Continuous casting billet surface defect online detection and classification system based on machine vision

Abstract

The invention relates to a continuous casting slab surface defect online detection and classification system based on machine vision, and relates to the technical field of defect detection.The continuous casting slab surface defect online detection and classification system comprises a conveying mechanism for conveying a continuous casting slab, a shooting mechanism, a cooling mechanism for cooling an industrial camera, and an air injection mechanism for preventing sweeps from being attached to a protective shell lens in the shooting process; the cooling mechanism can rapidly absorb heat emitted during working of the industrial camera, the working efficiency of the device is guaranteed, the air injection mechanism is matched with the rotating protective shell, the annular air injection nozzles rotate around the protective shell, meanwhile, the air injection nozzles deflect outwards and inject air, air injected by the air injection nozzles deflecting outwards blows away sweeps on the upper surface of a continuous casting billet, and the continuous casting billet is prevented from being scraped. And meanwhile, in the detection shooting process, air is sprayed out of the air nozzle to form an air curtain barrier on the lower side of the lens, and the situation that dust and waste chips in a workshop are attached to the lens to affect detection in the shooting process is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of defect detection, and particularly relates to a continuous casting billet surface defect online detection and classification system based on machine vision. BACKGROUND

[0002] In the field of continuous casting billet surface defect online detection, due to the influence of factors such as high-temperature radiation, dust and water vapor on site, domestic and foreign scientific research institutions and enterprises have carried out long-term exploration, and have researched and developed different continuous casting billet surface defect online detection systems.

[0003] A test bench for continuous casting billet surface offline detection is disclosed in Chinese Patent No. CN104101604B, which can make the trolley move out of the movement track, adjust the bottom of the continuous casting billet horizontally, ensure that the imaging position meets the depth of field requirement of the camera, and the imaging system can be moved and adjusted along the direction of the movement track of the test bench. The camera can image in the full length and full width range of the detection sample plate, is reliable in operation, convenient to use, and can realize thick plate low-power offline online detection.

[0004] However, the above-mentioned has some deficiencies in the process of actual use: 1. Since the number of continuous casting billets to be detected is large, the industrial camera will be in a long-time continuous working state. A large amount of heat will be generated in the long-time high-quality shooting process, which will gather around the camera and cannot be quickly dissipated, causing the industrial camera to work in a high-temperature environment, resulting in freezing and lagging, affecting the normal work of the device and reducing the efficiency of the device.

[0005] 2. Since the production workshop of the continuous casting billet is full of dust and debris, the detection surface of the continuous casting billet will be attached with debris after production, which will cover the defects and cause false detection, affecting the actual detection effect of the device, and some flying debris will adhere to the camera lens and affect the shooting.

[0006] Therefore, under the above-mentioned viewpoints, there is still room for improvement for the existing continuous casting billet detection test bench. SUMMARY

[0007] In order to solve the above problems, the present application provides a continuous casting billet surface defect online detection and classification system based on machine vision: The conveying mechanism for conveying the continuous casting billet, the conveying mechanism comprising a conveying roller bed one, and a shooting mechanism for shooting the outer upper surface of the continuous casting billet is further arranged on the conveying roller bed one, the shooting mechanism comprising a protective shell arranged above the conveying roller bed one and being cylindrical, and an industrial camera with a lens extending to the outside is arranged in the center of the protective shell.

[0008] Further comprising a cooling mechanism for cooling the industrial camera.

[0009] And an air jet mechanism to prevent debris from adhering to the lens of an industrial camera.

[0010] The cooling mechanism includes two sets of annular tubes fitted around the outside of the industrial camera, with multiple circumferentially evenly distributed vertical tubes connecting the two annular tubes. The cooling mechanism also includes a cooling air assembly that injects cooling air into the upper annular tubes.

[0011] The jet mechanism includes multiple U-shaped plates evenly distributed circumferentially on the outside of the industrial camera lens. Downward-facing jet nozzles are hinged between the inner sides of the U-shaped plates. The input end of the jet nozzle is equipped with a connecting hose that communicates with the lower annular tube. The jet mechanism also includes a deflection component.

