Figure 12 , Figure 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.

[0066] Laser module 101 is used to emit linear characteristic laser light to irradiate the steel to be inspected. Multiple laser modules 101 can be configured according to the length variation range of the steel. All laser modules 101 are connected to the control box via cables, and their on / off status is controlled by the PLC controller in the control box, and they are powered by the power supply in the control box.

[0067] Visible light probe 102 is used to capture a visible light image of the steel to be inspected; thermal imaging probe 103 is used to capture an infrared image of the steel to be inspected. These two probes are arranged as close as possible to ensure that the visible light and infrared images have similar ranges.

[0068] Controller 104 is used to control the start and stop of the laser module, visible light probe, and thermal imaging probe. In automated steel production lines, PLC controllers are often used to control the automated production process. To save costs, this invention can directly use a PLC controller as controller 104; that is, the function of controlling the start and stop of each component is implemented by the PLC controller.

[0069] The processing module 105 receives visible light and infrared images and, following the steel temperature measurement method described above, obtains the temperatures at multiple locations on the steel. The processing module 105 can be, for example, an industrial control computer or a computer, with software installed. Inputting the visible light and infrared images into the software automatically outputs the temperatures at each point. During execution, the software interface can visually display the temperatures at each point, show the on / off status of the laser module 101, and provide basic software settings for configuring the temperature measurement process, such as setting the number of measurement points. Data transmission between the processing module 105 and the controller 104 can be achieved via optical fiber.

[0070] In one specific embodiment of the present invention, a personnel detection module 106 is also included. When the personnel detection module 106 detects personnel entering, it sends a command to the controller 104 to shut down the laser module 101. The personnel detection module 106 can, for example, directly identify the image of the scene to determine whether personnel have entered. The advantage of doing so is that it can ensure the safety of laser use.

[0071] In one specific embodiment of the present invention, multiple laser modules 101 are provided. The linear characteristic lasers emitted by the multiple laser modules 101 are parallel to each other and perpendicular to the arrangement direction of the steel. The purpose of this has been explained in detail in the previous description of the method and will not be repeated here. Each laser module 101 is provided with two line lasers for switching. The two line lasers are used and one is on standby. They can be switched once according to a preset time (e.g., 12 hours or 24 hours) to ensure that the laser module 101 can operate stably for a long time.

[0072] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can 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 those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for detecting the endpoints of steel materials, characterized in that, include: A visible light image of the steel to be tested is acquired, wherein multiple parallel auxiliary light rays are irradiated within the irradiated area of ​​the visible light image, and the endpoints of the steel are located within the irradiated area; The visible light image is segmented according to a preset color threshold to obtain a segmentation map, which distinguishes the auxiliary light from other areas; Based on the segmentation map, the coordinates of the detection points are obtained; Based on the coordinates of the detection points, the coordinates of the endpoints of each steel piece are obtained; The steel material is a steel pipe. The normal direction of the plane supporting the steel pipe in the segmented diagram is arranged longitudinally, and the length direction of the auxiliary light is perpendicular to the arrangement direction of the steel material. Based on the segmentation map, the coordinates of the detection points are obtained, including: Based on the segmentation diagram, multiple auxiliary light regions are obtained; Based on the ordinates of all pixels in each of the auxiliary light regions, the pixel whose ordinate is at its minimum value is obtained; Based on the pixel with the minimum vertical coordinate, the coordinates of a detection point corresponding to the auxiliary light area are obtained; Based on the coordinates of the detection points, the coordinates of the endpoints of each steel piece are obtained, including: Based on the arrangement direction of the steel, the coordinates of the detection points are grouped according to the steel. Specifically, when performing the grouping, a straight line parallel to the arrangement direction of the steel is drawn through the coordinate point (0,0). The distance from all detection points to this straight line is calculated. Based on the interval to which the distance belongs, these detection points are divided into multiple groups. The grouped detection point coordinates are arranged along the arrangement direction of the steel to obtain a detection point coordinate group for each steel. The endpoint coordinates of each steel piece are obtained based on the coordinate set of the detection points for each steel piece.

2. A method for measuring the temperature of steel, characterized in that, include: Acquire infrared images of the steel to be inspected; According to the steel endpoint detection method of claim 1, the endpoint coordinates of the steel in a visible light image are obtained; Based on the infrared image and the visible light image, the coordinate transformation matrix between the two images is obtained; The endpoint coordinates of the steel in the infrared image are obtained based on the endpoint coordinates of the steel in the visible light image and the coordinate transformation matrix. The temperature at multiple locations on the steel is obtained based on the endpoint coordinates of the steel in the infrared image.

3. The method for measuring the temperature of steel according to claim 2, characterized in that, Based on the endpoint coordinates of the steel in the infrared image, the temperatures at multiple locations on the steel are obtained, including: Based on 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 temperature at multiple locations on the steel is obtained based on the pixel value corresponding to the coordinates of each temperature measuring point on the steel.

4. A steel temperature measurement system, characterized in that, include: A laser module is used to emit linear feature laser light to irradiate the steel to be inspected. A visible light probe is used to capture a visible light image of the steel to be tested; A thermal imaging probe is used to capture infrared images of the steel to be inspected; The controller is used to control the start and stop of the laser module, the visible light probe, and the thermal imaging probe; and The processing module is used to receive the visible light image and the infrared image, and obtain the temperature at multiple locations on the steel according to the steel temperature measurement method of claim 2 or 3.

5. The steel temperature measurement system according to claim 4, characterized in that, It also includes a personnel detection module, which sends a command to the controller when it detects personnel entering, in order to shut down the laser module; The laser module is provided in multiple ways. The linear characteristic lasers emitted by the multiple laser modules are parallel to each other and perpendicular to the arrangement direction of the steel. Each laser module is provided with two line lasers for switching.

Images