Strip steel plate shape detection device and method

Abstract

The invention discloses a strip steel plate shape detection device and method, and relates to the technical field of strip steel rolling, the device comprises a laser support, a camera support, a grid structure light emitter, a first industrial camera, a second industrial camera and a camera angle adjusting mechanism; the grid structure light emitter is fixed on one side of the roller bed plane through the laser support and is vertically arranged above the roller bed plane; the first industrial camera is an industrial camera provided with a narrow-band optical filter, the second industrial camera is an industrial camera without an optical filter, and the central wavelength of the narrow-band optical filter is consistent with the wavelength of light emitted by the grid structure light emitter; the first industrial camera and the second industrial camera are arranged at the positions with the same height as the grid structure light emitter through a camera support and a camera angle adjusting mechanism. According to the invention, through cooperation of precise light source projection and the industrial camera, stable and reliable strip steel plate shape detection is ensured, and precise management and control in a large-scale production process are facilitated.

Description

Technical Field

[0001] This application relates to the technical field of strip rolling, and more specifically, to a strip shape detection device and method. Background Art

[0002] With the rapid development of the iron and steel industry and the continuous improvement of the automation level, the demand for accurate detection of strip shape in the strip production process is increasing day by day. The strip shape quality directly affects the subsequent processing of the strip and the performance of the final product. Therefore, the real-time monitoring and accurate evaluation of the strip surface morphology become particularly important. At present, in related technologies, strip shape detection mainly relies on traditional measurement methods, such as contact measurement or optical image processing. However, these traditional methods often have problems such as low measurement accuracy, poor real-time performance, and large interference from the external environment, and it is difficult to meet the requirements of high-precision, non-contact, and high-speed real-time detection in the strip production line.

[0003] Especially in the multi-dimensional evaluation of the strip surface quality and shape, traditional detection methods are difficult to accurately and stably capture the changes in the strip surface morphology in a high-speed production environment. Although traditional optical imaging technology has certain advantages, it still fails to effectively solve the dynamic change problem of the strip surface in a moving state. Therefore, how to achieve high-precision and non-contact strip shape detection of the strip surface and be able to obtain data in real time during the high-speed production process has become a major problem in the current technology. That is, there is a technical problem of insufficient strip shape detection accuracy and efficiency in the existing technology. Summary of the Invention

[0004] A series of simplified concepts are introduced in the summary of the invention part of this application, which will be further described in detail in the specific implementation part. The summary of the invention part of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0005] The strip shape detection device and method provided by this application can ensure stable and reliable strip shape detection through precise light source projection and cooperation with industrial cameras, provide a basis for high-precision image acquisition and data analysis, and facilitate precise control during large-scale production.

[0006] In a first aspect, the present application provides a strip shape detection device, which includes: a laser bracket, a camera bracket, a grid structured light emitter, a first industrial camera, a second industrial camera, and a camera angle adjustment mechanism; the grid structured light emitter is fixed on one side of the roller table plane through the laser bracket and is arranged vertically above the roller table plane; the first industrial camera is an industrial camera provided with a narrowband filter, and the second industrial camera is an industrial camera not provided with a filter. The central wavelength of the narrowband filter is consistent with the wavelength of the light emitted by the grid structured light emitter; the first industrial camera is used to collect an image formed by the light emitted by the grid structured light emitter, and the second industrial camera is used to collect an image of the strip steel surface; both the first industrial camera and the second industrial camera are arranged at a position equal in height to the grid structured light emitter through the camera bracket and the camera angle adjustment mechanism.

[0007] In some embodiments, the grid structured light emitter is used to split a point light source through a diffractive optical element to form a grid stripe pattern with horizontal and vertical intersections, and emit the grid stripe pattern to the surface of the strip steel driven on the roller table plane.

[0008] In some embodiments, the installation height of the grid structured light emitter is the result of the ratio of the width of the roller table plane to the emission angle projection coefficient, where the emission angle projection coefficient is twice the tangent value of the half emission angle, and the half emission angle is half of the emission angle of the grid structured light emitter.

[0009] In some embodiments, the camera angle adjustment mechanism is a single-axis adjustable structure, and the camera angle adjustment mechanism is used to adjust the first industrial camera and the second industrial camera within a range of 0° to ±15° relative to the vertical plane.

