Method and system for measuring contour of high-temperature continuous casting billet

Abstract

The invention provides a high-temperature continuous casting billet contour measurement method and system, and relates to the technical field of machine vision detection.The method comprises the steps that surface images of a target billet are collected from different angles through a plurality of 3D cameras, depth values between the billet and the cameras are calculated in combination with the laser line dislocation distance measurement technology, and depth value data are generated; on the basis of the depth value data, coordinates of the steel billet in each 3D camera coordinate system are determined, and local curvatures of the side surface, the upper surface and the lower surface are calculated; identifying and removing overlapped areas by analyzing a curvature change difference value to form optimized depth value data; calculating the width of each section of the target steel billet by using the optimized depth value data, and generating depth value data in combination with the section width; according to the depth value data, the corrected section width is calculated through inclination angle correction, and the section thickness is further determined; and combining the optimized depth value data and the corrected section width and section thickness to obtain an accurate section contour of the target steel billet.

Description

Technical Field

[0001] The invention relates to the technical field of machine vision detection, and in particular to a high-temperature continuous casting steel billet profile measurement method and system. Background Art

[0002] Billet production is a crucial link in the steel manufacturing process. The size, surface quality and internal structure of the billet directly affect the subsequent rolling and the performance of the final product. The surface profile of the billet, including thickness, width, T value (i.e. the temperature difference between the extreme width of the billet and the center), strand (referring to the width ratio of the billet shape) and other indicators, must meet strict quality standards to ensure the quality of the final product.

[0003] At present, in the process of billet production, manual visual inspection, manual measurement, and some simple automated equipment are mainly used to inspect the size and surface quality of billets. Manual visual inspection is usually completed by experienced operators, who observe the surface condition and size of the billet to determine whether it meets the specifications; while manual measurement relies on tools such as calipers and measuring rods to regularly measure key dimensions such as the width and thickness of the billet.

[0004] However, manual visual inspection relies on workers’ experience and judgment, and is easily affected by subjective factors of operators, resulting in low inspection efficiency. At the same time, traditional manual measurement relies on simple measuring tools, which cannot achieve real-time and continuous accurate measurement of steel billets in production. Especially when the size of the steel billets changes rapidly, manual measurement is difficult to provide sufficient accuracy. Summary of the invention

[0005] In order to solve the technical problems that manual visual inspection relies on workers' experience and judgment, and is easily affected by subjective factors of operators, resulting in low inspection efficiency; at the same time, traditional manual measurement relies on simple measuring tools, and cannot achieve real-time and continuous accurate measurement of steel billets in production, especially when the size of the steel billets changes rapidly, manual measurement is difficult to provide sufficient accuracy, the present invention provides a high-temperature continuous casting steel billet profile measurement method and system.

[0006] The technical solution provided by the embodiment of the present invention is as follows:

[0007] First aspect:

[0008] An embodiment of the present invention provides a method for measuring the profile of a high-temperature continuous casting steel billet, comprising:

[0009] S1: Use multiple 3D cameras to collect multiple surface images of the target steel billet from multiple directions;

[0010] S2: Calculate the depth value between the target steel billet and the corresponding 3D camera zero point through laser line offset distance measurement technology to form depth value data;

[0011] S3: Based on the depth value data, determine the coordinates of the target steel billet in each 3D camera coordinate system;

[0012] S4: Calculating the local curvature of the side surface and the local curvature of the upper and lower surfaces of the target steel billet according to the depth value data;

[0013] S5: determining a curvature change difference based on the local curvature of the side surface and the local curvature of the upper and lower surfaces, and when the curvature change value is less than a preset curvature change difference, determining an overlapped area, and removing depth value data of the overlapped area to form optimized depth value data;

[0014] S6: Calculate the section width of each section of the target steel billet at different positions according to the depth value relative to the camera in the optimized depth value data, and form depth value data on each section in combination with the section width;

[0015] S7: determining a corrected section width according to the depth value data on each section by means of tilt angle correction, and determining a section thickness of the corresponding section based on the corrected section width;

[0016] S8: Determine the section profile of the target steel billet based on the optimized depth value data, the corrected section width and the section thickness.

[0017] Second aspect:

[0018] An embodiment of the present invention provides a high-temperature continuous casting billet profile measurement system, comprising:

[0019] processor;

[0020] A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method for measuring the contour of a high-temperature continuous casting steel billet as described in the first aspect is implemented.

[0021] The third aspect:

[0022] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method for measuring the contour of a high-temperature continuous casting steel billet as described in the first aspect is implemented.

[0023] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0024] (1) In the present invention, multiple 3D cameras are used to collect multiple surface images of the target steel billet from multiple directions. The depth value between the target steel billet and the corresponding 3D camera zero point is calculated through laser line offset distance measurement technology to form depth value data. Through automated collection and calculation, the dependence of manual visual inspection on worker experience and judgment is eliminated, the influence of subjective factors of operators is effectively reduced, and the inspection efficiency is greatly improved.

[0025] (2) In the present invention, the local curvatures of the side surface and the upper surface of the target steel billet are calculated, and the overlapping areas are identified in combination with the curvature change difference, and the redundant data points are eliminated to form optimized depth value data; the optimized depth value data is further used to calculate the section widths of each section of the steel billet at different positions, and combined with the inclination angle correction method, the corrected section width and thickness are obtained, and finally the section profile of the steel billet is formed, which can perform real-time, continuous and high-precision measurement of the steel billet in production, effectively avoiding the limitation of traditional manual measurement that relies on simple measuring tools and is difficult to achieve precise measurement, thereby improving the accuracy of measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0027] Figure 1 A schematic flow chart of a method for measuring the profile of a high-temperature continuous casting steel billet provided by an embodiment of the present invention;

[0028] Figure 2 A schematic structural diagram of a high-temperature continuous casting billet profile measurement system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0030] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0031] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same.

[0032] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0033] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Manual Attached Figure 1 , showing a schematic flow chart of a method for measuring the profile of a high-temperature continuous casting steel billet provided in an embodiment of the present invention.

[0035] The embodiment of the present invention provides a high temperature continuous casting billet profile measurement method, which can be implemented by a high temperature continuous casting billet profile measurement device, and the high temperature continuous casting billet profile measurement device can be a terminal or a server. The processing flow of the high temperature continuous casting billet profile measurement method may include the following steps:

[0036] S1: Use multiple 3D cameras to collect multiple surface images of the target steel billet from multiple directions.

