Method and system for measuring bending degree of steel billet and computer readable storage medium

Abstract

The embodiment of the invention provides a method and system for measuring the bending degree of a steel billet and a computer readable storage medium, and belongs to the field of automatic measurement. The measuring method comprises the following steps: acquiring three-dimensional point cloud data of a to-be-measured steel billet, and filtering the three-dimensional point cloud data to obtain target three-dimensional point cloud data of the to-be-measured steel billet; obtaining the calibrated three-dimensional point cloud data; acquiring three-dimensional point cloud data of the upper surface of the steel billet to be measured according to the calibrated standard three-dimensional point cloud data; acquiring the three-dimensional point cloud data of the vertexes in the same length direction from the three-dimensional point cloud data of the upper surface of the to-be-measured steel billet so as to acquire the bending length of the to-be-measured steel billet; and according to the bending length, width and height of the to-be-measured billet, the height of the roller way from the ground, and the extreme points of the three-dimensional point cloud data of the upper surface of the to-be-measured billet in the horizontal direction and the extreme points of the three-dimensional point cloud data of the upper surface of the to-be-measured billet in the vertical direction, determining the bending degree of the to-be-measured billet in the horizontal direction and the bending degree of the to-be-measured billet in the vertical direction. The bending degree of the steel billet can be represented more accurately and comprehensively.

Description

Technical Field

[0001] The present invention relates to the field of automatic measurement technology, and in particular to a method for measuring the curvature of a steel billet, a system for measuring the curvature of a steel billet, an electronic device, a computer-readable storage medium, and a computer program product. Background Art

[0002] Billets are semi-finished products obtained by rolling or forging steel ingots, which can be further rolled or forged into finished products. Billets are affected by complex conditions during production, transportation, and cooling, such as uneven cooling by secondary cooling water spray, one side of the billet is exposed to wind when air-cooling, additional cooling water sprayed onto the billet, uneven straightening rollers, and the center of the straightening machine and the center of the crystallizer are not on the same plane. These factors will cause the billet to bend to varying degrees, most of which are "C"-shaped bent steel structures. Billets that do not meet the curvature requirements are easily stuck at the entrance of the heating furnace or cause accidents such as furnace shutdown and steel piling during subsequent processing, which directly affects the continuity and stability of the company's production and becomes a major problem that restricts the improvement of product billet consumption cost indicators. Therefore, it is necessary to propose a method for measuring the curvature of billets. When the billet is bent too much in the horizontal and vertical directions, it will scratch the door of the heating furnace, and in severe cases, it will cause equipment damage. Therefore, it is necessary to measure the curvature of the billet in both the horizontal and vertical directions. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a method for measuring the curvature of a steel billet, a system for measuring the curvature of a steel billet, an electronic device, a computer-readable storage medium, and a computer program product. The measuring method can partially or completely solve the problems existing in the prior art, such as the incomplete curvature measurement direction cannot accurately characterize the curvature of the steel billet, and the unreasonable measurement result standards.

[0004] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a method for measuring the curvature of a steel billet, the measuring method comprising: acquiring three-dimensional point cloud data of the steel billet to be measured and performing filtering processing to obtain target three-dimensional point cloud data of the steel billet to be measured; calibrating the target three-dimensional point cloud data of the steel billet to be measured using a preset position of a standard steel billet on a roller table to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured; acquiring three-dimensional point cloud data of the upper surface of the steel billet to be measured according to the calibrated standard three-dimensional point cloud data of the steel billet to be measured; acquiring three-dimensional point cloud data of vertices located in the same length direction from the three-dimensional point cloud data of the upper surface of the steel billet to be measured to obtain the bending length of the steel billet to be measured; and determining the curvature of the steel billet to be measured in the horizontal direction and the curvature in the vertical direction according to the bending length, width, height of the steel billet to be measured, the height of the roller table from the ground, and the extreme points of the three-dimensional point cloud data of the upper surface of the steel billet to be measured in the horizontal direction and the extreme points in the vertical direction.