[0010] In some embodiments, both the first industrial camera and the second industrial camera are fixed to the same camera angle adjustment mechanism, and the distance between the first industrial camera and the second industrial camera is 200 millimeters.

[0011] In some embodiments, both the camera bracket and the laser bracket include a cross arm and a vertical arm. Both the cross arm and the vertical arm are telescopic adjustable structures, and the cross arm has a length calibration scale, and the vertical arm has a height calibration scale.

[0012] In some embodiments, the strip shape detection device further includes an automatic cleaning device, which includes an air pump, an air pipe, and a nozzle. The air pump is used to spray compressed air through the air pipe from the nozzle onto the lens surface; nozzles are provided in front of the lens sides of both the first industrial camera and the second industrial camera.

[0013] In some embodiments, the strip shape detection device further includes a data processing unit, which is electrically connected to the first industrial camera and the second industrial camera; the data processing unit is configured to receive and process the image data collected by the first industrial camera and the second industrial camera, analyze the strip shape on the strip surface through a preset processing algorithm, and generate a strip shape detection result.

[0014] In some embodiments, the number of the laser bracket, the camera bracket, the grid structured light emitter, the first industrial camera, the second industrial camera, and the camera angle adjustment mechanism is one each.

[0015] In a second aspect, the present application further provides a strip shape detection method, which uses the strip shape detection device provided in the embodiments of the present application to detect the strip shape.

[0016] In summary, in the present application, the grid structured light emitter is fixed above the vertical plane of the roller table by the laser bracket, and can stably and accurately project a laser stripe pattern onto the surface of the strip moving on the roller table plane, providing a stable and reliable light source basis for subsequent detection; at the same time, the first industrial camera and the second industrial camera are arranged at the same height as the grid structured light emitter through the camera bracket and the camera angle adjustment mechanism. Such a layout ensures that multi-position information covering the entire surface of the strip is obtained on the same height plane, making the collected data have better correspondence and relevance, facilitating subsequent data integration and analysis; by using the light emitted by the grid structured light emitter to form grid stripes on the strip surface, combined with the first industrial camera provided with a narrowband filter, the central wavelength of which is the same as the wavelength of the grid structured light emitter, stray light and interference signals can be effectively filtered out, enhancing the clarity and stability of image acquisition and avoiding the influence of external light sources; the second industrial camera is not provided with a filter, and the original information on the strip surface, such as the material texture and surface markings of the strip, can be clearly obtained, and then the strip roll number information can be accurately extracted, facilitating precise control of each roll of strip during large-scale production. In summary, the strip shape detection method provided in the present application ensures stable and reliable strip shape detection through precise light source projection and cooperation with industrial cameras, provides a basis for high-precision image acquisition and data analysis, and facilitates precise control during large-scale production. Description of the Drawings

[0017] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to limit this specification. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0018] Figure 1Schematic diagram of the composition structure of a strip steel shape detection device provided by an embodiment of the present application.

[0019] In the figure, 1 is a drive roller, 2 is a roller table plane, 3 is the strip steel surface, 4 is a grid structured light emitter, 5 is a laser bracket, 6 is a camera angle adjustment mechanism, 7 is a second industrial camera, 8 is a first industrial camera, and 9 is a camera bracket. Specific implementation manners

[0020] Terms in the specification, claims and drawings of the present application, such as "first", "second", "third", "fourth", etc. (if any), are used to distinguish similar objects, rather than describe a specific order or sequence. Therefore, it is understood that under appropriate circumstances, these terms can be interchanged, so that the described embodiments can be implemented in a different order, unless there are special requirements in the drawings or descriptions. In addition, the terms "is" and "has" and any variants thereof in the present application are intended to non-exclusively include all possible constituent elements. For example, a process, method, system, product or device including several steps or units does not necessarily only include the steps or units clearly listed, but may also include other steps or units not clearly listed, or steps or units inherent to the process, method, product or device.

[0021] In the present application, a "module" or "unit" refers to a computer program or a part of a computer program with a specific function, and works in cooperation with other related parts to achieve a predetermined goal. These modules or units can be implemented by software, hardware (such as a processing circuit or a memory), or a combination of both. One or more processors or memories can implement one or more modules or units. At the same time, each module or unit can also be a part of a larger module or unit.