[0037] S2: The depth value between the target steel billet and the corresponding 3D camera zero point is calculated through the laser line offset distance measurement technology to form depth value data.

[0038] Among them, laser line offset distance measurement technology is a non-contact measurement technology based on the principle of laser triangulation, which is widely used in the depth, surface profile and size detection of objects. The distance between the object and the sensor is calculated by analyzing the light offset formed after the laser is projected onto the target surface.

[0039] Among them, the depth value data is a kind of digital information that describes the shape or position of the surface of an object, and represents the distance from a certain reference point (usually a reference point of a 3D camera, laser rangefinder or other equipment) to each point on the surface of the object.

[0040] In the present invention, the depth value data is obtained by laser line offset distance measurement technology, which provides a non-contact, high-precision, real-time and comprehensive surface detection method, which not only improves the detection efficiency and safety, but also lays a solid foundation for subsequent data analysis, automatic control and shape optimization.

[0041] S3: Based on the depth value data, determine the coordinates of the target steel billet in each 3D camera coordinate system.

[0042] Optionally, the X-axis of the camera collecting data is the horizontal cross-sectional direction of the billet, the right side of the billet forward direction is the positive direction of the X-axis of the upper and lower cameras, the positive direction of the X-axis of the left and right cameras looking down, the Y-axis is the billet movement direction, the billet movement direction is stipulated to be the positive direction of the Y-axis, the Z-axis is the vertical direction between the billet and the camera, and the direction of the camera toward the billet is the positive direction of the Z-axis.

[0043] In the present invention, the unified coordinate system helps to accurately map the depth value data of the steel billet to the actual spatial position, ensuring that the fusion and alignment of multi-view data are more efficient. This clear spatial definition reduces geometric errors in data processing.

[0044] It should be noted that when analyzing the data collected by the industrial camera along the Y-axis direction, when the y value is fixed, the corresponding (x, z) value is obtained; when the camera collects data, it includes both the collected billet photos and the background image. The (depth values) of these two forms are obviously different, so the (x, z) values ​​corresponding to the background area are filtered out according to the z value. In addition, the four corners of the billet may be repeatedly collected by the two side cameras and the upper and lower cameras, so it is necessary to eliminate the depth value data of the overlapping areas.

[0045] S4: Calculate the local curvature of the side surface and the local curvature of the upper and lower surfaces of the target steel billet according to the depth value data and the coordinates of the target steel billet in each 3D camera coordinate system.

[0046] Among them, local curvature is a geometric quantity used to describe the degree of curvature of a curve or surface near a certain point, usually indicating the curvature characteristics and change trend of the shape near the point.

[0047] In a possible implementation, S4 specifically includes:

[0048] S401: Set the side 3D camera to collect the depth value sequence of the left side surface of the target steel billet as follows:

[0049]

[0050] Among them, Z l represents the sequence of depth values ​​of the left surface, Represents the ath depth value data of the left surface section, a=[1,n], and n represents the total number of depth value data of the left surface section.

[0051] The sequence of depth values ​​of the upper surface section of the target billet collected by the 3D camera above is:

[0052]

[0053] Among them, Z uRepresents the sequence of upper surface section depth values, Represents the cth depth value data of the upper surface section, c=[1,p], and p represents the total number of upper surface section depth data.

[0054] S402: Calculate the local curvature of the measured surface using a differential method based on the side surface depth value sequence and the coordinates of the target steel billet in each 3D camera coordinate system.

[0055] Among them, the difference method is a numerical method that approximates the calculation of function derivatives through discretization, and is widely used in numerical calculation, data processing and physical simulation.

[0056]

[0057]

[0058] in, represents the local curvature at the i-th depth value data point on the left surface section, Represents the difference in depth between the i+2th depth value data point and the i+1th depth value data point. Represents the difference in depth between the i+1th depth value data point and the ith depth value data point, Indicates the i+1th depth value data point on the left surface section. Represents the i-th depth value data point on the left surface, represents the i+2th depth value data point on the left surface section, and Δx represents the distance between adjacent depth value data points.

[0059] S403: Calculate the local curvature of the upper surface in the same way as calculating the local curvature of the left surface.

[0060] In the present invention, by calculating the local curvatures of the side surface and the upper surface, the geometric characteristics of the billet surface can be accurately evaluated and the overlap area can be quickly found.

[0061] S5: Based on the local curvature of the side surface and the local curvature of the upper and lower surfaces, determine the curvature change difference. When the curvature change value is less than the preset curvature change difference, determine the overlapping area and eliminate the depth value data of the overlapping area to form optimized depth value data.

[0062] In a possible implementation, S5 specifically includes:

[0063] S501: Calculate the curvature change difference:

[0064]

[0065] Among them, Δk represents the curvature change difference, represents the local curvature of the upper surface section, Represents the local curvature of the left surface.

[0066] S502: When the curvature change value is less than a preset curvature change difference value, determine regions with similar curvature change trends as overlapping regions.

[0067] It should be noted that similar curvature change trends mean that the spatial change rates and directions of the two sets of curvature data are close.

[0068] S503: retain the depth value data of the side surface, and remove the data points of the overlapping area in the upper surface.

[0069] S504: In the same way as the upper left section data set, the lower right section data set is eliminated if it is less than a preset curvature change difference, and the retained depth value data is integrated to form optimized depth value data.

[0070] In the present invention, by calculating the curvature change difference and eliminating the overlapping areas with similar curvature change trends, redundant data can be effectively reduced, the accuracy of the data can be ensured, and the deviation caused by the overlapping areas can be avoided. At the same time, the elimination of the overlapping areas can effectively reduce the errors caused by repeated measurement data in the same area, ensuring that the optimized depth value data more accurately reflects the actual geometric shape of the target billet.

[0071] S6: According to the depth value relative to the camera in the optimized depth value data, the section width of each section of the target steel billet at different positions is calculated, and the depth value data on each section is formed by combining the section width.

[0072] For example, the width of the sections at different positions may be the width dimensions of the upper portion, the middle portion, and the lower portion.

