Copper rod throwing straightness detection method and device based on laser detection

Abstract

The invention relates to the technical field of detection equipment, in particular to a copper rod throwing straightness detection method and device based on laser detection, and the method comprises the steps: S10, obtaining a copper rod throwing blank with the length of L; s20, the copper rod drawing blank does uniform linear motion at the speed of V; s30, point laser is arranged, a receiver is arranged to receive the point laser, and the placing angle of the copper rod throwing blank is calculated according to the shielding time of the point laser; s40, line laser is arranged, an included angle is formed between the irradiation direction of the line laser and the moving direction of the copper rod throwing blank, a camera is arranged to shoot a top view image at the line laser, the top view contour of the copper rod throwing blank is displayed through the line laser, and the top view contour shape of the copper rod throwing blank is obtained; and S50, the overlook center line of the copper rod throwing blank is calculated, then the distance between each point on the two long sides in the overlook contour shape of the copper rod throwing blank and the overlook center line is calculated, and therefore whether the straightness of the copper rod throwing blank is qualified or not is judged. According to the invention, the detection efficiency of the straightness of the copper rod throwing can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and in particular to a method and equipment for detecting the straightness of a copper rod casting based on laser detection. Background Art

[0002] In the production process of copper rods, the copper material is first melted and then made into a cylindrical blank, and then the copper rod blank is drawn into the required copper rod shape through the drawing process. During the drawing process, the copper rod blank needs to have good straightness, so as to ensure that the force in all directions of the drawing die is uniform and the quality of the drawn copper rod product is guaranteed.

[0003] In the existing straightness detection technology, a dial indicator is usually used to move along the generatrix of the copper rod blank, and the straightness of the copper rod blank is obtained by observing the change in the reading of the dial indicator. During the detection, personnel need to accurately install the copper rod blank and the dial indicator, and the detection efficiency is very low. Therefore, a more efficient detection method or equipment is needed. Summary of the invention

[0004] The invention provides a method and device for detecting the straightness of a copper rod casting based on laser detection, which can effectively solve the problems in the background technology.

[0005] The present invention provides a method for detecting the straightness of a copper rod casting based on laser detection, the steps comprising: S10: Obtain a copper rod with a length of L; S20: Make the copper rod casting do uniform linear motion at a speed of V; S30: setting a point laser that irradiates in a horizontal direction and is perpendicular to the copper rod blank moving direction, aligning the point laser with the center of the copper rod blank in height, setting a receiver to receive the point laser, and calculating the placement angle of the copper rod blank according to the time when the point laser is blocked; S40: setting a line laser to illuminate the copper rod blank motion path, and forming an angle between the line laser irradiation direction and the copper rod blank motion direction, setting a camera to capture a top view image at the line laser, displaying the top view profile of the copper rod blank through the line laser, and obtaining the top view profile shape of the copper rod blank; S50: Calculate the top view center line of the copper rod blank according to the placement angle and the top view contour shape, then calculate the distance between each point on the two long sides of the top view contour shape of the copper rod blank and the top view center line, find the difference between the maximum distance and the minimum distance, and judge whether the difference exceeds the set threshold. If so, the copper rod blank is judged as unqualified in straightness.

[0006] Further, in step S30, the specific process of calculating the placement angle of the copper rod blank is as follows: When the point laser is blocked, the timing starts from 0, the total blocked time is recorded as T, the copper rod blank diameter is D, and the copper rod blank placement angle is θ; Let V·T=L·cosθ+D·sinθ; Solve to obtain the value of the placement angle θ of the copper rod casting.

[0007] Furthermore, in step S30, multiple point lasers and multiple receivers are set, each point laser calculates the value of the placement angle of the copper rod casting once, and finally all calculated placement angle values ​​are averaged as the final placement angle θ.

[0008] Furthermore, step S30 also includes a verification step, specifically: When any point laser is blocked, the timing starts from 0. If the point laser adjacent to the point laser is blocked within the set time T1, the subsequent steps will continue to be executed; if it is not blocked, it will be determined whether the point laser is still in the blocked state within the set time T1. If so, an alarm will be issued and the detection will be stopped; if not, the data recorded this time will be cleared.