[0005] Optionally, the target three-dimensional point cloud data of the steel billet to be tested is calibrated using the preset position of the standard steel billet on the roller to obtain the calibrated three-dimensional point cloud data of the steel billet to be tested, including: using the coordinates of two vertices on the upper surface of the standard steel billet at the preset position on the roller and located in the same length direction as standard vertex coordinates; using the coordinates of two vertices on the upper surface of the steel billet and located in the same length direction in the three-dimensional point cloud data of the steel billet to be tested as feature point coordinates; obtaining the deviation angle of the steel billet to be tested on the roller from the standard steel billet on the roller according to the standard vertex coordinates and the feature point coordinates; and calibrating the three-dimensional point cloud data of the steel billet to be tested according to the deviation angle to obtain the calibrated three-dimensional point cloud data of the steel billet to be tested.

[0006] Optionally, obtaining the deviation angle of the steel billet to be tested on the roller conveyor from the standard steel billet on the roller conveyor according to the standard vertex coordinates and the feature point coordinates includes: determining the deviation angle α of the steel billet to be tested on the roller conveyor from the standard steel billet on the roller conveyor according to the following formula:

[0007]

[0008] Wherein, x represents the coordinate axis corresponding to the width direction when the standard steel billet is at the preset position on the roller, y represents the coordinate axis corresponding to the length direction when the standard steel billet is at the preset position on the roller, z represents the coordinate axis corresponding to the height direction when the standard steel billet is at the preset position on the roller, and p f Represents the coordinates of the first vertex in the feature point coordinates, p′ r Represents the second vertex coordinates in the feature point coordinates, p r Indicates a feature point coordinate in the feature point coordinates corresponding to the second vertex coordinates.

[0009] Optionally, the three-dimensional point cloud data of the vertices located in the same length direction are obtained from the three-dimensional point cloud data of the upper surface of the steel billet to be measured, so as to obtain the bending length of the steel billet to be measured: the bending length of the steel billet to be measured is obtained according to the following formula:

[0010]

[0011] Wherein, l represents the bending length of the steel billet to be tested, p′ m represents the midpoint of the straight line connecting the feature point coordinates, p m It indicates the projection point of the midpoint corresponding to the steel billet to be measured.

[0012] Optionally, determining the curvature of the steel billet in the horizontal direction and the curvature of the steel billet in the vertical direction according to the bending length, width, height, height of the roller from the ground, and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the steel billet in the horizontal direction includes: determining the curvature Curh of the steel billet in the horizontal direction and the curvature Curv of the steel billet in the vertical direction according to the following formula: Curh = (pmaxx.x-pmina.x-ω) / lCur v =(p max. z-roller.zh) / lWherein, w represents the width of the billet to be measured, h represents the

[0013] Billet height, roller.z represents the height of the roller from the ground, p minx .x represents the minimum value in the x direction of the three-dimensional point cloud data of the upper surface of the steel billet to be tested, p maxx .x represents the maximum value of the three-dimensional point cloud data in the x direction of the upper surface of the steel billet to be tested, p maxz .z represents the maximum value of the three-dimensional point cloud data of the upper surface of the steel billet to be measured in the z-coordinate axis direction.

[0014] Optionally, the method further includes: when the curvature of the steel billet to be tested in the horizontal direction is greater than a first curvature threshold or the curvature in the vertical direction is greater than a second curvature threshold, determining that the steel billet to be tested is an unqualified product.

[0015] On the other hand, the present invention also provides a billet curvature measurement system, the measurement system comprising: a first acquisition module, used to acquire three-dimensional point cloud data of the billet to be measured and perform filtering processing to acquire target three-dimensional point cloud data of the billet to be measured; a second acquisition module, used to calibrate the target three-dimensional point cloud data of the billet to be measured using a preset position of a standard billet on a roller table to acquire the calibrated three-dimensional point cloud data of the billet to be measured; a third acquisition module, used to acquire three-dimensional point cloud data of the upper surface of the billet to be measured according to the calibrated standard three-dimensional point cloud data of the billet to be measured; a fourth acquisition module, used to acquire three-dimensional point cloud data of vertices located in the same length direction from the three-dimensional point cloud data of the upper surface of the billet to be measured to acquire the bending length of the billet to be measured; and a determination module, used to determine the curvature of the billet to be measured in the horizontal direction and the curvature of the billet to be measured in the vertical direction according to the bending length, width, height of the billet to be measured, the height of the roller table from the ground, and the extreme points of the three-dimensional point cloud data of the upper surface of the billet to be measured in the horizontal direction and the extreme points in the vertical direction.