[0073] Among them, the section width refers to the width of the object measured along the horizontal direction or other specified direction on a certain cross-section of the object. It is an important parameter for describing the cross-sectional shape and size of the object.

[0074] In a possible implementation, S6 specifically includes:

[0075] S601: The depth value data set of the left cut surface in the optimized depth value data is expressed as:

[0076]

[0077] Where L represents the depth value data set of the left side section, Represents the ath depth value data of the left slice, a∈[1,n], and n represents the total number of depth value data of the left slice.

[0078] The depth value data set of the right slice in the optimized depth value data is expressed as:

[0079]

[0080] Among them, R represents the depth value data set of the right section, Represents the βth depth value data of the right slice, β∈[1,m], and m represents the total number of depth value data of the right slice.

[0081] S602: Focus on the left camera Take w depth value data from both ends for the central depth value data.

[0082] S603: Calculate the mean and standard deviation of each depth value data in the depth value data set of the left cut surface:

[0083]

[0084] Among them, μ represents the mean, 2w represents the total number of depth value data, Indicates the left side The depth value at position, i∈[-w,w], σ represents the standard deviation.

[0085] S604: removing depth value data points that meet preset conditions from the depth value data set of the left section; and removing area data that meet preset conditions from the data set of the right section in the same manner as the data set of the left section;

[0086] The specific preconditions are:

[0087]

[0088] Here, k represents a constant.

[0089] S605: Calculate the depth change of each data point in the 2w depth value data set of the left section:

[0090]

[0091] Wherein, |Δd| represents the set consisting of the absolute values ​​of the depth changes between adjacent data points in the left section depth value data set.

[0092] S606: Based on the depth change of each data point in the depth value data set of the left cut surface, calculate the cumulative sum sequence of the absolute value of the difference within the preset window size:

[0093] S=[S1,S2,S3,S 2w-ω+1 ]

[0094]

[0095] Where S represents the sequence composed of the cumulative sum of the absolute value of the difference of each data point in the left-side slice depth value data set within the preset window size, S i It represents the cumulative sum of the absolute values ​​of the depth changes of the i-th data point in the interval of length ω, i=[1,2w-ω+1], 2w-ω+1 represents the length of the cumulative sum sequence S, |Δd| represents the depth change sequence, j represents the subscript position of the difference absolute value sequence in the sliding window, and i+ω-1 represents the end position of the sliding window.

[0096] S607: Calculate the standard deviation σ of the cumulative sum series S , for the data set S on the left side i >3σ S The regional data are excluded.

[0097] S608: Using the same elimination method as the data set of the left slice, the S i >3σ S The regional data are excluded.

[0098] In the present invention, statistical methods such as standard deviation and cumulative sum are used to process the depth value data and remove abnormal values ​​to ensure that the data is smoother and more reliable. At the same time, by removing noise and abnormal data for optimization, the optimized data can more accurately reflect the real object shape.

[0099] S609: Determine the width dimensions of different positions on each section of the target steel billet according to the depth value data after the elimination process:

[0100]

[0101] Where W represents the average distance of 2w sampling points, Indicates the difference between the distance between the zero point of the left and right cameras and the sum of the collected left and right data points, L w Indicates the zero-point distance between the left and right cameras. In the left section The depth value at the position, Indicated on the right side The depth value at position, i∈[-w,w];

[0102] S610: Calculate the width dimensions at different positions on each section of the upper and lower surfaces in the same way as calculating the side surface dimensions;

[0103] S611: Combining the dimensions at different positions on the left and right camera sections and the width dimensions at different positions on each section of the upper and lower surfaces to form measurement data on the target billet section.

[0104] In the present invention, by calculating the section widths of each section at different positions according to the optimized depth value data, and combining these widths to generate more accurate depth data, the quality inspection, size control and production optimization capabilities of the steel billet can be comprehensively improved.

[0105] S7: According to the depth value data on each section, a corrected section width is determined by means of tilt angle correction, and based on the corrected section width, a section thickness of the corresponding section is determined.

[0106] Among them, tilt angle correction is a technology commonly used in industrial inspection, robot path planning, and 3D modeling, which aims to correct the tilt error of objects caused by different perspectives or sensors.

[0107] In a possible implementation, S7 specifically includes:

[0108] S701: along the moving direction of the billet, using the left camera to collect depth value data of the first section and the second section, wherein the first section and the second section are depth value data collected at adjacent discrete moments:

[0109]

[0110] Among them, L1 represents the first section, represents the depth value data of the first left side section, p∈[1,n], n represents the total number of depth value data of the first left side section, L2 represents the second section, represents the depth value data of the second left side slice, q∈[1,s], and s represents the total number of depth value data of the second left side slice.

[0111] S702: Extracting depth value data points in the middle of two sections respectively Calculate the tilt angle of the middle depth value data point corresponding to the two slices:

[0112]

[0113] Among them, θ i Indicates the tilt angle at the middle depth value data point position i, y (2) Indicates the longitudinal position coordinate of the left camera when capturing the second slice, y (1) Indicates the longitudinal position coordinate of the left camera when capturing the first slice, y (2) -y (1) Indicates the distance between two slices.

[0114] S703: Calculate the inclination angle of each depth value data point position in the two sections in the same way as calculating the inclination angle of the middle depth value data point position.

[0115] S704: Determine the average tilt angle of adjacent slices in the left 3D camera according to the tilt angles of w position depth value data points at both ends of the midpoints of the two slices:

[0116]

[0117] Where θ1 represents the average tilt angle of adjacent slices in the left 3D camera, and 2w represents the number of single tilt angles.

[0118] S705: Determine the average tilt angle of the adjacent slices of the right 3D camera in the same manner as determining the average tilt angle of the adjacent slices of the left 3D camera.

[0119] S706: Subtract the average tilt angle of the adjacent slices of the left 3D camera and the average tilt angle of the adjacent slices of the right 3D camera to determine the tilt angle difference.

[0120] S707: If the tilt angle difference is less than a preset tilt angle difference, the section width is corrected:

[0121]

[0122] Among them, W A represents the section width after tilt angle correction, W represents the average section width, θ1 represents the average tilt angle of adjacent sections in the left 3D camera, and θ2 represents the average tilt angle of adjacent sections in the right 3D camera.