[0009] Further, in step S40, the specific steps of obtaining the top view contour shape of the copper rod blank are: When the point laser is blocked, start timing from 0 and continue recording the time t; Set the recognition range, which is between the projections of the point laser and the line laser onto the copper rod casting motion path; When the copper rod blank enters the recognition range, the line laser will irradiate the copper rod blank to form a laser curve. The camera takes a top-view image and recognizes the laser curve in the top-view image. The positions of the two ends of the laser curve in the direction perpendicular to the copper rod blank movement line are f1 and f2 respectively. As the copper rod moves, when t takes different values, there will be corresponding f1 and f2, thus forming two functions F1 and F2 with time t as the independent variable and f1 and f2 as the dependent variables respectively; By drawing the F1 and F2 images on the same coordinate system, the top-down contour shape can be obtained.

[0010] Furthermore, after the camera captures the image, it performs binarization processing on the image to form a final overhead image.

[0011] Furthermore, in step S50, the specific process of calculating the top-view center line is as follows: The point on the F1 image that is farthest from the F2 image is taken as (t1_base, f1_base), and the point on the F2 image that is farthest from the F1 image is taken as (t2_base, f2_base); Calculate the coefficient k. If t1_base-t2_base<0, k is -1; if t1_base-t2_base>0, k is 1; Calculate a straight line with a slope of k·tanθ that passes through the point (t1_base / 2+t2_base / 2, f1_base / 2+f2_base / 2). This straight line is the top-down centerline.

[0012] Furthermore, in step S50, the steps of identifying the two long sides of the top view contour shape are as follows: If t1_base-t2_base<0, the part on F1 with a horizontal coordinate greater than t1_base is one long side, and the part on F2 with a horizontal coordinate less than t2_base is another long side; If t1_base-t2_base>0, the portion on F1 whose horizontal coordinate is less than t1_base is one long side, and the portion on F2 whose horizontal coordinate is greater than t2_base is another long side.

[0013] The present invention also provides a copper rod casting straightness detection device based on laser detection, which is applicable to the above copper rod casting straightness detection method based on laser detection, comprising: Cutting module, used for cutting copper rod blanks; Conveyor belt, used to drive the copper rod to draw the blank; A point laser emitter is arranged on the conveyor belt, and the irradiation direction is perpendicular to the conveyor belt; A receiver, arranged on the transmission belt, for receiving the point laser; A line laser emitter is arranged above the conveyor belt and is used to irradiate a line laser onto the conveyor belt; A camera, arranged above the conveyor belt, for obtaining a top-view image; The calculation module is used to obtain the receiver and camera data and calculate the straightness of the copper rod drawing.

[0014] Furthermore, it also includes a cover, and the point laser transmitter, the receiver, the line laser transmitter and the camera are all arranged in the cover.

[0015] The technical solution of the present invention can achieve the following technical effects: Through the coordination of point laser and line laser, the method can automatically identify the placement angle and contour of the copper rod blank, thereby calculating the straightness of the copper rod blank. During the detection process, the personnel only need to place the copper rod blank on the conveyor belt, thereby effectively eliminating the installation and debugging steps in the traditional detection method, and can greatly improve the detection efficiency; at the same time, the method can also realize full-process automatic detection, reduce personnel operation intervention, avoid errors caused by personnel operation problems, and effectively improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 1 It is a schematic structural diagram of a copper rod casting straightness detection device based on laser detection in the present invention; Figure 2 For the present invention Figure 1 The enlarged view of point Ⅰ; Figure 3 A top view of the midpoint laser emitter of the present invention; Figure 4 It is a top view of the copper rod before it passes through the line laser emitter in the present invention; Figure 5 It is a top view when the copper rod just starts to pass through the line laser emitter in the present invention; Figure 6 It is a top view of the copper rod casting part passing through the line laser emitter in the present invention; Figure 7 The top view outline shape of the copper rod blank in the present invention; Figure 8 The top view outline shape of another form of copper rod casting in the present invention; Figure numerals: 1. conveyor belt; 2. point laser transmitter; 3. receiver; 4. line laser transmitter; 5. camera. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by “center”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “inside” and “outside”, etc., are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] The present invention relates to a method for detecting the straightness of a copper rod casting based on laser detection, and the specific steps include: S10: Obtain a copper rod blank with a length of L as a sample to be tested. When obtaining, according to actual processing requirements, if it is a continuous casting condition, cut a section with a length of L from the long blank as a test sample; if the copper rod blank is directly drawn in sections, take out several copper rod blanks, cut off the excess parts as needed, and process them to a length of L; S20: placing the copper rod blank to be tested on the conveyor belt 1, so that the copper rod blank moves in a uniform linear motion at a speed of V; S30: a point laser transmitter 2 is set to emit a point laser, the point laser is irradiated in a horizontal direction and is perpendicular to the moving direction of the copper rod blank, the point laser is aligned with the center of the copper rod blank in height, a receiver 3 is set to receive the point laser, when the copper rod blank passes between the point laser transmitter 2 and the receiver 3, the point laser will be blocked by the copper rod blank, so that the receiver 3 cannot receive the point laser signal; the placement angle of the copper rod blank relative to its moving straight line is calculated according to the time when the point laser is blocked; S40: a line laser emitter 4 is set to emit a line laser, and the line laser is irradiated toward the copper rod blank movement path. The line laser is irradiated on the conveyor belt 1 to form a line segment perpendicular to the copper rod blank movement direction, and an angle is formed between the line laser irradiation direction and the copper rod blank movement direction. A camera 5 is set to capture a top view image at the line laser. When the copper rod blank passes through the line laser, part of the line laser will be blocked by the copper rod blank, thereby forming a curve on the copper rod blank. In this way, the top view contour of the copper rod blank can be displayed by the line laser, and the top view contour shape of the copper rod blank can be obtained. S50: Calculate the top view center line of the copper rod blank according to the placement angle and the top view contour shape, then calculate the distance between each point on the two long sides of the top view contour shape of the copper rod blank and the top view center line, find the difference between the maximum distance and the minimum distance, and judge whether the difference exceeds the set threshold. If so, the copper rod blank is judged as unqualified in straightness.