[0016] On the other hand, the present invention also provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method for measuring the curvature of a steel billet as described above.

[0017] On the other hand, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the method for measuring the curvature of a steel billet as described above.

[0018] In yet another aspect, the present invention further provides a computer program product, comprising a computer program, which implements the method for measuring the curvature of a steel billet as described above when the computer program is executed by a processor.

[0019] Through the above technical scheme, the three-dimensional point cloud data of the steel billet to be measured is obtained and filtered to obtain the target three-dimensional point cloud data of the steel billet to be measured; the target three-dimensional point cloud data of the steel billet to be measured is calibrated using the preset position of the standard steel billet on the roller to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured; the three-dimensional point cloud data of the upper surface of the steel billet to be measured is obtained according to the calibrated standard three-dimensional point cloud data of the steel billet to be measured; the three-dimensional point cloud data of the vertices located in the same length direction are obtained from the three-dimensional point cloud data of the upper surface of the steel billet to be measured to obtain the bending length of the steel billet to be measured; and the curvature of the steel billet to be measured in the horizontal direction and the curvature in the vertical direction are determined according to the bending length, width, height of the steel billet to be measured, the height of the roller from the ground, and the extreme points of the three-dimensional point cloud data of the upper surface of the steel billet to be measured in the horizontal direction and the extreme points in the vertical direction.

[0020] The present invention measures the curvature in both the horizontal and vertical directions of the steel billet, and can characterize the curvature of the steel billet more accurately and comprehensively. The present invention determines the curvature in two directions based on the bending length, width, height of the steel billet to be measured, the height of the roller from the ground, and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the steel billet to be measured, so that the measurement result standard is more reasonable.

[0021] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a flow chart of a method for measuring curvature of a steel billet provided by the first embodiment of the present invention;

[0024] Figure 2 is a top view of a standard steel billet at a preset position on a roller table provided by an embodiment of the present invention;

[0025] Figure 3 is a top view of a steel billet to be tested that deviates from a standard steel billet provided by an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of the structure of a steel billet to be tested that deviates from a standard steel billet provided by an embodiment of the present invention;

[0027] Figure 5 is a schematic structural diagram of the upper surface of a steel billet to be tested provided by an embodiment of the present invention;

[0028] Figure 6 is the limit point p in the width direction of the billet m i nx Schematic diagram;

[0029] Figure 7 is the limit point p in the height direction of the steel billet maxz Schematic diagram;

[0030] Figure 8 is an overall flow chart of a method for measuring the curvature of a steel billet provided by an embodiment of the present invention;

[0031] Fig. 9 The second embodiment of the present invention provides a system for measuring the curvature of a steel billet.

[0032] Description of Reference Numerals

[0033] 201 Standard steel billet 202 Roller

[0034] 203 Billet to be tested DETAILED DESCRIPTION

[0035] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0036] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0037] Figure 1 The flowchart of a method for measuring the curvature of a steel billet provided by the first embodiment of the present invention is as follows: A method for measuring the curvature of a steel billet, the measuring method comprising the following steps S10-S14.

[0038] In step S10, the three-dimensional point cloud data of the steel billet to be measured is obtained and filtered to obtain the target three-dimensional point cloud data of the steel billet to be measured.

[0039] Exemplarily, the purpose of the present invention is to overcome the defects of the prior art and provide a method for measuring the curvature of a steel billet to solve the problems of incomplete measurement directions and unreasonable measurement result standards in the prior art. In view of the above-mentioned defects of the prior art, an embodiment of the present invention installs a laser radar above the roller to scan the steel billet to obtain three-dimensional point cloud data of the surface of the steel billet. There is no specific restriction on the position of the laser radar. It should be noted that the embodiment of the present invention is particularly suitable for square billets.

[0040] Further, the step of acquiring the three-dimensional point cloud data of the steel billet to be measured and performing filtering processing to obtain target three-dimensional point cloud data of the steel billet to be measured includes the following steps S101-S102.

[0041] In step S101, a statistical analysis is performed on a preset neighborhood of each three-dimensional point cloud in the three-dimensional point cloud data of the steel billet to be tested, and an average distance between each point cloud data and the point cloud data in the preset neighborhood is determined.