[0022] The technical solutions in the present application will be described in detail below with reference to the drawings in the embodiments. It should be noted that the described embodiments are only a part of the present application, rather than all embodiments. In the following description, the "some embodiments" mentioned are only subsets of all possible embodiments, which can be the same or different subsets, and different embodiments can be combined with each other without conflict.

[0023] Figure 1 It is a schematic diagram of the combined structure of a strip steel shape detection device provided by an embodiment of the present application. Exemplarily, see Figure 1, the strip shape detection device provided by the embodiment of the present application may include a laser bracket 5, a camera bracket 9, a grid structured light emitter 4, a first industrial camera 8, a second industrial camera 7, and a camera angle adjustment mechanism 6; the grid structured light emitter 4 is fixed on one side of the roller table plane 2 through the laser bracket 5 and is arranged vertically above the roller table plane 2; the first industrial camera 8 is an industrial camera provided with a narrowband filter, and the second industrial camera 7 is an industrial camera without a filter. The central wavelength of the narrowband filter is the same as the wavelength of the light emitted by the grid structured light emitter 4; the first industrial camera 8 is used to collect the image formed by the light emitted by the grid structured light emitter 4, and the second industrial camera 7 is used to collect the strip surface image; both the first industrial camera 8 and the second industrial camera 7 are arranged at the same height as the grid structured light emitter 4 through the camera bracket 9 and the camera angle adjustment mechanism 6.

[0024] Exemplarily, the laser bracket 5 is used to fix the position of the grid structured light emitter 4 to ensure that the grid structured light emitter 4 is vertically above the roller table plane 2. The laser bracket 5 is directly connected to the grid structured light emitter 4, and the position of the laser bracket 5 can be adjusted as needed to ensure an appropriate distance and angle between the light source and the strip surface 3; the laser bracket 5 can be an L-shaped metal frame, and the bottom is firmly fixed to one side of the roller table through bolts or other connecting parts with the ground or the production line base, ensuring that there is no displacement due to factors such as vibration during the operation of the equipment.

[0025] The camera bracket 9 is used to support the first industrial camera 8 and the second industrial camera 7 to keep them stable and can adjust the angle and position of the cameras as needed to ensure that both cameras are at the same height as the grid structured light emitter 4, thereby ensuring the accuracy of image acquisition; the camera bracket 9 can be an L-shaped metal frame, and the bottom is also firmly fixed to one side of the roller table through bolts or other connecting parts with the ground or the production line base. At the same time, the camera angle adjustment mechanism 6 is connected to the bracket through bolts or chutes for easy angle adjustment.

[0026] The core components inside the grid structured light emitter 4 are a semiconductor laser and a diffractive optical element (Diffractive Optical Elements, DOE). The semiconductor laser is used as a light source to generate a point light source, and the diffractive optical element is responsible for splitting, recombining, and redirecting the point light source, and finally forming a grid stripe pattern with horizontal and vertical intersections.

[0027] The first industrial camera 8 is mostly a high-resolution black-and-white or color image sensor (Complementary Metal Oxide Semiconductor, CMOS) camera with high pixels, such as 10 million pixels, to meet the requirement of capturing details of laser stripe images. It is equipped with a global shutter, which can instantaneously capture clear images of high-speed moving objects and avoid motion blur. A narrowband filter with the same wavelength as the grid structured light emitter 4 is installed in front of the lens. The narrowband filter is made of optical glass and realizes precise wavelength selection through a coating process. The central wavelength is the same as the light wavelength of the emitter, such as 658 nm, and the central transmittance of the narrowband filter is greater than 85%. The camera housing is designed with heat dissipation fins to assist the internal chip in heat dissipation and ensure stable operation for a long time. In the actual implementation process, the first industrial camera 8 on a certain strip steel production line can select a black-and-white network port CMOS camera with a maximum acquisition frequency of 11.6 fps. The installation height is the same as that of the grid structured light emitter 4, which is 2 meters, and the horizontal distance from the grid structured light emitter 4 is 0.5 meters. It is adjusted to an angle of 13.8° with the vertical plane through the camera angle adjustment mechanism 6, and an 8 mm focal length lens is selected to ensure that the field of view covers the required laser stripe projection area and accurately collect the real-time topography of the laser stripe for strip steel shape recognition.

