CN-115861286-B - Method for detecting plate blank rotation state in steel rotation process based on machine vision

CN115861286BCN 115861286 BCN115861286 BCN 115861286BCN-115861286-B

Abstract

The invention discloses a method for detecting a plate blank rotation state in a steel rotating process based on machine vision, which comprises the steps of obtaining multi-frame image information of a plate blank on a steel rotating roller way by using image pickup equipment, obtaining outline information of the plate blank through the image information, recording position information of each frame of plate blank based on preset mark points on the outline information, and outputting a corresponding rotation direction and rotation angle of the plate blank by comparing positions between two adjacent frames according to a multi-frame sequence to assist in determining parameter details describing the plate blank rotation state, so that the rotation direction and rotation angle of the plate blank are obtained. Thereby achieving the effect of automatically monitoring the rotation state of the plate blank in the process of turning steel.

Inventors

SONG YANG
GONG CAIJUN
WANG HAILONG
Su Ruicong
DONG XUECHUN
SHI RUOQI
ZHANG BIN
TIAN YE

Assignees

北京首钢自动化信息技术有限公司

Dates

Publication Date: 20260508
Application Date: 20221229

Claims (6)

1. The method for detecting the plate blank rotation state in the steel rotation process based on machine vision is characterized by comprising the following steps: Acquiring multi-frame image information of a plate blank on a steel-turning roller way by using camera equipment; Acquiring contour information of the slab through the image information; recording the position information of each frame of plate blank based on the preset mark points on the contour information; according to the sequence of the multiple frames, outputting the corresponding rotation direction and rotation angle of the slab by comparing the positions between two adjacent frames; The step of obtaining the contour information of the slab through the image information further comprises the following steps: extracting a slab region and a background region in the image information by using a semantic segmentation technology; denoising the slab region, and establishing a minimum circumscribed rectangle based on the outline of the slab region; After establishing the minimum bounding rectangle based on the contour of the slab region, the method further comprises: When the area of the slab region in the minimum circumscribed rectangle is smaller than a preset threshold value, extracting a plurality of straight line segments with lengths larger than a preset length on the outline of the slab region; selecting two straight line segments from the plurality of straight line segments for arrangement and combination, and recording two standard straight line segment groups with included angles reaching a preset angle range in each arrangement and combination; When the preset angle range meets a first specific angle range, defining two corresponding straight line segments to be mutually perpendicular, extending the two target straight line segment groups on the slab region image, and taking an intersection point obtained by extension as a vertex of an actual slab contour; when the preset angle range meets a second specific angle range, defining two corresponding straight line segments to be parallel or collinear, and taking the two straight line segments as contours to be selected; repairing a minimum circumscribed rectangle based on preset characteristics of the rectangle according to the position of the vertex, the target straight line segment group, the extension length and the outline to be selected; The step of outputting the corresponding rotation direction and rotation angle of the slab by comparing the positions between two adjacent frames further comprises the following steps: based on the sequence of the multi-frames, recording the initial position of the minimum circumscribed rectangle of the first frame; and comparing the vertex coordinates of the minimum circumscribed rectangle of each frame with the vertex coordinates of the previous frame, calculating the rotation angle and judging the rotation direction according to the coordinate system.
2. The method of claim 1, wherein after having two straight line segments as the candidate contours, the method further comprises: And arranging and combining the target straight line segment groups, screening the combination items which accord with the preset characteristics of the rectangle and contain the maximum target straight line segment groups, and determining the final circumscribed rectangle based on the combination items.
3. The method according to any one of claims 1-2, wherein the step of recording the position information of each frame blank based on the preset mark points on the profile information further comprises: Taking the minimum circumscribed rectangle as a contour, and acquiring a contour center of the contour; And establishing a coordinate system by taking the center of the outline as an origin, and obtaining the coordinates of four vertexes of the minimum circumscribed rectangle.
4. The method of claim 1, wherein the step of extracting a plurality of straight line segments greater than a predetermined length on the contour of the slab region comprises: When a continuous straight line segment with a plurality of slope differences within a second preset range exists, making a straight line segment along the starting point and the end point of the continuous straight line segment, and extracting based on the preset length; When the curve with the peak-valley value within the third preset range is contained, fitting the curve into a straight line with a corresponding length by using a least square method, and extracting based on the preset length.
5. The method of claim 1, wherein the step of extracting a plurality of straight line segments greater than a predetermined length over the contour of the slab region further comprises: When the number of the straight line segments extracted on the outline of the slab region is smaller than two, judging that the extraction fails, discarding the current frame, and jumping to the next frame image for re-detection; And when the extraction of the plurality of frame images fails, an alarm for abnormality in the current rotation state detection process is sent out.
6. A system for detecting a rotation state of a plate blank in a steel rotating process based on machine vision, which is characterized by comprising: the video acquisition module is used for acquiring multi-frame image information of the slab on the steel-turning roller way by using the camera equipment; the contour extraction module is used for acquiring contour information of the slab through the image information; the contour extraction module is also used for extracting a slab region and a background region in the image information by utilizing a semantic segmentation technology; denoising the slab region, and establishing a minimum circumscribed rectangle based on the outline of the slab region; When the area of the slab region in the minimum circumscribed rectangle is smaller than a preset threshold value, extracting a plurality of straight line segments with lengths larger than a preset length on the outline of the slab region; selecting two straight line segments from the plurality of straight line segments for arrangement and combination, and recording two standard straight line segment groups with included angles reaching a preset angle range in each arrangement and combination; When the preset angle range meets a first specific angle range, defining two corresponding straight line segments to be mutually perpendicular, extending the two target straight line segment groups on the slab region image, and taking an intersection point obtained by extension as a vertex of an actual slab contour; repairing a minimum circumscribed rectangle based on preset characteristics of the rectangle according to the position of the vertex, the target straight line segment group, the extension length and the outline to be selected; The position acquisition module is used for recording the position information of each frame of slab based on the preset mark points on the contour information; The running state calculation module is used for outputting the corresponding rotation direction and rotation angle of the slab by comparing the positions between two adjacent frames according to the sequence of the multiple frames; The running state calculation module is further used for recording the initial position of the minimum circumscribed rectangle of the first frame based on the sequence of the multiple frames; and comparing the vertex coordinates of the minimum circumscribed rectangle of each frame with the vertex coordinates of the previous frame, calculating the rotation angle and judging the rotation direction according to the coordinate system.