[0042] Exemplarily, the neighborhood of each point is statistically analyzed, and the average distance from it to all nearby points is calculated. The distribution of distance values ​​conforms to Gaussian distribution, and points with a standard deviation greater than a set threshold are deleted to achieve filtering. For example, the three-dimensional point cloud data of the steel billet to be tested is filtered to obtain the target three-dimensional point cloud data of the steel billet to be tested, that is, the three-dimensional point cloud data that does not meet the standard requirements is removed. The preset neighborhood is, for example, the area within a circle with a diameter of 10 mm with any three-dimensional point cloud data as the center, and the average distance between all points in the preset neighborhood and the center of the circle is calculated.

[0043] In step S102, the three-dimensional point cloud data in the preset neighborhood whose average distance between each point cloud data and the three-dimensional point cloud data in the preset neighborhood is greater than a set distance is deleted to obtain the target three-dimensional point cloud data of the steel billet to be tested.

[0044] Exemplarily, after the average distance is calculated according to the above steps and compared with the preset distance, the three-dimensional point cloud data within the preset neighborhood and the distance from the center of the circle are deleted to obtain the target three-dimensional point cloud data of the steel billet to be tested, thereby achieving the purpose of filtering all point cloud data and removing noise data.

[0045] In step S11, the target three-dimensional point cloud data of the steel billet to be measured is calibrated using the preset position of the standard steel billet on the roller table to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured.

[0046] For example, Figure 2 It is a top view of the preset position of the standard steel billet on the roller provided by the embodiment of the present invention. The standard steel billet 201 is a normal steel billet without bending, and the preset position is the optimal placement position of the steel billet on the roller, which is generally perpendicular to the direction of the roller 202. The three-dimensional point cloud data is composed of a number of points, each of which is composed of 3 data, namely x, y, and z, where the x direction is set to be parallel to the width direction of the measurement range, the y direction is parallel to the length direction of the measurement range, and the z direction is parallel to the height direction of the measurement range, such as Figure 2 In actual situations, the three-dimensional coordinate axes can also be set according to actual needs, and the present invention does not impose any specific limitations.

[0047] Furthermore, the target three-dimensional point cloud data of the steel billet to be measured is calibrated using the preset position of the standard steel billet on the roller table to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured, including steps S111-S114.

[0048] In step S111, two vertex coordinates on the upper surface of the standard steel billet at a preset position on the roller and located in the same length direction are used as standard vertex coordinates.

[0049] For example, the upper surface of the steel billet to be tested is the surface away from the roller side. When the steel billet is transported from the loading platform to the roller, the longitudinal axis of the steel billet and the x direction often form a certain angle, such as Figure 3 The figure shows a top view of the steel billet to be tested that deviates from the standard steel billet. Therefore, the calibration algorithm is required to adjust the steel billet point cloud data to a state parallel to the x-direction. First, the coordinates of two vertices on the same ridge on the upper surface of the standard steel billet 201 at the preset position on the roller are obtained. For example, Figure 3 The two vertices corresponding to the left long side of the standard billet (respectively represented by p f and p' r Indicates, reference Figure 4 ) as the standard vertex coordinates. First, the coordinates of the four vertices on the upper surface of the billet can be obtained by the extreme value method, and two vertices on the same edge line are selected as the characteristic points of the billet and named p f 、p r . f As the origin, with p f 、p r The Euclidean distance between them is the radius r fr .

[0050] In step S112, the coordinates of two vertices belonging to the upper surface of the steel billet and located in the same length direction in the three-dimensional point cloud data of the steel billet to be measured are taken as feature point coordinates.

[0051] For example, the coordinates of two vertices belonging to the upper surface of the steel billet and located in the same length direction in the three-dimensional point cloud data of the steel billet 203 to be tested are taken as the coordinates of the feature points (respectively represented by p f and p r Indicates), such as Figure 4 It is a schematic diagram of the structure of the steel billet to be tested deviating from the standard steel billet.

[0052] In step S113, the deviation angle of the steel billet to be measured on the roller conveyor from the standard steel billet on the roller conveyor is obtained according to the standard vertex coordinates and the characteristic point coordinates.

[0053] Exemplarily, after obtaining the corresponding standard vertex coordinates and the characteristic point coordinates of the steel billet to be measured, the deviation angle of the corresponding steel billet to be measured from the standard steel billet on the roller is determined according to the following formula.