[0012] Preferably, a U-shaped seat is also installed on one side of the conveyor roller conveyor, located above the protective shell. A cylinder is installed at the center of the upper side of the protective shell, which is rotatably connected to the U-shaped seat and extends to the top of the U-shaped seat. A motor connected to the gear of the cylinder is installed on the upper side of the U-shaped seat.

[0013] Preferably, a strip plate is installed on the inner wall of the protective shell above the industrial camera, and an electric cylinder with the end of a telescopic arm connected to the industrial camera is installed at the center of the upper side of the strip plate.

[0014] Preferably, the cooling air assembly includes a vertically oriented connecting pipe installed in the center of the cylinder, the lower end of which is bent laterally to communicate with the upper annular pipe, and a cooling fan is installed on the upper side of the U-shaped seat on the other side of the cylinder.

[0015] Preferably, the upper end of the connecting pipe is provided with a vertical conveying pipe that bends towards the air cooler and connects to its output end. A rotating head is installed between the near ends of the conveying pipe and the connecting pipe to ensure that the connecting pipe and the conveying pipe can be properly connected when the protective shell drives the connecting pipe to rotate.

[0016] Preferably, the deflection assembly includes a strip-shaped member installed at the end of the hinge shaft connecting the jet nozzle and the U-shaped plate and arranged laterally, with a groove provided on the side of the strip-shaped member.

[0017] Preferably, an annular plate II with the same center is provided on the lower side of the protective shell. An L-shaped part is installed on the lower side of the annular plate II and on one side of each strip. A pulley that slides in the camera slide groove and is adapted to it is rotatably installed on the side of the L-shaped part. A set of telescopic arms is installed on the bottom surface of the inner shell and extends to the outside to connect with the annular plate II. The telescopic movement of the electric cylinder II drives the pulley to move and cooperates with the slide groove to drive the air nozzle to deflect.

[0018] Preferably, the conveying mechanism also includes a second conveying roller located on one side of the first conveying roller and at the same height as it, and a set of hydraulic cylinders are installed on the lower side of the second conveying roller.

[0019] Preferably, a set of U-shaped frames is provided on one side of the conveyor roller conveyor 2. A set of vertically distributed conveyor roller conveyors 3 are installed between the inner sides of the U-shaped frames in the set. The upper conveyor roller conveyor 3 is at the same height as the conveyor roller conveyor 2. When the hydraulic cylinder is retracted to its shortest length, it drives the conveyor roller conveyor 2 to descend to its lowest point, which is exactly at the same height as the lower conveyor roller conveyor 3.

[0020] In summary, this application includes at least one of the following beneficial technical effects: I. This application is equipped with a cooling mechanism. The vertical pipes of the cooling mechanism are distributed in a ring around the outside of the industrial camera. When the camera is working, the pipes are continuously connected with cold air. The cold air can quickly absorb the heat generated by the industrial camera when it is working, so as to prevent the heat from accumulating around the industrial camera and causing the industrial camera to work in a high-temperature environment. This optimizes the working environment of the industrial camera, prevents it from freezing or malfunctioning due to high temperature, and ensures the working efficiency of the device.

[0021] Second, this application also sets up a jetting mechanism and a cooling mechanism in conjunction with a rotating protective shell. As the annular jet nozzles rotate around the protective shell, each jet nozzle deflects outward and jets air. The air jetted from the outward-deflecting jet nozzles blows the waste debris on the upper surface of the continuous casting billet outward. At the same time, the deflection angle of the jet nozzles continuously increases, and their cleaning area also continuously increases until all the waste debris on the upper surface of the continuous casting billet is cleaned. This avoids the situation where waste debris blocks defects and causes false detection, and improves the success rate of the device's detection. At the same time, during the detection and shooting process, the air that absorbs the heat of the industrial camera will also be ejected from the jet nozzles to form an air curtain barrier under the lens, preventing dust and waste debris in the workshop from adhering to the lens during the shooting process and affecting the detection. Attached Figure Description

[0022] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a structural diagram of this application.

[0024] Figure 2 This is a schematic diagram of the shooting facility structure for this application.

[0025] Figure 3 This is a schematic diagram of the main structure of this application.

[0026] Figure 4 This is a schematic diagram of the cooling mechanism structure of this application.

[0027] Figure 5 This is a schematic diagram of the jet mechanism structure of this application.