[0123] S708: Collect the coordinate position (x u1 ,y (1) ,z u1 ),(x u2 ,y (1) ,z u2 )…,(x up ,y (1) ,z up ), and based on the coordinate position and the corrected section width, determine the tilt-corrected thickness acquisition position:

[0124]

[0125] P u =length w1 / (x up -x u1 )

[0126] Among them, (x ui ,y (1) ,z ui ) represents the three-dimensional coordinates of the i-th depth value data point on the surface of the first section, i∈[1,p], length w1 It means that a width value is obtained at the junction of the upper surface and the side surface of the cut surface, P u Indicates the scaling factor, y ui (h) Indicates the corrected section thickness acquisition position.

[0127] S709: According to the updated tilt-corrected thickness acquisition position, the coordinate point position acquired on the upper surface of the first section is corrected:

[0128] (x u1 ,y u1 (h) ,z u1 (h) ),(x u2 ,y u2 (h) ,z u2 (h) )…,(x up ,y up (h) ,z up (h) )

[0129] Among them, (x ui ,y ui (h) y (h) ,z ui (h) ) represents the three-dimensional coordinates of the i-th depth value data point on the upper surface of the first section after correction.

[0130] S710: Correcting the positions of the coordinate points collected on the lower surface of the first section in the same manner as adjusting the positions of the coordinate points collected on the upper surface of the first section.

[0131] S711: Determine the thickness corresponding to the width section according to the corrected coordinates of the upper and lower cameras:

[0132]

[0133] Among them, L A Indicates the thickness corresponding to the width section, Indicates the corrected section thickness.

[0134] In the present invention, by correcting multiple sections, the consistency of measurement data of the steel billet at different positions is ensured, and the overall measurement accuracy is improved. At the same time, by correcting the tilt angle, a more accurate section width can be obtained, thereby providing data support for quality control, processing adjustment and shape optimization of the steel billet.

[0135] Furthermore, by ensuring the accurate size of each section, the final generated model can more realistically reflect the three-dimensional shape of the billet.

[0136] S8: Determine the section profile of the target billet based on the optimized depth value data, the corrected section width, and the section thickness.

[0137] In a possible implementation, S8 specifically includes:

[0138] S801: Collect corrected depth value data from four directions: left, right, top and bottom:

[0139] l1=(x l1 ,z l1 ),(x l2 ,z l2 ),…,(x ln ,z ln )

[0140] r1=(x r1 ,z r1 ),(x r2 ,z r2 ),…,(x rm ,z rm )

[0141] u1=(x u1 ,z u1 ),(x u2 ,z u2 ),…,(x up ,z up )

[0142] b1=(x b1 ,z b1 ),(x b2 ,z b2 ),…,(x bq ,z bq )

[0143] Among them, l1 represents the two-dimensional coordinate set of the left camera on the same section, x la Indicates the coordinate value of the ath position data collected by the left camera in the horizontal direction of the measured section, z larepresents the depth value of the data collected by the left camera at the ath position in the depth direction of the measured section, a∈1,2,…n,, n represents the total number of positions of the left camera, r1 represents the two-dimensional coordinate set of the right camera in the same section, x rt Indicates the coordinate value of the tth position data collected by the right camera in the horizontal direction of the measured section, z rt represents the depth value of the data collected by the right camera at the tth position in the depth direction of the measured section, t∈1,2,…m, m represents the total number of positions of the right camera, u1 represents the two-dimensional coordinate set of the upper camera on the same section, x uc Indicates the coordinate value of the cth position data collected by the upper camera in the horizontal direction of the measured section, z uc represents the depth value of the data collected by the upper camera at the cth position in the depth direction of the measured section, c∈1,2,…p, p represents the total number of positions of the upper camera, b1 represents the two-dimensional coordinate set of the lower camera on the same section, x bd Indicates the coordinate value of the dth position data collected by the lower camera in the horizontal direction of the measured section, z bd It represents the depth value of the data collected by the lower camera at the dth position in the depth direction of the measured section, d∈1,2,…q, q represents the total number of positions of the upper camera.

[0144] S802: Determine the point in the left camera point set that is closest to the right camera point in Euclidean distance In the same way, determine the point in the lower camera point set that is closest to the upper camera point in Euclidean distance

[0145]

[0146] Among them, j l * represents the index of the data point in the left camera point set, n represents the total number of data points in the left camera point set, x ri Indicates the horizontal coordinate of the rth point in the right camera point set, x lj Represents the horizontal coordinate of the jth point in the left camera point set.

[0147] S803 Point-based The depth value at The depth value at the top and right is converted to obtain the converted depth value data:

[0148]

[0149] Among them, length hi Indicates the distance between the upper and lower cameras and the i-th data point on the section surface. Indicates the depth value of the closest Euclidean distance to the upper i data point, length wi Indicates the distance between the i-th data point on the section of the left and right cameras. Indicates the depth value of the closest Euclidean distance to the i data point on the right.

[0150] S804: Calculate the actual distance represented by a single pixel point in the horizontal section direction of each 3D camera according to the converted depth value data:

[0151] p l =(z u1 -z b1 ) / (x ln -x l1 )

[0152] p r =(z up -z bq ) / (x rm -x r1 )

[0153] p u =(z r1 -z l1 ) / (x up -x u1 )

[0154] p b =(z rm -z ln ) / (x bq -x b1 )

[0155] Among them, p l Indicates the actual distance represented by each pixel point on the left camera slice in the horizontal slice direction, p r Indicates the actual distance represented by each pixel point on the right camera slice in the horizontal slice direction, p u Indicates the actual distance represented by each pixel point on the upper camera slice in the horizontal slice direction, p b Indicates the actual distance represented by each pixel of the lower camera slice in the horizontal slice direction.

[0156] S805: Based on the real distance represented by a single pixel point of each 3D camera in the horizontal section direction, the data collected by the left 3D camera is transformed into:

[0157] (p l × l1 ,z l1 ),(p l × l2 ,z l2 ),…,(pl × ln ,z ln ).

[0158] The data collected by the 3D camera on the left is transformed into:

[0159] (p r × r1 ,z r1 ),(p r × r2 ,z r2 ),…,(p r × rm ,z rm ).

[0160] The data collected by the upper 3D camera is transformed into:

[0161] (P u × u1 ,z u1 ),(P u × u2 ,z u2 ),…,(P u × up ,z up ).