[0054] Further, according to the standard vertex coordinates and the feature point coordinates, obtaining the deviation angle of the steel billet to be tested on the roller conveyor from the standard steel billet on the roller conveyor includes: determining the deviation angle α of the steel billet to be tested on the roller conveyor from the standard steel billet on the roller conveyor according to the following formula:

[0055]

[0056] Wherein, x represents the coordinate axis corresponding to the width direction when the standard steel billet is at the preset position on the roller, y represents the coordinate axis corresponding to the length direction when the standard steel billet is at the preset position on the roller, z represents the coordinate axis corresponding to the height direction when the standard steel billet is at the preset position on the roller, and p f Represents the coordinates of the first vertex in the feature point coordinates, p′ r Represents the second vertex coordinates in the feature point coordinates, p r Indicates a feature point coordinate in the feature point coordinates corresponding to the second vertex coordinates.

[0057] For example, in summary, the coordinates of the four vertices on the upper surface of the billet can be obtained by the extreme value method, and two vertices on the same edge line are selected as the characteristic points of the billet, named p f p r ,. f As the origin, with p f 、p r The Euclidean distance between them is the radius r fr , rotate p r Move it to p′ r Point, p f、p' r The Euclidean distance between fr , so that p' r .x is equal to p f .x,p r .z is equal to p f .x,p' r .z is equal to p r .z, and r fr Equal to r′ fr The rotation angle α is the calibration angle of the billet.

[0058]

[0059]

[0060] r′ fr =r fr ,

[0061] p′ r .x=p f .x,

[0062] p′ r .z=p f .z,

[0063] According to the above formula, we can get:

[0064]

[0065] According to p f , p r , p' r Coordinates can be obtained vector

[0066]

[0067]

[0068] According to the angle formula between two straight lines in three-dimensional space The rotation angle is:

[0069]

[0070] In step S114, the three-dimensional point cloud data of the steel billet to be measured is calibrated according to the deviation angle to obtain calibrated three-dimensional point cloud data of the steel billet to be measured.

[0071] For example, after the above steps to obtain the deviation angle, according to p r , p′ rThe rotation direction of the steel billet can be determined, and the point cloud can be calibrated by rotating the steel billet point cloud by α degrees to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured.

[0072] In step S12, three-dimensional point cloud data of the upper surface of the steel billet to be measured is obtained according to the calibrated standard three-dimensional point cloud data of the steel billet to be measured.

[0073] For example, the upper surface of the steel billet can be considered as a quadratic surface, and the surface reconstruction technology is used to fit the surface model using the least square method. For example, a set of three-dimensional point cloud data is selected as the control grid of the surface, and then the surface grid is generated based on these points. Next, the distance from each point in the point cloud to the surface is calculated, and the surface coefficient is calculated by minimizing the sum of the squares of the distances from the point to the surface. The above steps are repeated until the fitting error reaches the preset accuracy standard, thereby obtaining the three-dimensional point cloud data of the upper surface of the steel billet.

[0074] In step S13, the three-dimensional point cloud data of the vertices located in the same length direction are acquired from the three-dimensional point cloud data of the upper surface of the steel billet to be measured, so as to acquire the bending length of the steel billet to be measured.

[0075] Further, the three-dimensional point cloud data of the vertices located in the same length direction are obtained from the three-dimensional point cloud data of the upper surface of the steel billet to be measured, so as to obtain the bending length of the steel billet to be measured: the bending length of the steel billet to be measured is obtained according to the following formula:

[0076]

[0077] Wherein, l represents the bending length of the steel billet to be tested, p′ m represents the midpoint of the straight line connecting the feature point coordinates, p m It indicates the projection point of the midpoint corresponding to the steel billet to be measured.

[0078] For example, Figure 5 is a schematic diagram of the structure of the upper surface of the steel billet to be tested provided by an embodiment of the present invention. m represents the midpoint of the straight line connecting the feature point coordinates, p m It indicates the projection point of the midpoint on the billet to be tested, that is, the intersection of the plane where the midpoint of the line connecting the head and tail vertices of the billet is located and the billet intersects vertically. Then, according to the above formula, the bending length of the billet to be tested, that is, the side length l of the bent billet to be tested, can be calculated. In practical applications, if the billet length cannot be accurately known, the threshold cannot be determined. Therefore, the ratio of the distance from the edge point to the point cloud vertex to the billet length should be used as the judgment standard. This method does not measure the billet length, and the measurement result standard of judging the degree of bending by the distance threshold is unreasonable, which is difficult to achieve in practical applications.