[0028] Figure 6 This is a side view of the jet mechanism in this application.

[0029] Figure 7 This is a cross-sectional view of the jet mechanism in this application.

[0030] In the diagram: 1. Conveyor roller conveyor one; 2. Imaging mechanism; 201. U-shaped base; 202. Protective shell; 203. Industrial camera; 204. Strip plate; 205. Electric cylinder one; 206. Cylinder; 207. Gear one; 208. Motor; 209. Gear two; 3. Cooling mechanism; 301. Annular pipe; 302. Vertical pipe; 303. Air cooler; 304. Conveying pipe; 305. Rotating head; 306. Connecting pipe; 4. Air jet mechanism; 01. Annular plate one; 402. U-shaped plate; 403. Air nozzle; 404. Connecting hose; 405. Strip component; 406. Slide chute; 407. L-shaped component; 408. Pulley; 409. Annular plate two; 410. Electric cylinder two; 5. Controller; 6. U-shaped component one; 7. Electric cylinder three; 8. Baffle; 9. Conveyor roller conveyor two; 10. Hydraulic cylinder; 11. U-shaped component two; 12. Infrared sensor; 13. Conveyor roller conveyor three; 14. U-shaped frame Detailed Implementation

[0031] The following is in conjunction with the appendix Figures 1-7 The specific implementation methods of this application will be described in detail.

[0032] This application discloses an online detection and classification system for surface defects of continuously cast billets based on machine vision. It is equipped with a jetting mechanism and a cooling mechanism. The cooling mechanism can cool down the industrial camera, and the jetting mechanism can clean all the waste on the upper surface of the continuously cast billet, avoiding the situation where waste obscures defects and causes false detection, thus improving the success rate of the device. At the same time, during the detection and shooting process, the air that absorbs the heat of the industrial camera is also sprayed from the jet nozzle to form an air curtain barrier under the lens, preventing dust and waste in the workshop from adhering to the lens during the shooting process and affecting the detection.

[0033] like Figure 1 As shown, the device includes a conveying mechanism for transporting continuously cast billets. The conveying mechanism includes a conveying roller conveyor 1, a controller 5 is installed above the conveying roller conveyor 1, and a photographing mechanism 2 is also installed on the conveying roller conveyor 1 to photograph the outer upper surface of the continuously cast billet. The continuously cast billet is placed on the rollers of the conveying roller conveyor 1, and then the conveying roller conveyor 1 transports the continuously cast billet forward. The controller 5 is electrically connected to the electrical components inside the device to control its start and stop. The photographing mechanism 2 is used to photograph the upper surface of the continuously cast billet to detect whether there are any defects.

[0034] like Figure 1As shown, a U-shaped component 6 is installed on the upper side of the conveyor roller 1, on one side of the shooting mechanism 2. A set of electric cylinders 7 is installed on the upper side of the U-shaped component 6. The telescopic arm of the electric cylinders 7 extends to the lower part of the U-shaped component 6 and together they are equipped with a baffle 8. A pressure sensor (not shown) is embedded in the side of the baffle 8 facing the shooting mechanism 2. When the continuous casting billet is conveyed by the conveyor roller 1, it is blocked by the baffle 8. At this time, the continuous casting billet is directly below the shooting mechanism 2. At the same time, the continuous casting billet, which is subjected to the forward force of the conveyor roller 1, presses the pressure sensor on the baffle 8. After receiving the pressure, it sends a signal to the controller 5. The controller 5 controls the conveyor roller 1 to close and the electric cylinders 7 to shorten, driving the baffle 8 to rise and release the obstruction. After the detection is completed, the controller 5 controls the conveyor roller 1 to run again to convey the continuous casting billet. Before the next detection, the electric cylinders 7 extend, driving the baffle 8 to return to its original position.

[0035] like Figure 1 As shown, the conveying mechanism also includes a second conveying roller 9 located on one side of the first conveying roller 1 and at the same height as it. A set of hydraulic cylinders 10 supported on the ground is installed on the lower side of the second conveying roller 9. The running first conveying roller 1 can transport the continuous casting billet to the second conveying roller 9, and then the second conveying roller 9 can continue to transport it. At the same time, the extension and retraction of the hydraulic cylinders 10 can drive the second conveying roller 9 to rise and fall.