[0028] The second industrial camera 7 is similar to the basic structure of the first industrial camera 8 and is also a high-resolution CMOS camera, but no filter is installed to collect the real image of the strip steel surface 3 under natural light, including information such as the material texture and surface markings of the strip steel. The pixels are determined according to requirements and are generally not less than 5 million pixels to meet the clear collection of identification information such as the roll number. The housing material is strong and durable, with a certain dust and splash-proof ability to adapt to the production site environment. For example, in an application scenario of strip steel roll number recognition, the second industrial camera 7 is installed at the same horizontal height as the grid structured light emitter 4, and is 200 mm away from the first industrial camera 8 in the Y-axis direction (the vertical direction perpendicular to the movement of the roller table). A 5 million pixel color CMOS camera is used to collect the strip steel surface image in real time, and the image data is transmitted to the data processing unit. The strip steel roll number information is quickly and accurately extracted through an image recognition algorithm for production management and quality traceability.

[0029] The camera angle adjustment mechanism 6 is used to adjust the angles of the first industrial camera 8 and the second industrial camera 7 so that they can be adjusted within the range of 0° to ±15°. By adjusting the camera angle, the relative position between the camera and the strip steel surface 3 can be optimized to ensure the angle and quality of image acquisition; the camera angle adjustment mechanism 6 can be a single-axis adjustable mechanical structure, adopting a manual or electric drive mode, and changing the angle of the industrial camera by adjusting the screw or electric motor to ensure that the shooting perspectives of the first industrial camera 8 and the second industrial camera 7 meet the requirements.

[0030] In summary, in the embodiment of the present application, the grid structured light emitter 4 is fixed above the vertical of the roller table plane 2 by the laser bracket 5, and can stably and accurately project a laser stripe pattern onto the surface 3 of the strip steel moving on the roller table plane 2, providing a stable and reliable light source basis for subsequent detection; at the same time, the first industrial camera 8 and the second industrial camera 7 are arranged at the same height as the grid structured light emitter 4 through the camera bracket 9 and the camera angle adjustment mechanism 6. Such a layout ensures that multi-position information covering the entire surface of the strip steel is obtained on the same height plane, making the collected data have better correspondence and relevance, facilitating subsequent data integration and analysis; by using the light emitted by the grid structured light emitter 4 to form grid stripes on the surface 3 of the strip steel, combined with the first industrial camera 8 provided with a narrow-band filter, the central wavelength of which is the same as the wavelength of the grid structured light emitter 4, stray light and interference signals can be effectively filtered out, enhancing the clarity and stability of image acquisition and avoiding the influence of external light sources; the second industrial camera 7 is not provided with a filter, and the original information of the surface 3 of the strip steel, such as the material texture and surface markings of the strip steel, can be clearly obtained, and then the strip steel coil number information can be accurately extracted, facilitating precise control of each coil of strip steel during large-scale production. In summary, the strip steel shape detection method provided by the embodiment of the present application ensures stable and reliable strip steel shape detection through precise light source projection and cooperation with industrial cameras, provides a basis for high-precision image acquisition and data analysis, and facilitates precise control during large-scale production.

[0031] In some embodiments, the grid structured light emitter 4 is used to split the point light source through a diffractive optical element to form a grid stripe pattern with horizontal and vertical intersections, and emit the grid stripe pattern to the surface 3 of the strip steel moving on the roller table plane 2.

[0032] Exemplarily, a laser diode can be selected as the point light source. The laser diode has the characteristics of strong directivity and good stability. The optical wavelength can be selected in the visible light or near-infrared range to facilitate good reflection with the strip surface 3. A grating can be selected as the diffraction element. The line density and angle of the grating can be accurately designed through calculation to ensure the formation of crisscross grid stripes. The diffractive optical element is combined with an appropriate focusing lens or mirror to ensure that the formed grid stripes can be clearly projected onto the strip surface 3 and can cover the entire width of the strip. The grid stripes projected on the strip surface 3 will change according to the shape changes of the strip surface 3 (such as bending, warping, etc.). These changing patterns can be captured by the first industrial camera 8 to further analyze the shape and form of the strip. Fewer lines may result in too sparse a distribution of grid nodes to capture subtle deformations, while more lines may bring too much redundant data, increasing the computational and processing burden. In the embodiment of the present application, both the number of horizontal and vertical lines of the grid stripe pattern is 11. The 11 horizontal lines and 11 vertical lines intersect to form 121 grid nodes, which can provide a relatively balanced point distribution without sacrificing accuracy, making the grid stripe pattern neither too sparse nor too dense when covering the strip surface 3, resulting in data overload.