[0079] In step S14, the curvature of the steel billet to be tested in the horizontal direction and the vertical direction are determined according to the bending length, width, height of the steel billet to be tested, the height of the roller from the ground, and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the steel billet to be tested.

[0080] Further, according to the bending length, width, height of the steel billet to be measured, the height of the roller from the ground, and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the steel billet to be measured, determining the curvature of the steel billet to be measured in the horizontal direction and the curvature of the steel billet to be measured in the vertical direction includes:

[0081] According to the following formula, the curvature Cur of the steel billet to be tested in the horizontal direction is determined: h Curvature with vertical direction Cur v :Cur h =(p maxx .xp minz .xw), Cur v =(p max .z—roller.zh) / l, where w represents the width of the billet to be measured, h represents the height of the billet to be measured, roller.z represents the height of the roller from the ground, and p minx .x represents the minimum value in the x direction of the three-dimensional point cloud data of the upper surface of the steel billet to be tested, p maxx .x represents the maximum value of the three-dimensional point cloud data in the x direction of the upper surface of the steel billet to be tested, p maxz .z represents the maximum value of the three-dimensional point cloud data of the upper surface of the steel billet to be measured in the z-coordinate axis direction.

[0082] For example, the point cloud of the upper surface of the billet is obtained by traversal method and the extreme points in the x-direction and z-direction are found. f .x=p' r .x, and the width of the billet can be known according to the billet specifications. By measuring, the distance roller from the billet to the ground and the height h of the billet to be measured can be obtained, such as Figure 6 is the limit point p in the width direction of the billet minx Schematic diagram, Figure 7 is the limit point p in the height direction of the billet maxz Schematic diagram.

[0083] Finally, when the length, width, height, roller height from the ground and the horizontal extreme point p of the three-dimensional point cloud data of the upper surface of the steel billet to be measured are known, minx And the extreme point p in the vertical direction maxzIn the case of, determine the horizontal curvature of the steel billet to be tested: Cur h =(p maxx .xp minz .xw). The curvature in the vertical direction is: Cur v =(p maxz .z-roller.zh) / l. Reference Figure 8 It is an overall flow chart of the method for measuring the curvature of a steel billet provided in an embodiment of the present invention.

[0084] Furthermore, the method further includes: when the curvature of the steel billet to be tested in the horizontal direction is greater than a first curvature threshold or the curvature in the vertical direction is greater than a second curvature threshold, determining that the steel billet to be tested is an unqualified product.

[0085] For example, when the horizontal curvature of the steel billet is greater than the first curvature threshold or the vertical curvature is greater than the second curvature threshold, the steel billet is considered to be too curvatured, and the steel billet to be tested can be considered as an unqualified product, and the unqualified product will no longer be processed in the next step. The first curvature threshold and the second curvature threshold can be set according to actual needs without specific restrictions.

[0086] The technical problem to be solved by the present invention is that steel billets often have a "C"-shaped bend due to the influence of environmental factors during production, storage and transportation. If the bend is too large, it will damage the equipment during the production process and affect production. Therefore, it is necessary to measure the horizontal and vertical curvature of the steel billet. In response to this problem, the present invention provides a method for measuring the curvature of the steel billet based on the ratio of the size of the three-dimensional data range in the horizontal and vertical directions of the steel billet to the length of the steel billet, making the measurement of the curvature of the steel billet more reasonable, improving the accuracy of the measurement of the curvature of the steel billet, and reducing production risks.

[0087] Through the above technical scheme, the three-dimensional point cloud data of the steel billet to be measured is obtained and filtered to obtain the target three-dimensional point cloud data of the steel billet to be measured; the target three-dimensional point cloud data of the steel billet to be measured is calibrated using the preset position of the standard steel billet on the roller to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured; the three-dimensional point cloud data of the upper surface of the steel billet to be measured is obtained according to the calibrated standard three-dimensional point cloud data of the steel billet to be measured; the three-dimensional point cloud data of the vertices located in the same length direction are obtained from the three-dimensional point cloud data of the upper surface of the steel billet to be measured to obtain the bending length of the steel billet to be measured; and the curvature of the steel billet to be measured in the horizontal direction and the curvature in the vertical direction are determined according to the bending length, width, height of the steel billet to be measured, the height of the roller from the ground, and the extreme points of the three-dimensional point cloud data of the upper surface of the steel billet to be measured in the horizontal direction and the extreme points in the vertical direction.