[0036] like Figure 1 As shown, a set of U-shaped frames 14 are provided on one side of conveyor roller 2 9. A set of vertically distributed conveyor roller 3 13 is installed between the inner sides of the U-shaped frames 14. The upper conveyor roller 3 13 is at the same height as conveyor roller 2 9. When the hydraulic cylinder 10 is retracted to its shortest length, it drives conveyor roller 2 9 to descend to its lowest point, which is exactly at the same height as the lower conveyor roller 3 13. When it is extended to its longest length, it is at the same height as the upper conveyor roller 3 13.

[0037] When conveying defect-free continuous casting billets, the second conveyor roller 9 is aligned with the upper third conveyor roller 13. The running second conveyor roller 9 conveys the defect-free continuous casting billet to the upper third conveyor roller 13, after which the worker removes it. When conveying defective continuous casting billets, after the billet is conveyed to the second conveyor roller 9, the hydraulic cylinder 10 shortens, causing the second conveyor roller 9 to descend and align with the lower third conveyor roller 13. Then, the second conveyor roller 9 runs to convey the defective continuous casting billet to the lower third conveyor roller 13, and the billets are classified according to whether they are defective or not.

[0038] like Figure 1As shown, a U-shaped component 11 is installed on the side of conveyor roller 2 9 near conveyor roller 3 13. An infrared sensor 12 facing downwards is installed on the lower side of U-shaped component 2 11 between the two rollers of conveyor roller 2 9. An infrared receiver (not shown) facing upwards and aligned with infrared sensor 12 is installed on the lower side of conveyor roller 2 9. When the continuous casting billet has a defect, controller 5 controls infrared sensor 12 to operate and emit infrared light, which is received by infrared receiver. When the continuous casting billet moves onto conveyor roller 2 9 and is between infrared sensor 12 and infrared receiver, it blocks the reception. Then infrared sensor 12 sends a signal to controller 5. Controller 5 controls conveyor roller 2 9 and infrared sensor 12 to close and hydraulic cylinder 10 to shorten so that conveyor roller 2 9 is aligned with conveyor roller 3 13 below. Then conveyor roller 2 9 is reopened to transport the continuous casting billet to conveyor roller 3 13 below.

[0039] In summary, the continuous casting billet is placed on the conveyor roller 1, which moves forward until the baffle 8 blocks it. The pressure sensor receives the pressure from the continuous casting billet and sends a signal to the controller 5. The controller 5 controls the conveyor roller 1 to close and the electric cylinder 7 to shorten, causing the baffle 8 to rise and release the blockage. Then, the imaging mechanism 2 is used to take pictures and detect the upper surface of the continuous casting billet.

[0040] When the continuous casting billet is defect-free, the conveyor roller 1 is restarted to transport it to the conveyor roller 2 9, and then from the conveyor roller 2 9 to the upper conveyor roller 3 13 and then removed. At the same time, the electric cylinder 3 7 extends and drives the baffle 8 to descend to block the next continuous casting billet.

[0041] When a defective continuous casting billet is being produced, conveyor roller 1 and infrared sensor 12 are in operation. The operating conveyor roller 1 transports the continuous casting billet to conveyor roller 2 9. When the continuous casting billet moves onto conveyor roller 2 9 and is positioned between infrared sensor 12 and infrared receiver, it blocks the reception. Then, infrared sensor 12 sends a signal to controller 5. Controller 5 controls conveyor roller 2 9 and infrared sensor 12 to close, and hydraulic cylinder 10 shortens to align conveyor roller 2 9 with the lower conveyor roller 3 13. Then, conveyor roller 2 9 is reopened to transport the continuous casting billet to the lower conveyor roller 3 13. After that, hydraulic cylinder 10 extends to restore the position of conveyor roller 2 9.

[0042] like Figure 1 and Figure 2 As shown, the shooting mechanism 2 includes a U-shaped base 201 installed on the upper side of the conveyor roller 1 and fixedly connected to the controller 5. A cylindrical protective shell 202 is provided below the U-shaped base 201. An industrial camera 203 with a lens extending to the outside is provided in the center of the protective shell 202. The protective shell 202 protects the industrial camera 203, and the industrial camera 203 is used to take pictures of the upper surface of the continuous casting billet.