[0022] This method can automatically identify the placement angle and contour of the copper rod blank through the cooperation of point laser and line laser, so as to calculate the straightness of the copper rod blank. During the detection process, the personnel only need to place the copper rod blank on the conveyor belt 1, and there is no need to specially control the placement angle of the copper rod blank when placing it, so that the installation and debugging steps in the traditional detection method can be effectively eliminated, which can greatly improve the detection efficiency; at the same time, this method can also realize full-process automatic detection, reduce the operation intervention of personnel, and avoid errors caused by personnel operation problems, so as to effectively improve the detection accuracy. When placing the copper rod blank, since the copper rod blank is not restricted by other objects, under the action of gravity, the copper rod blank will rotate to a position where the observation surface with the worst straightness faces upward, and the image of the copper rod blank from a bird's-eye view is taken during the detection of this method, so the maximum straightness error of the copper rod blank can be detected.

[0023] Preferably, in step S30, the specific process and principle of calculating the placement angle of the copper rod blank is as follows: The diameter of the copper rod is D, and the angle of the copper rod relative to its moving line is θ; As the copper rod blank is placed at different angles, its projection length in the direction of motion will be different, and this projection length will form a specific relationship with the copper rod blank placement angle, that is, the projection length H=L·cosθ+D·sinθ; When the copper rod moves to the point laser, it will block the point laser so that the receiver 3 cannot receive the laser signal. Once the point laser is identified to be blocked, the timing starts from 0 immediately. After the copper rod passes the point laser as a whole, the receiver 3 can receive the laser signal again. At this time, the total time the point laser is blocked can be recorded as T. Then, in the time T, the length of the object passing through the laser point is V·T, and this length is the projection length H of the copper rod in the direction of motion, so: V·T=L·cosθ+D·sinθ; The solution can obtain the value of the placement angle θ of the copper rod casting.

[0024] If only a single calculation is performed, it is easy to be disturbed during the calculation process, resulting in inaccurate calculation results. Therefore, it is preferred that in step S30, Figure 3As shown, multiple point lasers and multiple receivers 3 are set, and the multiple point lasers and multiple receivers 3 correspond to each other one by one and are distributed along the movement direction of the copper rod blank; each point laser calculates the value of the placement angle of the copper rod blank once, and finally averages all the calculated placement angle values ​​as the final placement angle θ; if necessary, a data verification step can also be set, specifically: after calculating the values ​​of multiple placement angles, the variance of these values ​​is calculated, if the variance is less than the set threshold, it means that the data fluctuation is within an acceptable range; if the variance is greater than the set threshold, it means that individual data is likely to be interfered with during detection, and it is necessary to eliminate the interfered data (such as data that is obviously too large or too small), and average the remaining values ​​as the final placement angle θ.