[0088] The present invention measures the curvature in both the horizontal and vertical directions of the billet, and can characterize the curvature of the billet more accurately and comprehensively. The present invention determines the curvature in both directions based on the curvature length and width of the billet to be measured and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the billet to be measured, so that the measurement result standard is more reasonable.

[0089] like Fig. 9 The second embodiment of the present invention provides a billet curvature measurement system. The measurement system 90 includes: a first acquisition module 901, which is used to acquire the three-dimensional point cloud data of the billet to be measured and perform filtering processing to obtain the target three-dimensional point cloud data of the billet to be measured; a second acquisition module 902, which is used to calibrate the target three-dimensional point cloud data of the billet to be measured using the preset position of the standard billet on the roller table to obtain the calibrated three-dimensional point cloud data of the billet to be measured; a third acquisition module 903, which is used to acquire the three-dimensional point cloud data of the upper surface of the billet to be measured according to the calibrated standard three-dimensional point cloud data of the billet to be measured. point cloud data; a fourth acquisition module 904, used to acquire the three-dimensional point cloud data of the vertices located in the same length direction from the three-dimensional point cloud data of the upper surface of the steel billet to be measured, so as to obtain the bending length of the steel billet to be measured; and a determination module 905, used to determine the curvature of the steel billet to be measured in the horizontal direction and the curvature of the steel billet to be measured according to the bending length, width, height, height of the roller from the ground and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the steel billet to be measured.

[0090] The third embodiment of the present invention also provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method for measuring the curvature of a steel billet as described.

[0091] The third embodiment of the present invention provides an electronic device to implement the method and effect of measuring the curvature of the steel billet as described above, which is the same as the first embodiment and will not be described in detail here.

[0092] The fourth embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the method for measuring the curvature of a steel billet as described above.

[0093] The fourth embodiment of the present invention provides a computer-readable storage medium to implement the billet curvature measurement method and effect as described above, which are the same as the first embodiment and will not be described in detail here.

[0094] A fifth embodiment of the present invention further provides a computer program product, comprising a computer program, which implements the method for measuring the curvature of a steel billet as described above when executed by a processor.

[0095] The fifth embodiment of the present invention provides a computer program product to implement the method and effect of measuring the curvature of the steel billet as described above, which is the same as the first embodiment and will not be described in detail here.

[0096] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0097] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0098] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0099] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0100] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0101] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0102] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0103] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0104] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for measuring the curvature of a steel billet, characterized in that: The measuring method comprises: acquiring three-dimensional point cloud data of the steel billet to be measured and performing filtering processing to obtain target three-dimensional point cloud data of the steel billet to be measured; Using the preset position of the standard steel billet on the roller table, calibrating the target three-dimensional point cloud data of the steel billet to be measured, so as to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured; Acquiring three-dimensional point cloud data of the upper surface of the steel billet to be measured according to the calibrated standard three-dimensional point cloud data of the steel billet to be measured; Acquire the three-dimensional point cloud data of the vertices located in the same length direction from the three-dimensional point cloud data of the upper surface of the steel billet to be measured, so as to obtain the bending length of the steel billet to be measured; and The curvature of the steel billet in the horizontal direction and the vertical direction are determined according to the bending length, width, height, height of the roller from the ground, and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the steel billet to be tested.

2. The measuring method according to claim 1, characterized in that: Using the preset position of the standard steel billet on the roller table to calibrate the target three-dimensional point cloud data of the steel billet to be measured to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured includes: Using the coordinates of two vertices on the upper surface of the standard steel billet at the preset position on the roller and located in the same length direction as standard vertex coordinates; Taking the coordinates of two vertices belonging to the upper surface of the steel billet and located in the same length direction in the three-dimensional point cloud data of the steel billet to be measured as the coordinates of the feature points; According to the standard vertex coordinates and the characteristic point coordinates, obtaining a deviation angle of the steel billet to be measured on the roller conveyor from the standard steel billet on the roller conveyor; The three-dimensional point cloud data of the steel billet to be measured is calibrated according to the deviation angle to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured.