[0162] The data collected by the lower 3D camera is transformed into:

[0163] (p b × b1 ,z b1 ),(p b × b2 ,z b2 ),…,(p b × bq ,z bq ).

[0164] S806: Based on the transformed data, determine the values ​​in the horizontal slice directions of each azimuth through coordinate conversion.

[0165] S807: Rotate the left and right camera data 90 degrees clockwise around the origin, and determine the offset of the left, right, upper and lower side cameras:

[0166] offet l =(0,z u1 )-(0,-p l × l1 )

[0167] offet r =(0,z up )-(0,-p r × r1 )

[0168] offet u =(z l1 ,0)-(p u × u1 ,0)

[0169] offet b =(z ln ,0)-(p b × b1 ,0)

[0170] Among them, offet l Indicates the offset of the left camera relative to the upper camera, offet r Indicates the offset of the right camera relative to the upper camera, offet u Indicates the offset of the upper camera relative to the left camera, b Indicates the offset of the lower camera relative to the left camera;

[0171] S808: According to the values ​​in the horizontal slice directions of each orientation and the offset, the camera data on the left and right sides are converted to the same coordinate system, and the converted camera data on the left and right sides are determined:

[0172] (z l1 ,-p l × l1 )+offet l ,(z l2 ,-p l × l2 )+offet l ,…,(z ln ,-p l × ln )+

[0173] offet l ;

[0174] (z r1 ,-p r × r1 )+offet r ,(z r2 ,-p r × r2 )+offet r ,…,(z rm ,-p r × rm )+

[0175] offet r ;

[0176] (pu × u1 ,z u1 )+offet u ,(p u × u2 ,z u2 )+offet u ,…,(p u × up ,z up )+

[0177] offet u ;

[0178] (p b × b1 ,z u1 )+offet b ,(p b × b2 ,z u2 )+offet b ,…,(p b × bq ,z bq )+

[0179] offet b .

[0180] S809: Align the converted left and right camera data in combination with the upper and lower camera data in the same coordinate system to form a cross-sectional profile of the target billet.

[0181] In the present invention, by splicing the correction data from different directions (left side, right side, top side, bottom side), the complete cross-sectional profile of the target billet can be generated. After the depth value data of each orientation is corrected and converted, it can accurately reflect the three-dimensional shape of the billet. At the same time, by converting the data collected by different cameras into a unified coordinate system, the error caused by different measurement angles is reduced, and the accuracy of the data is improved.

[0182] In a possible implementation manner, after S8, the method further includes:

[0183] The T value and strand length are calculated from the data of the cross section of the billet.

[0184] Among them, the T value (also called size difference or shape difference) is an indicator used to measure the maximum and minimum size differences of an object or component in a certain dimension, and is usually used to describe the dimensional stability or shape change of the target object.

[0185] Among them, strand width (also known as strand width difference or width difference) is an indicator used to measure the width changes of different parts of an object. It is usually used to describe the size changes of an object at different positions, especially for size detection of metal materials such as steel billets.

[0186] The calculation formula of T value is:

[0187] T=max(W)-min(W)

[0188] W=l w1 ,l w2 ,…,,l wm

[0189] Where T represents the difference between the maximum and minimum values ​​of the target billet size, max represents the maximum value, min represents the minimum value, W represents the set of all section widths of the target billet, l wq It represents the width measured on the qth section of the billet, q∈[1,m], m represents the total number of width values.

[0190] The formula for calculating the stock degree is:

[0191]

[0192] Among them, rad represents the degree of stock, Indicates the width of the middle section, w n Indicates the upper width of the section.

[0193] In the present invention, by calculating the T value and strand length, the dimensional stability and shape consistency of the steel billet during the production process can be comprehensively evaluated, providing strong data support for production process optimization, quality control, shape analysis and subsequent processing, which can not only improve product quality and reduce production errors, but also improve the level of automated control and intelligent production, and ultimately achieve more efficient and accurate production management.

[0194] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0195] (1) In the present invention, multiple 3D cameras are used to collect multiple surface images of the target steel billet from multiple directions. The depth value between the target steel billet and the corresponding 3D camera zero point is calculated through laser line offset distance measurement technology to form depth value data. Through automated collection and calculation, the dependence of manual visual inspection on worker experience and judgment is eliminated, the influence of subjective factors of operators is effectively reduced, and the inspection efficiency is greatly improved.

[0196] (2) In the present invention, the local curvatures of the side surface and the upper surface of the target steel billet are calculated, and the overlapping areas are identified in combination with the curvature change difference, and the redundant data points are eliminated to form optimized depth value data; the optimized depth value data is further used to calculate the section widths of each section of the steel billet at different positions, and combined with the inclination angle correction method, the corrected section width and thickness are obtained, and finally the section profile of the steel billet is formed, which can perform real-time, continuous and high-precision measurement of the steel billet in production, effectively avoiding the limitation of traditional manual measurement that relies on simple measuring tools and is difficult to achieve precise measurement, thereby improving the accuracy of measurement.

[0197] Reference Manual Attached Figure 2 , showing a schematic structural diagram of a high-temperature continuous casting billet profile measurement system provided by the present invention.

[0198] The present invention further provides a high temperature continuous casting billet profile measurement system 20, which is applied to the above-mentioned high temperature continuous casting billet profile measurement method, comprising:

[0199] Processor 201.

[0200] The memory 202 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 201, a method for measuring the profile of a high-temperature continuous casting steel billet as described in the method embodiment is implemented.

[0201] The high-temperature continuous casting billet profile measurement system 20 provided by the present invention can execute the above-mentioned high-temperature continuous casting billet profile measurement method and achieve the same or similar technical effects. To avoid repetition, the present invention will not go into details.

[0202] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0203] (1) In the present invention, multiple 3D cameras are used to collect multiple surface images of the target steel billet from multiple directions. The depth value between the target steel billet and the corresponding 3D camera zero point is calculated through laser line offset distance measurement technology to form depth value data. Through automated collection and calculation, the dependence of manual visual inspection on worker experience and judgment is eliminated, the influence of subjective factors of operators is effectively reduced, and the inspection efficiency is greatly improved.