[0025] During use, it is also necessary to consider whether there will be unexpected vibration or interference, which may cause the point laser to be blocked by mistake, or the point laser to be damaged and unable to continue working. Therefore, step S30 of this method also includes a verification step, which is specifically: When any point laser is blocked (that is, when the receiver 3 cannot receive the laser signal), the timing starts from 0. If the point laser adjacent to the point laser is blocked within the set time T1, it is very likely that the copper rod billet is passing normally, so that the lasers of each point can be blocked in turn, and the subsequent steps can be continued; if the point laser adjacent to the point laser is not blocked, it is impossible that the copper rod billet is passing. At this time, it is necessary to determine whether the point laser is still in a blocked state within the set time T1. If so, it is very likely that the point laser transmitter 2 of the point laser is damaged, or a foreign object has fallen in front of the point laser transmitter 2 or the receiver 3, causing it to fail to work normally, then an alarm is issued and the detection is stopped; if not, it means that although the foreign object has briefly affected the work of the point laser, it no longer affects it at this time, then the recorded data can be cleared to perform normal work. At this time, a certain warning information can be issued to remind personnel that there may be foreign object interference in the working environment, but the detection operation does not need to be completely stopped.

[0026] Preferably, in step S40, the specific steps and principles for obtaining the top view profile shape of the copper rod blank are: When the copper rod does not reach the line laser, Figure 4 As shown, the line laser will illuminate the conveyor belt 1 to form a line segment a perpendicular to the conveyor belt 1; When the copper rod reaches the line laser, Figures 5 and 6As shown, since the surface of the copper rod blank is cylindrical, the line laser irradiated on the copper rod blank will become a curve of line segment c, and the two ends of line segment c will be aligned in a direction perpendicular to the moving direction of the copper tube blank, while the other line lasers that are not irradiated on the copper rod blank will remain as they are and irradiate the conveyor belt 1 to form straight line segments b and d; and since the copper rod blank is higher than the surface of the conveyor belt 1, from a top-down perspective, line segment c will also form a certain distance between line segments b and d; Based on the above imaging principle, the camera 5 can be used to capture an image from a top-down perspective and process the image to form a top-down contour shape of the copper rod blank.

[0027] When the point laser is blocked, start timing from 0 and keep recording the time t, which is used as the benchmark. When there are multiple point lasers, any point laser can be used as the benchmark. Set the recognition range z, such as Figures 4 to 6 As shown, the recognition range z is located between the projections of the point laser and the line laser on the copper rod casting motion path (i.e., the line segment a formed by the line laser on the conveyor belt 1). At this position, the line segment c can be captured just right, while the line segments b and d are eliminated, so that the required line segment c can be accurately screened out.

[0028] When the copper rod blank enters the recognition range, the line laser will irradiate the copper rod blank to form a laser curve (i.e., line segment c), and the camera 5 will take a top-view image and recognize the laser curve in the top-view image. The camera 5 has its own coordinate system, and when taking pictures, it will assign coordinates to each pixel in the image to calculate the position of each pixel. During installation, it is necessary to pay attention to the alignment of the coordinate system of the camera 5, so that the extension direction of its horizontal coordinate is aligned with the opposite direction of the movement direction of the conveyor belt 1, and the vertical coordinate is perpendicular to the movement direction of the conveyor belt 1.

[0029] When the camera 5 captures the laser curve (i.e., line segment c), the positions of the two ends of the laser curve in the direction perpendicular to the straight line of the copper rod casting motion (i.e., the opposite of the vertical coordinate of the camera 5) are f1 and f2 respectively. The f1 and f2 can directly take the longitudinal distance values ​​corresponding to the coordinates of the two ends of the laser curve captured by the camera 5. For example: assuming that in the image captured by the camera 5, the coordinates of the two end points of the laser curve are (x, y1) and (x, y2) respectively, which means that the lateral distance of the two end points from the origin of the camera 5 in the image is x, and the longitudinal distances are y1 and y2 respectively. The actual distance corresponding to each pixel is P, then the actual longitudinal distances of the two end points from the origin of the camera 5 are y1·P=f1 and y2·P=f2 respectively. Since the subsequent calculations are all about the relationship between relative positions, the position of the camera 5 can be anywhere and will not affect the subsequent calculations.

[0030] As the copper rod moves, for example, Figure 5Move to Figure 6 Position, as the moving time t of the copper rod billet drawing will increase, when t takes different values, there will be corresponding f1 and f2, thus forming two functions F1 and F2 with time t as the independent variable and f1 and f2 as the dependent variables respectively.

[0031] By drawing F1 and F2 images on the same coordinate system, we can get the top view contour shape, such as Figure 7-8 shown.