Description

Method for detecting plate blank rotation state in steel rotation process based on machine vision Technical Field The invention relates to the technical field of automatic steel turning, in particular to a method for detecting a plate blank rotation state in a steel turning process based on machine vision. Background And (3) turning the steel, namely stopping the slab on a steel turning roller way, and turning the steel turning roller way. The method aims at controlling the width of the finished product by turning the steel, and turning the steel in a certain pass through model setting according to the specification requirement of the width of the finished product, namely turning the steel plate by 90 degrees, so that the length and the width are exchanged, and the width control of the final finished steel plate is achieved. In the prior art, the steel conversion process is still a link of manual control, and the full production line automation in the rolling process of the medium plate and the wide plate is directly influenced. The main difficulties of automatic steel turning are the monitoring of the steel turning process and the control of the time for turning the steel. Therefore, a stable, accurate and scene-specific slab rotation state detection method is needed. Disclosure of Invention The embodiment of the application at least partially solves the technical problem of manually controlling steel turning in the prior art by providing the method for detecting the rotation state of the plate blank in the steel turning process based on machine vision, and realizes the technical effect of automatically monitoring the rotation state of the plate blank in the steel turning process. In order to solve the above technical problems, the embodiment of the present invention provides the following technical solutions: a method for detecting the rotation state of a plate blank in the steel rotating process based on machine vision comprises the following steps: Acquiring multi-frame image information of a plate blank on a steel-turning roller way by using camera equipment; acquiring contour information of the slab through the image information; Recording the position information of each frame of slab based on the preset mark points on the contour information; And according to the sequence of the multiple frames, outputting the corresponding rotation direction and rotation angle of the slab by comparing the positions between two adjacent frames. Optionally, the step of obtaining the contour information of the slab through the image information further includes: Extracting a slab region and a background region in the image information by using a semantic segmentation technology; Denoising the slab region, and establishing a minimum circumscribed rectangle based on the outline of the slab region. Optionally, after establishing the minimum bounding rectangle based on the contour in the slab region, the method includes: when the ratio of the area of the slab region in the minimum circumscribed rectangle is lower than a preset threshold value; Extracting a plurality of straight line segments with lengths larger than a preset length from the outline of the slab region; Selecting two straight line segments from the plurality of straight line segments for arrangement and combination, and recording two standard straight line segment groups with included angles reaching a preset angle range in each arrangement and combination; When the preset angle meets a first specific angle range, defining two corresponding straight line segments to be mutually perpendicular, extending the two target straight line segment groups on the slab region image, and taking an intersection point obtained by extension as a vertex of an actual slab contour; when the preset angle meets a second specific angle range, defining two corresponding straight line segments to be parallel or collinear, and taking the two straight line segments as contours to be selected; And repairing the minimum circumscribed rectangle based on the preset rectangle characteristics according to the vertex position, the target straight line segment group, the extension length and the outline to be selected. Optionally, after taking the two straight line segments as the contours to be selected, the method further includes: And arranging and combining the plurality of straight line segment groups, screening the combination items which accord with the preset characteristics of the rectangle and contain the most straight line segment groups, and determining the final circumscribed rectangle based on the combination items. Optionally, the step of recording the position information of each frame of slab based on the preset mark point on the profile information further includes: Taking the minimum circumscribed rectangle as a contour, and obtaining a contour center of the contour; and establishing a coordinate system by taking the center of the outline as an origin, and obtaining the c