[0204] (2) In the present invention, the local curvatures of the side surface and the upper surface of the target steel billet are calculated, and the overlapping areas are identified in combination with the curvature change difference, and the redundant data points are eliminated to form optimized depth value data; the optimized depth value data is further used to calculate the section widths of each section of the steel billet at different positions, and combined with the inclination angle correction method, the corrected section width and thickness are obtained, and finally the section profile of the steel billet is formed, which can perform real-time, continuous and high-precision measurement of the steel billet in production, effectively avoiding the limitation of traditional manual measurement that relies on simple measuring tools and is difficult to achieve precise measurement, thereby improving the accuracy of measurement.

[0205] It should be understood that the processor in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0206] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0207] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0208] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0209] In the present invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0210] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0211] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0212] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0213] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0214] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0216] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0217] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for measuring the contour of a high-temperature continuous casting steel billet as described in the method embodiment is implemented.

[0218] A computer-readable storage medium provided by the present invention can implement the steps and effects of the high-temperature continuous casting billet profile measurement method of the above method embodiment. To avoid repetition, the present invention will not go into details.

[0219] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0220] (1) In the present invention, multiple 3D cameras are used to collect multiple surface images of the target steel billet from multiple directions. The depth value between the target steel billet and the corresponding 3D camera zero point is calculated through laser line offset distance measurement technology to form depth value data. Through automated collection and calculation, the dependence of manual visual inspection on worker experience and judgment is eliminated, the influence of subjective factors of operators is effectively reduced, and the inspection efficiency is greatly improved.

[0221] (2) In the present invention, the local curvatures of the side surface and the upper surface of the target steel billet are calculated, and the overlapping areas are identified in combination with the curvature change difference, and the redundant data points are eliminated to form optimized depth value data; the optimized depth value data is further used to calculate the section widths of each section of the steel billet at different positions, and combined with the inclination angle correction method, the corrected section width and thickness are obtained, and finally the section profile of the steel billet is formed, which can perform real-time, continuous and high-precision measurement of the steel billet in production, effectively avoiding the limitation of traditional manual measurement that relies on simple measuring tools and is difficult to achieve precise measurement, thereby improving the accuracy of measurement.

[0222] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0223] There are a few points to note:

[0224] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to the general design.

[0225] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0226] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0227] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for measuring the profile of a high-temperature continuous casting steel billet, characterized in that: include: S1: Use multiple 3D cameras to collect multiple surface images of the target steel billet from multiple directions; S2: Calculate the depth value between the target steel billet and the corresponding 3D camera zero point through laser line offset distance measurement technology to form depth value data; S3: Based on the depth value data, determine the coordinates of the target steel billet in each 3D camera coordinate system; S4: Calculating the local curvature of the side surface and the local curvature of the upper and lower surfaces of the target steel billet according to the depth value data and the coordinates of the target steel billet in each 3D camera coordinate system; S5: determining a curvature change difference based on the local curvature of the side surface and the local curvature of the upper and lower surfaces, and when the curvature change value is less than a preset curvature change difference, determining an overlapped area, and removing depth value data of the overlapped area to form optimized depth value data; S6: Calculate the section width of each section of the target steel billet at different positions according to the depth value relative to the camera in the optimized depth value data, and form depth value data on each section in combination with the section width; S7: determining a corrected section width according to the depth value data on each section by means of tilt angle correction, and determining a section thickness of the corresponding section based on the corrected section width; S8: Determine the section profile of the target steel billet based on the depth value data, the section width and the section thickness.

2. The high temperature continuous casting billet profile measurement method according to claim 1, characterized in that: The S4 specifically includes: S401: Setting the side 3D camera to collect the depth value sequence of the left side surface section of the target steel billet is: Among them, Z l represents the sequence of depth values ​​of the left surface, represents the ath depth value data of the left surface section, a=[1,n], n represents the total number of depth data of the left surface section; The sequence of depth values ​​of the upper surface section of the target billet collected by the 3D camera above is: Among them, Z u Represents the sequence of upper surface section depth values, Represents the c-th depth value data of the upper surface section, c = [1, p], p represents the total number of upper surface depth data; S402: Calculate the local curvature of the left surface section by using a difference method according to the left surface depth value sequence and the coordinates of the target steel billet in each 3D camera coordinate system. in, represents the local curvature at the i-th depth value data point on the left surface section, Represents the difference in depth between the i+1th depth value data point and the ith depth value data point, Represents the difference in depth between the i+2th depth value data point and the i+1th depth value data point. Indicates the i+1th depth value data point on the left surface section. Represents the i-th depth value data point on the left surface, represents the i+2th depth value data point on the left surface section, and Δx represents the spacing between adjacent depth value data points; S403: Calculate the local curvature of the upper surface in the same way as calculating the local curvature of the left surface.

3. The high temperature continuous casting billet profile measurement method according to claim 2, characterized in that: The S5 specifically includes: S501: Calculate the curvature change difference: Among them, Δk represents the curvature change difference, represents the local curvature of the upper surface section, represents the local curvature of the left surface section; S502: When the curvature change value is less than a preset curvature change difference value, determine regions with similar curvature change trends as overlapping regions; S503: retaining the depth value data of the side surface, and removing the data points in the overlapping area of ​​the upper and lower surfaces; S504: Integrate the retained depth value data to form optimized depth value data.