[0032] In order to more clearly distinguish the two end points of the laser curve, the image can be binarized after the camera 5 takes the image. The overall color of the laser curve is brighter. Therefore, after the image is binarized, the laser curve part can be quickly extracted from the image, thereby forming a final overhead image with the laser curve part being white and the other parts being black.

[0033] Preferably, in step S50, the specific process and principle of calculating the top-view center line are as follows: like Figure 7-8 As shown, in the process of obtaining F1 and F2, since the areas entering and leaving the line laser are very small (corresponding to points A and B on the figure), the accuracy of these two places is poor. Therefore, when calculating, the point on the F1 image farthest from the F2 image is taken as C (t1_base, f1_base), and the point on the F2 image farthest from the F1 image is taken as D (t2_base, f2_base). These two points are the two determined corner points on the copper rod casting overhead image. Through these two points, the coordinates of the center point O of the copper rod casting overhead image can be calculated as (t1_base / 2+t2_base / 2, f1_base / 2+f2_base / 2).

[0034] Calculate the coefficient k. If t1_base-t2_base<0, it means that the copper rod drawing is as follows Figure 7 The slope of the center line is negative, so k is -1; if t1_base-t2_base>0, it means that the copper rod is drawn like this Figure 8 If the slope of the center line is positive, k is 1. Calculate a straight line with a slope of k·tanθ and passing through the center point O(t1_base / 2+t2_base / 2, f1_base / 2+f2_base / 2). This straight line is the top-down center line.

[0035] In step S50, the steps of identifying the two long sides in the top view contour shape are as follows: If t1_base-t2_base<0, it means that the copper rod drawing is as follows Figure 7The skew direction shown in FIG. 1 is shown in FIG. 1 , and the portion on F1 whose horizontal coordinate is greater than t1_base is one long side, and the portion on F2 whose horizontal coordinate is less than t2_base is another long side; If t1_base-t2_base>0, it means that the copper rod drawing is as follows Figure 8 As shown in the skew direction, the portion on F1 whose horizontal coordinate is less than t1_base is one long side, and the portion on F2 whose horizontal coordinate is greater than t2_base is another long side.

[0036] The present invention also relates to a copper rod casting straightness detection device based on laser detection, which is applicable to the above-mentioned copper rod casting straightness detection method based on laser detection, such as Figure 1~2 As shown, including: Cutting module, used for cutting copper rod blanks; Conveyor belt 1, used to drive the copper rod to draw the blank; The point laser emitter 2 is arranged on the conveyor belt 1, and the irradiation direction is perpendicular to the conveyor belt 1; A receiver 3, arranged on the transmission belt 1, for receiving a point laser; The point laser transmitter 2 and the receiver 3 are installed in an adjustable height installation mode, so that they can be adjusted accordingly according to the copper rods with different diameters; The line laser emitter 4 is arranged above the conveyor belt 1 and is used to irradiate the line laser to the conveyor belt 1; the line laser emitter 4 is installed in a rotatable manner so that a person can adjust the irradiation angle of the line laser emitter 4; A camera 5 is arranged above the conveyor belt 1 and is used to obtain a top view image; The calculation module is used to obtain the data from the receiver 3 and the camera 5 and calculate the straightness of the copper rod.

[0037] In order to make each laser more obvious and facilitate the identification of the laser, a cover can be installed on the device, and the point laser transmitter 2, the receiver 3, the line laser transmitter 4 and the camera 5 are all arranged in the cover.

[0038] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for detecting the straightness of a copper rod casting based on laser detection, characterized in that the steps include: S10: Obtain a copper rod with a length of L; S20: Make the copper rod casting do uniform linear motion at a speed of V; S30: setting a point laser that irradiates in a horizontal direction and is perpendicular to the copper rod blank moving direction, aligning the point laser with the center of the copper rod blank in height, setting a receiver to receive the point laser, and calculating the placement angle of the copper rod blank according to the time when the point laser is blocked; S40: setting a line laser to illuminate the copper rod blank motion path, and forming an angle between the line laser irradiation direction and the copper rod blank motion direction, setting a camera to capture a top view image at the line laser, displaying the top view profile of the copper rod blank through the line laser, and obtaining the top view profile shape of the copper rod blank; S50: Calculate the top view center line of the copper rod blank according to the placement angle and the top view contour shape, then calculate the distance between each point on the two long sides of the top view contour shape of the copper rod blank and the top view center line, find the difference between the maximum distance and the minimum distance, and judge whether the difference exceeds the set threshold. If so, the copper rod blank is judged as unqualified in straightness.