[0033] Through the implementation of the above embodiments, the grid structured light emitter 4 splits the point light source through the diffractive optical element and forms an intersecting grid stripe pattern. This design can ensure the uniformity and accuracy of the light stripes, providing a high-quality light source for the precise detection of the strip surface 3 shape. Such optical processing enhances the clarity of the image during the detection process and improves the detection accuracy.

[0034] In some embodiments, the installation height of the grid structured light emitter 4 is the ratio of the width of the roller table plane 2 to the emission angle projection coefficient, where the emission angle projection coefficient is twice the tangent value of the half-emission angle, and the half-emission angle is half of the emission angle of the grid structured light emitter 4.

[0035] Exemplarily, the roller table plane 2 is the path for strip transportation and is a horizontal plane in the strip production line. The width of the roller table plane 2 refers to the physical width of the plane where the strip is located (usually the roller part of the production line) during strip transportation. The emission angle is the angular range of the light beam emitted by the grid structured light emitter 4, which determines the expansion range of the light beam. If the emission angle of the grid structured light emitter 4 is 30°, then the half-emission angle is 15°. The roller table is a conveying system composed of multiple rollers for strip transportation and support, and the driving roller 1 is a key component in the roller table, providing the traction force for the strip through external power drive.

[0036] Assume that the emission angle of the grid structured light emitter 4 is 40°. Then the corresponding half-emission angle is 20°. Calculate the tangent value of the half-emission angle. We can get that tan20° is approximately 0.364. Furthermore, the emission angle projection coefficient, which is twice the tangent value of the half-emission angle, is approximately 0.728. According to the known width of 1.5 meters of the roller table plane 2, the calculated installation height is approximately 1.5÷0.728≈2.1 meters. The overall projection range is 1.53m×1.53m, which can cover the width of the production line.

[0037] Through the implementation of the above embodiments, by using the proportional calculation method of the emission angle projection coefficient, the height of the grid structured light emitter 4 is set so that it can accurately cover the strip surface 3 on the roller table plane 2. This not only avoids the excessive dispersion of light energy and blurred imaging during the propagation process due to too high a height, which affects the clarity and accuracy of the laser stripe image collected by the first industrial camera 8, but also prevents insufficient light coverage in some areas at the edge of the strip due to too low a height, resulting in detection blind spots, providing a reliable guarantee for the subsequent accurate strip shape detection work.

[0038] In some embodiments, the camera angle adjustment mechanism 6 is a single-axis adjustable structure. The camera angle adjustment mechanism 6 is used to adjust the first industrial camera 8 and the second industrial camera 7 within the range of 0° to ±15° relative to the vertical plane.

[0039] Exemplarily, assume that in the production line of the strip, the strip is continuously advancing on the roller table. Since there may be slight inclinations or deformations on the strip surface 3, the first industrial camera 8 and the second industrial camera 7 need to perform precise angle adjustments during the detection process to ensure that the strip surface 3 and the grid light stripes emitted above it can be clearly captured.

[0040] Through the implementation of the above embodiments, the camera angle adjustment mechanism 6 adopts a single-axis adjustable structure, which can accurately adjust the angles of the first and second industrial cameras 7 within the range of 0° to ±15°. It can adapt to the morphologies and shooting angles of different strip surfaces 3. This flexible angle adjustment improves the adaptability and detection accuracy of the device. An overly large adjustment angle may cause too large a light irradiation angle, resulting in excessive bending or distortion of the light stripes, affecting the clarity and accuracy of the image. And when the imaging angle is too large, some detailed features of the strip surface 3 may be missed, resulting in loss of image information. By limiting the maximum adjustment angle to ±15°, it can ensure that the cameras are kept within the optimal viewing angle range, thus ensuring the stability and clarity of the collected images and contributing to accurate shape analysis.

[0041] In some embodiments, both the first industrial camera 8 and the second industrial camera 7 are fixed to the same camera angle adjustment mechanism 6, and the distance between the first industrial camera 8 and the second industrial camera 7 is 200 millimeters.