4. The high temperature continuous casting billet profile measurement method according to claim 1, characterized in that: The S6 specifically includes: S601: The depth value data set of the left cut surface in the optimized depth value data is expressed as: Where L represents the depth value data set of the left side section, Represents the ath depth value data of the left slice, a∈[1,n], n represents the total number of depth value data of the left slice; The depth value data set of the right slice in the optimized depth value data is expressed as: Among them, R represents the depth value data set of the right section, represents the βth depth value data of the right slice, β∈[1,m], m represents the total number of depth value data of the right slice; S602: Focus on the left camera Take w depth value data from both ends for the central depth value data; S603: Calculate the mean and standard deviation of each depth value data in the depth value data set of the left cut surface: Among them, μ represents the mean, 2w represents the total number of depth value data, Indicates the left side The depth value at position, i∈[-w,w], σ represents the standard deviation; S604: removing depth value data points that meet preset conditions from the depth value data set of the left section; and removing area data that meet preset conditions from the data set of the right section in the same manner as the data set of the left section; The preset conditions are specifically: Wherein, k represents a constant; S605: Calculate the depth change of each data point in the 2w depth value data set of the left section: Wherein, |Δd| represents the set consisting of the absolute values ​​of the depth changes between adjacent data points in the left section depth value data set; S606: Based on the depth change of each data point in the depth value data set of the left cut surface, calculate the cumulative sum sequence of the absolute value of the difference within the preset window size: <h2 style=";text-align:left;direction:ltr">S=[S1,S2,S3,S<h2 style=";text-align:left;direction:ltr"> 2w-ω+1 <h2 style=";text-align:left;direction:ltr"> ] Where S represents the sequence composed of the cumulative sum of the absolute value of the difference of each data point in the left-side slice depth value data set within the preset window size, S i represents the cumulative sum of the absolute values ​​of the depth changes of the i-th data point in the interval of length ω, i=[1,2w-ω+1], 2w-ω+1 represents the length of the cumulative sum sequence S, |Δd| represents the depth change sequence, j represents the subscript position of the difference absolute value sequence in the sliding window, and i+ω-1 represents the end position of the sliding window; S607: Calculate the standard deviation σ of the cumulative sum sequence S , for the data set S on the left side i >3σ S The regional data of S608: Using the same elimination method as the data set of the left slice, the S i >3σ S The regional data of S609: Determine the width dimensions of different positions on each section of the target steel billet according to the depth value data after the elimination process: Where W represents the average distance of 2w sampling points, Indicates the difference between the distance between the zero point of the left and right cameras and the sum of the collected left and right data points, L w Indicates the zero-point distance between the left and right cameras. In the left section The depth value at the position, Indicated on the right side The depth value at position, i∈[-w,w]; S610: Calculate the width dimensions at different positions on each section of the upper and lower surfaces in the same way as calculating the side surface dimensions; S611: Combining the dimensions at different positions on the left and right camera sections and the width dimensions at different positions on each section of the upper and lower surfaces to form measurement data on the target billet section.

5. The high temperature continuous casting billet profile measurement method according to claim 1, characterized in that: The S7 specifically includes: S701: along the moving direction of the steel billet, using the left camera to collect depth value data of the first section and the second section, wherein the first section and the second section are depth value data collected at adjacent discrete moments: Among them, L1 represents the first section, represents the depth value data of the first left side section, p∈[1,n], n represents the total number of depth value data of the first left side section; L2 represents the second section, represents the depth value data of the second left side section, q∈[1,s], s represents the total number of depth value data of the second left side section; S702: Extracting depth value data points in the middle of two sections respectively and Calculate the tilt angle of the middle depth value data point corresponding to the two slices: Among them, θ i Indicates the tilt angle at the middle depth value data point position i, y (2) Indicates the longitudinal position coordinate of the left camera when capturing the second slice, y (1) Indicates the longitudinal position coordinate of the left camera when capturing the first slice, y (2) -y (1) Indicates the distance between two sections; S703: Calculate the inclination angle of each depth value data point position in the two sections in the same calculation method as that of calculating the inclination angle of the middle depth value data point position; S704: Determine the average tilt angle of adjacent slices in the left 3D camera according to the tilt angles of w position depth value data points taken at both ends of the midpoints of the two slices: Where θ1 represents the average tilt angle of adjacent slices in the left 3D camera, and 2w represents the number of single tilt angles; S705: Determine the average tilt angle of the adjacent slices of the right 3D camera in the same manner as determining the average tilt angle of the adjacent slices of the left 3D camera; S706: Subtracting an average tilt angle of adjacent slices of the left 3D camera and an average tilt angle of adjacent slices of the right 3D camera to determine a tilt angle difference; S707: If the tilt angle difference is less than a preset tilt angle difference, correct the section width: Among them, W A represents the section width after tilt angle correction, W represents the average section width, θ1 represents the average tilt angle of adjacent sections in the left 3D camera, and θ2 represents the average tilt angle of adjacent sections in the right 3D camera; S708: Collect the coordinate position (x u1 ,y (1) , z u1 ), (x u2 ,y (1) , z u2 ),...,(x up ,y (1) , z up ), and based on the coordinate position and the corrected section width, determine the tilt-corrected thickness acquisition position: and ui (h) =and (1) +P u ×x ui ×tanθ P u =length w1 / (x up -x u1 ) Among them, (x ui ,y (1) , z ui ) represents the three-dimensional coordinates of the i-th depth value data point on the first section surface, i∈[1, p], length w1 It means that a width value is obtained at the junction of the upper surface and the side surface of the cut surface, P u Indicates the scaling factor, y ui (h) Indicates the corrected section thickness acquisition position; S709: According to the updated tilt-corrected thickness acquisition position, the coordinate point position acquired on the upper surface of the first section is corrected: (x u1 ,y u1 (h) ,z u1 (h) ),(x u2 ,y u2 (h) ,z u2 (h) ),...,(x up ,y up (h) ,z up (h) ) Among them, (x ui ,y ui (h) , z ui (h) ) represents the three-dimensional coordinates of the i-th depth value data point on the upper surface of the first section after correction; S710: Correcting the positions of the coordinate points collected on the lower surface of the first section in the same manner as adjusting the positions of the coordinate points collected on the upper surface of the first section; S711: Determine the thickness corresponding to the width section according to the corrected coordinates of the upper and lower cameras: Where L represents the thickness corresponding to the width section, Indicates the corrected section thickness.