[0043] like Figure 1 andFigure 2 As shown, the industrial camera 203 is connected to an external data acquisition computer (using the same prior art as in the prior art document). The data acquisition computer saves the captured images and processes them in real time to realize machine vision detection of defects in continuous casting billets. At the same time, the detection results are sent to the controller 5 in real time.

[0044] like Figure 2 As shown, a cylinder 206 is mounted on the upper center of the protective shell 202, which is rotatably connected to the U-shaped base 201 and extends to the top of the U-shaped base 201. A motor 208 is mounted on one side of the cylinder 206 on the upper side of the U-shaped base 201. A gear 207 is mounted on the outer side of the cylinder 206. A gear 209 that meshes with the gear 207 is mounted on the drive end of the motor 208. The running motor 208 drives the cylinder 206 to rotate through the gear 207 and the gear 209, and at the same time drives the protective shell 202 to rotate.

[0045] In summary, the industrial camera 203 is used to photograph the upper surface of the continuously cast billet, the data acquisition computer saves the photographed images, and processes the images in real time to detect defects in the continuously cast billet. The detection results are sent to the controller 5 in real time. Meanwhile, when the industrial camera 203 is off, the running motor 208 drives the cylinder 206 to rotate through gear 1 207 and gear 2 209, which can drive the protective shell 202 to rotate.

[0046] like Figure 3 and Figure 4 As shown, it also includes a cooling mechanism 3 for cooling the industrial camera 203. The cooling mechanism 3 includes two sets of annular pipes 301 sleeved on the outside of the industrial camera 203. Multiple circumferentially evenly distributed vertical pipes 302 are connected between the two annular pipes 301. After entering the upper annular pipe 301, the cold air enters each vertical pipe 302. The air flowing through the vertical pipes 302 will carry away the heat generated by the operation of the industrial camera 203 and enter the lower annular pipe 301.

[0047] A balancing valve (not shown) is installed near the upper end of the vertical pipe 302 to ensure that the air volume entering each vertical pipe 302 is consistent. At the same time, a one-way valve is installed near the lower end of the vertical pipe 302 to prevent the air from the lower annular pipe 301 from returning to the vertical pipe 302.

[0048] like Figure 4As shown, the cooling mechanism 3 also includes a cooling air assembly for injecting cold air into the upper annular pipe 301. The cooling air assembly includes a vertical connecting pipe 306 installed in the center of the cylinder 206. The lower end of the connecting pipe 306 is bent to the side and communicates with the upper annular pipe 301. A cooling fan 303 is installed on the upper side of the U-shaped seat 201 on the other side of the cylinder 206. A vertical conveying pipe 304 is provided at the upper end of the connecting pipe 306 and bends towards the cooling fan 303 to communicate with its output end. The running cooling fan 303 injects cold air into the upper annular pipe 301 through the connecting pipe 306 and the conveying pipe 304.

[0049] The 303 air cooler uses the "DC-LF10W-D" industrial air cooler from Duoku Company.

[0050] like Figure 4 As shown, a rotating head 305 is installed between the near ends of the conveying pipe 304 and the connecting pipe 306. The rotating head 305 can ensure that the connecting pipe 306 and the conveying pipe 304 can be properly connected when the protective shell 202 drives the connecting pipe 306 to rotate.

[0051] In summary, the operating air cooler 303 injects cold air into the upper annular pipe 301 through the conveying pipe 304 and the connecting pipe 306. After entering the upper annular pipe 301, the cold air enters each vertical pipe 302. Flowing through the vertical pipe 302, it carries away the heat generated by the industrial camera 203 during operation and enters the lower annular pipe 301. When the protective shell 202 rotates, it also drives the connecting pipe 306 to rotate. The rotating head 305 ensures normal connection with the conveying pipe 304.