[0042] It should be noted that fixing two cameras to the same angle adjustment mechanism can achieve unified adjustment during angle adjustment, eliminating the need to adjust the angles of the two cameras separately. This not only reduces the complexity of the operation but also ensures the synchronization of the adjustments of the two cameras, avoiding inconsistent fields of view caused by asynchronous adjustments, thereby improving the overall work efficiency. Moreover, at a relatively large interval, the fields of view of the cameras may become too dispersed, resulting in insufficient image overlap and affecting subsequent image stitching and analysis; while at a relatively small interval, there is too much overlap in the fields of view, which may lead to redundant acquisition of image details and is not conducive to improving the comprehensiveness of information capture. When the camera interval is 200 millimeters, it can ensure an appropriate overlap in the fields of view of the first industrial camera 8 and the second industrial camera 7, while also ensuring that the fields of view obtained by each camera are wide enough to capture important features of the strip steel surface 3. In this embodiment, the production line speed is 3 m / s, the single detection range along the movement direction of the strip steel is 1.53 m, and the acquisition frequency of the first industrial camera 8 and the second industrial camera 7 can be 2 fps to obtain complete strip steel images and avoid redundant information caused by excessive same areas between adjacent images.

[0043] By implementing the above embodiments, fixing the first industrial camera 8 and the second industrial camera 7 on the same camera angle adjustment mechanism 6 and ensuring the interval distance between them is 200 millimeters can improve the consistency of image acquisition by the cameras, reduce the errors caused by camera position adjustment, and simultaneously optimize the synchronization and accuracy of the data.

[0044] In some embodiments, both the camera bracket 9 and the laser bracket 5 include a cross arm and a vertical arm. Both the cross arm and the vertical arm are adjustable telescopic structures, and the cross arm has a length calibration scale, while the vertical arm has a height calibration scale.

[0045] By implementing the above embodiments, the adjustable telescopic structure design of the cross arm and the vertical arm of the camera bracket 9 and the laser bracket 5 makes the installation of the entire detection device more flexible, capable of adapting to the requirements of different production lines and strip steel sizes; the design with length and height calibration scales also facilitates installation and debugging, further improving the versatility and convenience of use of the equipment.

[0046] In some embodiments, the strip steel shape detection device further includes an automatic cleaning device. The automatic cleaning device includes an air pump, an air pipe, and a nozzle. The air pump is used to spray compressed air through the air pipe from the nozzle onto the lens surface; nozzles are provided in front of the lens sides of the first industrial camera 8 and the second industrial camera 7.

[0047] Exemplarily, the automatic cleaning device can set a timed cleaning program. For example, every 30 minutes, a start instruction is sent to the air pump. The air pump starts to work, and compressed air quickly flows through the air pipe to the nozzle. The nozzle sprays the air flow onto the lens surface in a gentle mist; at this time, dust particles, oil stains, metal debris and other impurities adhering to the lenses of the first industrial camera 8 and the second industrial camera 7 can be quickly peeled off the lenses under the impact of the air flow, keeping the lenses clean at all times, thus ensuring that the images collected by the two cameras are always clear, providing a stable and reliable source of image data for strip steel shape detection and related information recognition, and greatly reducing the detection errors and equipment maintenance frequency caused by lens contamination.

[0048] Through the implementation of the above embodiments, the problem of lens contamination is solved by the design of the automatic cleaning device. By regularly spraying compressed air onto the lens surface through the nozzle, the lens is ensured to be clean, avoiding the influence of dust or other impurities on the image acquisition quality, thus ensuring the accuracy and stability of the detection results, reducing the risks of misjudgment and missed judgment caused by lens contamination, and being able to extend the equipment maintenance cycle.

[0049] In some embodiments, the strip steel shape detection device further includes a data processing unit, which is electrically connected to the first industrial camera 8 and the second industrial camera 7; the data processing unit is used to receive and process the image data collected by the first industrial camera 8 and the second industrial camera 7, and analyze the shape of the strip steel surface 3 through a preset processing algorithm to generate a shape detection result of the strip steel.