6. The method for measuring the profile of a high temperature continuous casting steel billet according to claim 1, characterized in that: The S8 specifically includes: S801: Collect coordinate data from the same cut plane from four directions: left, right, top and bottom: l1=(x l1 ,z l1 ),(x l2 ,z l2 ),...,(xl n ,z ln ) r1=(x r1 ,z r1 ),(x r2 ,z r2 ),...,(x rm ,z rm ) u1=(x u1 ,from u1 ),(x u2 ,from u2 ),...,(x up ,from up ) b1=(x b1 ,from b1 ),(x b2 ,from b2 ),...,(x bq ,from bq ) Among them, l1 represents the two-dimensional coordinate set of the left camera on the same section, x la Indicates the coordinate value of the ath position data collected by the left camera in the horizontal direction of the measured section, z la represents the depth value of the data collected by the left camera at the ath position in the depth direction of the measured section, a∈1,2,...n,, n represents the total number of positions of the left camera, r1 represents the two-dimensional coordinate set of the right camera in the same section, x rt Indicates the coordinate value of the tth position data collected by the right camera in the horizontal direction of the measured section, z rt represents the depth value of the data collected by the right camera at the tth position in the depth direction of the measured section, t∈1,2,...m, m represents the total number of positions of the right camera, u1 represents the two-dimensional coordinate set of the upper camera on the same section, x uc Indicates the coordinate value of the cth position data collected by the upper camera in the horizontal direction of the measured section, z uc represents the depth value of the data collected by the upper camera at the cth position in the depth direction of the measured section, c∈1,2,...p, p represents the total number of positions of the upper camera, b1 represents the two-dimensional coordinate set of the lower camera on the same section, x bd Indicates the coordinate value of the dth position data collected by the lower camera in the horizontal direction of the measured section, z bd represents the depth value of the data collected by the lower camera at the dth position in the depth direction of the measured section, d∈1,2,...q, q represents the total number of positions of the upper camera; S802: Determine the point in the left camera point set that is closest to the right camera point in Euclidean distance In the same way, determine the point in the lower camera point set that is closest to the upper camera point in Euclidean distance Among them, j l * represents the index of the data point in the left camera point set, n represents the total number of data points in the left camera point set, x ri represents the horizontal coordinate of the i-th point in the right camera point set, x lj Represents the horizontal coordinate of the jth point in the left camera point set; S803: Point-based The depth value at The depth value at the top and right is converted to obtain the converted depth value data: Among them, length hi Indicates the distance between the upper and lower cameras and the i-th data point on the section surface. Indicates the depth value of the closest Euclidean distance to the upper i data point, length wi Indicates the distance between the i-th data point on the section of the left and right cameras. Indicates the depth value of the closest Euclidean distance to the i data point on the right; S804: Calculate the actual distance represented by a single pixel point in the horizontal section direction of each 3D camera according to the converted depth value data: p l =(z u1 -z b1 ) / (x ln -x l1 ) p r =(z up -z bq ) / (x rm -x r1 ) p u =(z r1 -z l1 ) / (x up -x u1 ) p b =(z rm -z ln ) / (x bq -x b1 ) Among them, p l Indicates the actual distance represented by each pixel point on the left camera slice in the horizontal slice direction, p r Indicates the actual distance represented by each pixel point on the right camera slice in the horizontal slice direction, p u Indicates the actual distance represented by each pixel point on the upper camera slice in the horizontal slice direction, p b Indicates the actual distance represented by each pixel point on the lower camera slice in the horizontal slice direction; S805: Based on the real distance represented by a single pixel point of each 3D camera in the horizontal section direction, the data collected by the left 3D camera is transformed into: (p l ×x l1 ,z l1 ),(p l ×x l2 ,z l2 ),...,(p l ×x ln ,z ln ); The data collected by the 3D camera on the right is transformed into: (p r ×x r1 ,z r1 ),(p r ×x r2 ,z r2 ),...,(p r ×x rm ,z rm ); The data collected by the upper 3D camera is transformed into: (p u ×x u1 ,z u1 ),(p u ×x u2 ,z u2 ),...,(p u ×x up ,z up ); The data collected by the lower 3D camera is transformed into: (p b ×x b1 ,z b1 ),(p b ×x b2 ,z b2 ),...,(p b ×x bq ,z bq ); S806: Based on the transformed data, determine the values ​​in the horizontal slice directions of each azimuth through coordinate conversion; S807: Rotate the left and right camera data 90 degrees clockwise around the origin, and determine the offset of the left, right, upper and lower side cameras: offet l =(0,z u1 )-(0,-p l ×x l1 ) offet r =(0,z up )-(0,-p r ×x r1 ) offet u =(z l1 ,0)-(p u ×x u1 ,0) offet b =(z ln ,0)-(p b ×x b1 ,0) Among them, offet l Indicates the offset of the left camera relative to the upper camera, offet r Indicates the offset of the right camera relative to the upper camera, offet u Indicates the offset of the upper camera relative to the left camera, b Indicates the offset of the lower camera relative to the left camera; S808: According to the values ​​in the horizontal slice directions of each orientation and the offset, the camera data on the left and right sides are converted to the same coordinate system, and the converted camera data on the left and right sides are determined: (z l1 ,-p l ×x l1 )+offet l ,(z l2 ,-p l ×x l2 )+offet l ,...,(zl n ,-p l ×xl n )+offet l ; (z r1 ,-p r ×x r1 )+offet r ,(z r2 ,-p r ×x r2 )+offet r ,...,(zr m ,-p r ×xr m )+offet r ; (p u ×x u1 ,z u1 )+offet u ,(p u ×x u2 ,z u2 )+offet u ,...,(p u ×x up ,z up )+offet u ; (p b ×x b1 ,z u1 )+offet b ,(p b ×x b2 ,z u2 )+offet b ,...,(p b ×x bq ,z bq )+offet b 。 S809: Based on the converted left and right camera data, combined with the upper and lower camera data, the cross-sectional profile of the target steel billet can be obtained by splicing the same coordinate system.

7. The high temperature continuous casting billet profile measurement method according to claim 1, characterized in that: After S8, the method further includes: The T value and strand length are calculated from the data of the cross section of the billet.

8. The method for measuring the profile of a high temperature continuous casting steel billet according to claim 7, characterized in that: The T value is calculated as follows: T=max(W)-min(W) W＝l w1 ，l w2 ，...，，l wm Where T represents the difference between the maximum and minimum values ​​of the target billet size, max represents the maximum value, min represents the minimum value, W represents the set of all section widths of the target billet, l wq It represents the width measured on the qth section of the billet, q∈[1,m], and m represents the total number of sections.

9. The method for measuring the profile of a high temperature continuous casting steel billet according to claim 7, characterized in that: The formula for calculating the stock degree is: Among them, rad represents the degree of stock, Indicates the width of the middle section, w n Indicates the upper width of the section.

10. A high temperature continuous casting billet profile measurement system, characterized in that: include: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method for measuring the profile of a high-temperature continuous casting steel billet as claimed in any one of claims 1 to 9 is implemented.

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