[0052] like Figure 3 and Figure 5 As shown, it also includes an air jet mechanism 4 to prevent debris from adhering to the lens of the industrial camera 203 during the shooting process. The air jet mechanism 4 includes multiple U-shaped plates 402 evenly distributed circumferentially on the outside of the lens of the industrial camera 203. All U-shaped plates 402 are equipped with an annular plate 401 connected to the protective shell 202. The inner surfaces of the U-shaped plates 402 are hinged with downward-facing air jet nozzles 403. The input end of the air jet nozzles 403 is equipped with a connecting hose 404 that communicates with the lower annular pipe 301. The air from the lower annular pipe 301 enters each air jet nozzle 403 through the connecting hose 404 and is ejected. The multiple annularly distributed air jet nozzles 403 on the outside of the lens of the industrial camera 203 form an air curtain barrier below the lens to prevent dust and debris in the workshop from adhering to the lens during the shooting process and affecting the detection.

[0053] like Figure 5 and Figure 6As shown, the jet mechanism 4 also includes a deflection assembly. The deflection assembly includes a strip 405 mounted on the hinged end of the jet nozzle 403 and the U-shaped plate 402 and arranged laterally. A groove 406 is provided on the side of the strip 405. An annular plate 409 with the same center is provided on the lower side of the protective shell 202. An L-shaped piece 407 is installed on the lower side of the annular plate 409 and on one side of each strip 405. A pulley 408 that slides in the camera groove 406 and is adapted to it is rotatably mounted on the side of the L-shaped piece 407. The rising annular plate 409 drives each pulley 408 to rise. The rising pulley 408 pulls the strip 405 upward and deflects it while sliding in the groove 406. The upward deflection of the strip 405 drives the jet nozzle 403 to deflect outward of the lens, and vice versa.

[0054] As the nozzle 403 slowly deflects outward, the protective shell 202 rotates simultaneously, causing the nozzle 403 to rotate around its center. The air ejected by the rotating and outward-deflecting nozzle 403 blows the waste debris from the upper surface of the continuous casting billet outward until all the waste debris on the upper surface of the continuous casting billet is blown away. The device is only suitable for rectangular continuous casting billets whose length is smaller than the diameter of the circle drawn by the maximum tilt angle of the nozzle 403, ensuring that the waste debris on its upper surface can be completely cleaned.

[0055] like Figure 5 and Figure 7 As shown, a set of telescopic arms is installed on the inner bottom surface of the protective shell 202, extending to the outside and connected to the annular plate 409. The telescopic extension of the electric cylinder 410 can drive the annular plate 409 to rise and fall, thereby enabling the pulley 408 to move through the telescopic extension of the electric cylinder 410, which in turn drives the air nozzle 403 to deflect in conjunction with the slide groove 406. When the electric cylinder 410 is at its longest, the air nozzle 403 is in a vertically downward position.

[0056] like Figure 4 As shown, a strip plate 204 is installed on the inner wall of the protective shell 202 above the industrial camera 203. An electric cylinder 205 with the telescopic arm end connected to the industrial camera 203 is installed on the upper center of the strip plate 204. When the electric cylinder 205 shortens, it will drive the industrial camera 203 to rise, allowing the lens of the industrial camera 203 to retract into the protective shell 202. When the electric cylinder 205 extends, it will drive the lens of the industrial camera 203 to extend again.

[0057] In summary, when the continuous casting billet stops directly below the camera mechanism 2, the electric cylinder 205 retracts, causing the lens of the industrial camera 203 to retract into the protective housing 202. Then, the cooling fan 303 operates, causing each nozzle 403 to eject gas, blowing away the debris in the area below the continuous casting billet. Afterwards, the motor 208 drives the protective housing 202 to rotate slowly, while the electric cylinder 410 slowly rises. The slowly rotating protective housing 202 causes the annular nozzles 403 to rotate around the same center point. Simultaneously, the slowly rising electric cylinder 410 causes the outer sides of each nozzle 403 slot to slowly deflect outwards. The air jet from nozzle 403 blows the waste debris from the upper surface of the continuous casting billet outwards. At the same time, as the deflection angle of nozzle 403 continuously increases, its cleaning area also continuously increases until electric cylinder 2 410 is retracted to its shortest length. At this point, all the waste debris on the upper surface of the continuous casting billet is blown away. Then, electric cylinder 2 410 extends to its longest length, adjusting nozzle 403 to a vertical position. After that, electric cylinder 1 205 extends, causing the lens of industrial camera 203 to extend. During the subsequent shooting process, the vertical nozzle 403 forms an air curtain barrier below the lens, preventing dust and waste debris in the workshop from adhering to the lens and affecting the inspection.