2. The method for detecting the straightness of copper rod casting based on laser detection according to claim 1 is characterized in that: In step S30, the specific process of calculating the placement angle of the copper rod blank is as follows: When the point laser is blocked, the timing starts from 0, the total blocked time is recorded as T, the copper rod blank diameter is D, and the copper rod blank placement angle is θ; Let V·T=L·cosθ+D·sinθ; Solve to obtain the value of the placement angle θ of the copper rod casting.

3. The method for detecting the straightness of copper rod casting based on laser detection according to claim 2, characterized in that: In step S30, multiple point lasers and multiple receivers are set, each point laser calculates the value of the placement angle of the copper rod casting once, and finally all calculated placement angle values ​​are averaged as the final placement angle θ.

4. The method for detecting the straightness of copper rod casting based on laser detection according to claim 3 is characterized in that: Step S30 also includes a verification step, specifically: When any point laser is blocked, the timing starts from 0. If the point laser adjacent to the point laser is blocked within the set time T1, the subsequent steps will continue to be executed; if it is not blocked, it will be determined whether the point laser is still in the blocked state within the set time T1. If so, an alarm will be issued and the detection will be stopped; if not, the data recorded this time will be cleared.

5. The method for detecting the straightness of copper rod casting based on laser detection according to claim 2, characterized in that: In step S40, the specific steps of obtaining the top view contour shape of the copper rod blank are: When the point laser is blocked, start timing from 0 and continue recording the time t; Set the recognition range, which is between the projections of the point laser and the line laser onto the copper rod casting motion path; When the copper rod blank enters the recognition range, the line laser will irradiate the copper rod blank to form a laser curve. The camera takes a top-view image and recognizes the laser curve in the top-view image. The positions of the two ends of the laser curve in the direction perpendicular to the copper rod blank movement line are f1 and f2 respectively. As the copper rod moves, when t takes different values, there will be corresponding f1 and f2, thus forming two functions F1 and F2 with time t as the independent variable and f1 and f2 as the dependent variables respectively; By drawing the F1 and F2 images on the same coordinate system, the top-down contour shape can be obtained.

6. The method for detecting the straightness of copper rod casting based on laser detection according to claim 5 is characterized in that: After the camera takes the image, it is binarized to form the final overhead image.

7. The method for detecting the straightness of copper rod casting based on laser detection according to claim 5, characterized in that: In step S50, the specific process of calculating the top-view center line is as follows: The point on the F1 image that is farthest from the F2 image is taken as (t1_base, f1_base), and the point on the F2 image that is farthest from the F1 image is taken as (t2_base, f2_base); Calculate the coefficient k. If t1_base-t2_base<0, k is -1; if t1_base-t2_base>0, k is 1; Calculate a straight line with a slope of k·tanθ that passes through the point (t1_base / 2+t2_base / 2, f1_base / 2+f2_base / 2). This straight line is the top-down centerline.

8. The method for detecting the straightness of copper rod casting based on laser detection according to claim 7, characterized in that: In step S50, the steps of identifying the two long sides of the top view contour shape are as follows: If t1_base-t2_base<0, the part on F1 with a horizontal coordinate greater than t1_base is one long side, and the part on F2 with a horizontal coordinate less than t2_base is another long side; If t1_base-t2_base>0, the portion on F1 whose horizontal coordinate is less than t1_base is one long side, and the portion on F2 whose horizontal coordinate is greater than t2_base is another long side.

9. A copper rod casting straightness detection device based on laser detection, suitable for the copper rod casting straightness detection method based on laser detection as claimed in any one of claims 1 to 8, characterized in that: include: Cutting module, used for cutting copper rod blanks; Conveyor belt, used to drive the copper rod to draw the blank; A point laser emitter is arranged on the conveyor belt, and the irradiation direction is perpendicular to the conveyor belt; A receiver, arranged on the transmission belt, for receiving the point laser; A line laser emitter, disposed above the conveyor belt, for irradiating a line laser onto the conveyor belt; A camera, arranged above the conveyor belt, for acquiring a top-view image; A calculation module is used to obtain the data of the receiver and the camera and calculate the straightness of the copper rod drawn.

10. The copper rod casting straightness detection device based on laser detection according to claim 9 is characterized in that: The invention also comprises a cover, wherein the point laser transmitter, the receiver, the line laser transmitter and the camera are all arranged in the cover.

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