[0050] Exemplarily, the data processing unit can be placed in a control room close to the detection device and connected to the first industrial camera 8 and the second industrial camera 7 through shielded cables, effectively reducing the influence of electromagnetic interference on data transmission. When the first industrial camera 8 captures the laser stripe image formed by the grid structured light projected on the strip steel surface 3, and the second industrial camera 7 captures the original image of the strip steel surface 3, the data can be transmitted to the data processing unit in real time via the cable. Based on the preset mathematical model and machine learning algorithm, for the image of the first industrial camera 8, the distortion of the laser stripes can be identified, and by comparing with the normal stripe pattern, parameters such as the flatness deviation and camber of the strip steel surface 3 can be calculated using the principle of geometric transformation; for the image of the second industrial camera 7, an optical character recognition algorithm can be used to extract the strip steel coil number information and store it in association with the data of the first industrial camera 8. For example, if it is detected that the laser stripes in a certain area of the strip steel show regular bending, the algorithm quickly judges that there is a certain degree of camber defect here, quantifies the camber degree as 3 mm / m, and at the same time associates and records the corresponding strip steel coil number "20250113001".

[0051] Through the implementation of the above embodiments, the data processing unit is electrically connected to the camera and other components, and can receive and process the image data collected by the first industrial camera 8 and the second industrial camera 7 in real time. Furthermore, through a preset processing algorithm, the data processing unit can quickly analyze the strip shape of the strip steel, generate accurate strip shape detection results, and improve the automation level and detection efficiency in the strip steel production process.

[0052] In some embodiments, the number of the laser bracket 5, the camera bracket 9, the grid structured light emitter 4, the first industrial camera 8, the second industrial camera 7, and the camera angle adjustment mechanism 6 is one each.

[0053] Through the implementation of the above embodiments, the structure can be streamlined to reduce costs, and the complexity of equipment procurement, installation, and maintenance caused by excessive redundant components can be avoided; at the same time, it ensures that the layout of the entire detection device is compact and the signal transmission path is simple, reduces signal interference and energy loss, and improves the reliability and stability of the equipment on the premise of meeting the strip shape detection function requirements of the strip steel, which is conducive to large-scale popularization and application in industrial production sites.

[0054] This application also provides a strip steel shape detection method, which uses the strip steel shape detection device provided in the embodiments of this application to detect the strip shape of the strip steel. The strip steel shape detection method includes the following steps:

[0055] S1, obtain the projection image of the grid laser stripe on the strip steel surface 3.

[0056] The grid structured light emitter 4 fixed by the laser bracket 5 projects a light beam onto the strip steel surface 3 to form a grid stripe pattern; the first industrial camera 8 and the second industrial camera 7 respectively capture the laser stripe image projected on the strip steel surface 3 and the original image of the strip steel.

[0057] S2, extract each grid node pixel point and calculate the three-dimensional coordinates.

[0058] Taking any point on the center line of the roller table as the coordinate origin, establish the X-axis along the strip steel movement direction, establish the Y-axis along the strip steel width direction, and establish the Z-axis perpendicular to the roller table plane 2. Extract the pixel positions of each grid node through an image processing algorithm, and calculate the three-dimensional coordinates (P NX ij , P NY ij , P NZ ij ), where i and j respectively represent the corresponding horizontal and vertical laser line ordinals.

[0059] S3, extract the three-dimensional coordinates of the intersection points of the strip steel edges.

[0060] Extract the intersection coordinates of each horizontal laser line with the strip edges (the operator side and the drive side), and calculate the corresponding three-dimensional coordinate values (P OS i , P DS i ), where (P OS i , P DS i ) respectively represent the three-dimensional coordinate values of the intersection positions of the i-th horizontal laser line with the strip edges on the operator side and the drive side.

[0061] S4. Calculate the transverse and longitudinal cambers and the strip width.

[0062] Based on the above-calculated three-dimensional coordinates, use the coordinate values of the grid nodes on the same horizontal laser stripe to calculate the transverse camber; similarly, use the coordinate values of the grid nodes on the longitudinal laser stripe to calculate the longitudinal camber. According to the grid node coordinates (P NX ij , P NY ij , P NZ ij ) and the corresponding edge intersection coordinates (P OS i , P DS i ), the strip width can be calculated. At the same time, calculate the deviation of the strip center line through the edge intersection coordinates (P OS i , P DS i ).

[0063] S5. Calculate the displacement of the strip along the strip movement direction.

[0064] By collecting image data at different times and combining the production line running speed and the image acquisition interval time Δt, calculate the displacement ΔX of each grid node in the movement direction. Set the grid node coordinates at the previous moment as (P NX ij ) k =(P NX ij ) k-1 +ΔX, then the grid node coordinates at the current moment are (P NX ij ) k =(P NX ij ) k-1 +ΔX. The same calculation is applied to all grid nodes. By organizing the X-axis and Z-axis coordinates of the grid nodes, form a point set P j ={P1(X1,Z1), P2(X2,Z2)…Pn (X n ,Z n )}。

[0065] S6, Calculate the flatness of the strip steel.