3. The measuring method according to claim 2, characterized in that: According to the standard vertex coordinates and the feature point coordinates, obtaining the deviation angle of the steel billet to be measured on the roller conveyor from the standard steel billet on the roller conveyor comprises: The deviation angle α of the steel billet to be tested on the roller conveyor from the standard steel billet on the roller conveyor is determined according to the following formula: Wherein, x represents the coordinate axis corresponding to the width direction when the standard steel billet is at the preset position on the roller, y represents the coordinate axis corresponding to the length direction when the standard steel billet is at the preset position on the roller, z represents the coordinate axis corresponding to the height direction when the standard steel billet is at the preset position on the roller, and p f Represents the first vertex coordinates in the feature point coordinates, p' r Represents the second vertex coordinates in the feature point coordinates, p r Indicates a feature point coordinate in the feature point coordinates corresponding to the second vertex coordinates.

4. The measuring method according to claim 2, characterized in that: Acquire the three-dimensional point cloud data of the vertices located in the same length direction from the three-dimensional point cloud data of the upper surface of the steel billet to be measured, so as to obtain the bending length of the steel billet to be measured: According to the following formula, the bending length of the steel billet to be tested is obtained: Wherein, l represents the bending length of the steel billet to be tested, p m represents the midpoint of the straight line connecting the feature point coordinates, p m It indicates the projection point of the midpoint corresponding to the steel billet to be measured.

5. The measuring method according to claim 4, characterized in that: Determining the curvature of the steel billet in the horizontal direction and the curvature of the steel billet in the vertical direction according to the curvature length, width, height, height of the roller from the ground, and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the steel billet in the horizontal direction and the vertical direction includes: According to the following formula, the curvature Cur of the steel billet to be tested in the horizontal direction is determined: h Curvature with vertical direction Cur v : Cur h =(p maxx .x-p minx .x-w) / l, Cur v =(p maxz .z-roller.z-h) / l, Among them, w represents the width of the steel billet to be measured, h represents the height of the steel billet to be measured, roller.z represents the height of the roller from the ground, and p minx .x represents the minimum value in the x direction of the three-dimensional point cloud data of the upper surface of the steel billet to be tested, p maxx .x represents the maximum value of the three-dimensional point cloud data in the x direction of the upper surface of the steel billet to be tested, p maxz .z represents the maximum value of the three-dimensional point cloud data of the upper surface of the steel billet to be measured in the z-coordinate axis direction.

6. The measuring method according to claim 1, characterized in that: The method further includes: when the curvature of the steel billet to be tested in the horizontal direction is greater than a first curvature threshold or the curvature of the steel billet in the vertical direction is greater than a second curvature threshold, determining that the steel billet to be tested is an unqualified product.

7. A billet curvature measurement system, characterized in that: The measuring system comprises: A first acquisition module is used to acquire three-dimensional point cloud data of the steel billet to be tested and perform filtering processing to obtain target three-dimensional point cloud data of the steel billet to be tested; A second acquisition module is used to calibrate the target three-dimensional point cloud data of the steel billet to be measured by using the preset position of the standard steel billet on the roller table to obtain the calibrated three-dimensional point cloud data of the steel billet to be measured; A third acquisition module is used to acquire the three-dimensional point cloud data of the upper surface of the steel billet to be measured according to the calibrated standard three-dimensional point cloud data of the steel billet to be measured; a fourth acquisition module, configured to acquire the three-dimensional point cloud data of the vertices located in the same length direction from the three-dimensional point cloud data of the upper surface of the steel billet to be measured, so as to acquire the bending length of the steel billet to be measured; and A determination module is used to determine the curvature of the steel billet to be tested in the horizontal direction and the curvature in the vertical direction according to the bending length, width, height of the steel billet to be tested, the height of the roller from the ground, and the extreme points in the horizontal direction and the extreme points in the vertical direction of the three-dimensional point cloud data of the upper surface of the steel billet to be tested.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method for measuring the curvature of a steel billet according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for measuring the curvature of a steel billet according to any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method for measuring the curvature of a steel billet according to any one of claims 1 to 6.

Images