[0058] This invention also discloses a method for using a machine vision-based online detection and classification system for surface defects in continuously cast billets, the steps of which are as follows: S1. The continuous casting billet is placed on the conveyor roller 1 and transported to the area below the camera mechanism 2. Specifically, the surface of the cooled continuous casting billet to be inspected is placed on the conveyor roller 1 away from the conveyor roller 2 9. Then, the controller 5 opens the conveyor roller 1 to transport the continuous casting billet until the baffle 8 blocks it. At this time, the continuous casting billet is directly below the industrial camera 203, and the pressure sensor sends a signal to the controller 5 after receiving the pressure from the continuous casting billet. The controller 5 controls the conveyor roller 1 to close and the electric cylinder 3 7 to shorten, causing the baffle 8 to rise and release the blockage.

[0059] S2. Waste removal: The cooling mechanism 3, in conjunction with the jetting mechanism 4, cleans the waste on the upper surface of the continuous casting billet. Specifically, the electric cylinder 205 shortens, causing the lens of the industrial camera 203 to retract into the protective shell 202. Then, the cooling fan 303 runs, causing each jet nozzle 403 to spray gas, blowing away the waste in the area below the continuous casting billet. Then, the motor 208 drives the protective shell 202 to rotate slowly, while the electric cylinder 410 rises slowly. The slowly rotating protective shell 202 causes the annular jet nozzles 403 to rotate around the same center. At the same time, the slowly rising electric cylinder 410 causes the outer side of each jet nozzle 403 slot to deflect slowly. The air sprayed by the outwardly deflected jet nozzles 403 blows the waste on the upper surface of the continuous casting billet outward until all the waste on the upper surface of the continuous casting billet is blown away. Then, the electric cylinder 410 and the electric cylinder 205 extend, allowing the jet nozzles 403 and the industrial camera 203 to return to their original positions.

[0060] S3. Image Inspection: The image inspection mechanism 2 is used to inspect the upper surface of the cleaned continuous casting billet. Specifically, the industrial camera 203 is used to take pictures of the upper surface of the continuous casting billet. The data acquisition computer saves the pictures and processes them in real time to realize machine vision inspection of defects in the continuous casting billet. The inspection results are sent to the controller 5 in real time.

[0061] S4. Continuous casting billet classification: Based on the test results, the continuous casting billet is transported to different conveyor rollers 13 to achieve accurate classification. Specifically, when there is no defective continuous casting billet, conveyor roller 1 restarts and transports it to conveyor roller 2 9, and then from conveyor roller 2 9 to the upper conveyor roller 13 for removal. At the same time, electric cylinder 7 extends and drives baffle 8 to descend to block the next continuous casting billet. When a defective continuous casting billet is being produced, conveyor roller 1 and infrared sensor 12 are in operation. The operating conveyor roller 1 transports the continuous casting billet to conveyor roller 2 9. When the continuous casting billet moves onto conveyor roller 2 9 and is positioned between infrared sensor 12 and infrared receiver, it blocks the reception. Then, infrared sensor 12 sends a signal to controller 5. Controller 5 controls conveyor roller 2 9 and infrared sensor 12 to close, and hydraulic cylinder 10 shortens to align conveyor roller 2 9 with the lower conveyor roller 3 13. Then, conveyor roller 2 9 is reopened to transport the continuous casting billet to the lower conveyor roller 3 13. After that, hydraulic cylinder 10 extends to restore the position of conveyor roller 2 9.

[0062] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects.

[0063] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A machine vision-based online detection and classification system for surface defects of continuously cast billets, comprising a conveying mechanism for conveying continuously cast billets, the conveying mechanism comprising a conveying roller conveyor (1), and a camera (2) for photographing the outer upper surface of the continuously cast billet is also provided on the conveying roller conveyor (1), the camera (2) comprising a cylindrical protective shell (202) disposed above the conveying roller conveyor (1), and an industrial camera (203) with a lens extending to the outside is disposed in the center of the protective shell (202), characterized in that: It also includes a cooling mechanism (3) for cooling the industrial camera (203): And an air jet mechanism (4) to prevent debris from adhering to the lens of an industrial camera (203); The cooling mechanism (3) includes two sets of annular tubes (301) fitted around the outside of the industrial camera (203), and multiple vertical tubes (302) evenly distributed in the circumference are connected between the two annular tubes (301). The cooling mechanism (3) also includes a cold air assembly. The jet mechanism (4) includes multiple circumferentially evenly distributed U-shaped plates (402) on the outside of the lens of the industrial camera (203). Downward-facing jet nozzles (403) are hinged between the inner sides of the U-shaped plates (402). A connecting hose (404) connected to the lower annular tube (301) is installed at the input end of the jet nozzles (403). The jet mechanism (4) also includes a deflection assembly.