[0066] Based on the point set of the longitudinal laser stripe projection positions, through calculate the fiber strip length of each longitudinal laser stripe. According to the difference in the fiber strip lengths, the flatness of the strip steel can be calculated.

[0067] S7, Identify the strip steel coil number information and associate it with the shape data.

[0068] Collect the original image of the strip steel surface 3 through the second industrial camera 7, use the character recognition algorithm to extract the coil number information of the strip steel, and associate the coil number with the corresponding shape information to provide data support for quality traceability in the production process.

[0069] Through the above steps, the strip steel shape detection method in the embodiments of the present application can accurately capture the morphological changes of the strip steel surface 3 and provide high-precision shape detection results. These results not only help to monitor the production quality of the strip steel in real time, but also can timely adjust the production process when abnormalities occur to avoid the expansion of product quality problems.

[0070] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A strip shape detection device, characterized in that, Including: A laser bracket, a camera bracket, a grid structured light emitter, a first industrial camera, a second industrial camera, and a camera angle adjustment mechanism; The grid structured light emitter is fixed to one side of the roller table plane through the laser bracket and is arranged vertically above the roller table plane; The first industrial camera is an industrial camera provided with a narrow-band filter, and the second industrial camera is an industrial camera not provided with a filter. The central wavelength of the narrow-band filter is consistent with the wavelength of the light emitted by the grid structured light emitter; The first industrial camera is used to collect the image formed by the light emitted by the grid structured light emitter, and the second industrial camera is used to collect the strip steel surface image; Both the first industrial camera and the second industrial camera are arranged at the same height as the grid structured light emitter through the camera bracket and the camera angle adjustment mechanism.

2. The strip shape detection device according to claim 1, wherein The grid structured light emitter is used to split the point light source through a diffractive optical element to form a grid stripe pattern with horizontal and vertical intersections, and emit the grid stripe pattern to the surface of the strip steel driven on the roller table plane.

3. The strip shape detection device according to claim 1, characterized in that The installation height of the grid structured light emitter is the ratio result of the width of the roller table plane to the emission angle projection coefficient, where the emission angle projection coefficient is twice the tangent value of the half emission angle, and the half emission angle is half of the emission angle of the grid structured light emitter.

4. The strip shape detection device according to claim 1, characterized in that, The camera angle adjustment mechanism is a single-axis adjustable structure, and the camera angle adjustment mechanism is used to adjust the first industrial camera and the second industrial camera within the range of 0° to ±15° relative to the vertical plane.

5. The strip shape detection device according to claim 1, characterized in that, Both the first industrial camera and the second industrial camera are fixed to the same camera angle adjustment mechanism, and the distance between the first industrial camera and the second industrial camera is 200 millimeters.

6. The strip shape detection device according to claim 1, characterized in that Both the camera bracket and the laser bracket include a cross arm and a vertical arm. Both the cross arm and the vertical arm are telescopic adjustable structures, and the cross arm has a length calibration scale, and the vertical arm has a height calibration scale.

7. The strip shape detection device according to claim 1, characterized in that, The strip steel shape detection device further includes an automatic cleaning device. The automatic cleaning device includes an air pump, an air pipe, and a nozzle. The air pump is used to spray compressed air from the nozzle to the lens surface through the air pipe; Nozzles are provided in front of the lens sides of both the first industrial camera and the second industrial camera.

8. The strip shape detection device according to any one of claims 1 to 7, characterized in that, The strip steel shape detection device further includes a data processing unit, and the data processing unit is electrically connected to the first industrial camera and the second industrial camera; The data processing unit is used to receive and process the image data collected by the first industrial camera and the second industrial camera, analyze the strip steel surface shape through a preset processing algorithm, and generate a strip steel shape detection result.

9. The strip shape detection device according to claim 8, characterized in that, The number of the laser bracket, the camera bracket, the grid structured light emitter, the first industrial camera, the second industrial camera, and the camera angle adjustment mechanism is one each.

10. A method for detecting the shape of a steel strip, characterized in that, Apply the strip steel shape detection device according to any one of claims 1 to 9 to detect the shape of the strip steel.

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