2. The online detection and classification system for surface defects of continuously cast billets based on machine vision according to claim 1, characterized in that: A U-shaped seat (201) is also installed on the side of the conveyor roller (1) above the protective shell (202). A cylinder (206) is installed at the center of the upper side of the protective shell (202) and is rotatably connected to the U-shaped seat (201) and extends to the upper part of the U-shaped seat (201). A motor (208) connected to the gear of the cylinder (206) is installed on the upper side of the U-shaped seat (201) on one side of the cylinder (206).

3. The online detection and classification system for surface defects of continuously cast billets based on machine vision according to claim 2, characterized in that: A strip plate (204) is installed on the inner wall of the protective shell (202) above the industrial camera (203). An electric cylinder (205) with the end of the telescopic arm connected to the industrial camera (203) is installed on the upper center of the strip plate (204).

4. The online detection and classification system for surface defects of continuously cast billets based on machine vision according to claim 2, characterized in that: The air cooling assembly includes a vertical connecting pipe (306) installed in the center of the cylinder (206). The lower end of the connecting pipe (306) is bent to the side and communicates with the upper annular pipe (301). A cooler (303) is installed on the upper side of the U-shaped seat (201) on the other side of the cylinder (206).

5. The online detection and classification system for surface defects of continuously cast billets based on machine vision according to claim 4, characterized in that: The upper end of the connecting pipe (306) is provided with a vertical conveying pipe (304) that bends towards the air cooler (303) and connects to its output end. A rotating head (305) is installed between the near ends of the conveying pipe (304) and the connecting pipe (306) to ensure that the connecting pipe (306) and the conveying pipe (304) can be properly connected when the protective shell (202) drives the connecting pipe (306) to rotate.

6. The online detection and classification system for surface defects of continuously cast billets based on machine vision according to claim 1, characterized in that: The deflection assembly includes a strip (405) mounted on the end of the hinge shaft of the jet nozzle (403) and the U-shaped plate (402) and arranged laterally, with a groove (406) provided on the side of the strip (405).

7. The online detection and classification system for surface defects of continuously cast billets based on machine vision according to claim 6, characterized in that: The protective shell (202) has an annular plate (409) with the same center on its lower side. An L-shaped piece (407) is installed on the lower side of the annular plate (409) and on one side of each strip (405). A pulley (408) that slides in the camera slide groove (406) and is adapted to it is rotatably installed on the side of the L-shaped piece (407). A set of telescopic arms is installed on the bottom surface of the protective shell (202) and extends to the outside to connect with the annular plate (409). The extension and retraction of the electric cylinder (410) drives the pulley (408) to move and cooperate with the slide groove (406) to drive the jet nozzle (403) to deflect.

8. The online detection and classification system for surface defects of continuously cast billets based on machine vision according to claim 1, characterized in that: The conveying mechanism also includes a second conveying roller (9) located on one side of the first conveying roller (1) and at the same height as it. A set of hydraulic cylinders (10) supported on the ground are installed on the lower side of the second conveying roller (9).

9. The online detection and classification system for surface defects of continuously cast billets based on machine vision according to claim 8, characterized in that: A set of U-shaped frames (14) is provided on one side of conveyor roller conveyor 2 (9). A set of conveyor roller conveyor 3 (13) distributed vertically is installed between the inner sides of the U-shaped frames (14). The upper conveyor roller conveyor 3 (13) is at the same height as the conveyor roller conveyor 2 (9). When the hydraulic cylinder (10) is retracted to its shortest length and drives the conveyor roller conveyor 2 (9) to descend to its lowest point, it is exactly at the same height as the lower conveyor roller conveyor 3 (13).

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