阅读说明：本技术 一种高速线材轧机在线精确对中系统及其对中方法 (Online accurate centering system of high-speed wire rod mill and centering method thereof ) 是由 朱兴安 谢超 于 2019-01-10 设计创作，主要内容包括：本发明公开了一种高速线材轧机在线精确对中系统及其对中方法,包括机架连轧机组,还包括激光器、工业相机、数据处理模块和显示模块；激光器设于机架连轧机组的出口位置,工业相机设于机架连轧机组的入口位置；激光器内发射激光依次穿过机架连轧机组每个机架孔型,直至工业相机的镜头内,工业相机用以捕捉激光与每个机架孔型轮廓图像信息,并将信息发送至数据处理模块,数据处理模块根据激光光斑位置和每个机架孔型情况用以计算出每个机架的偏离中心数据,并将数据发送至显示模块,显示模块用以实时显示每个机架的偏离中心数据。本发明根据识别算法能够给出各个机架的偏离中心数值,精确提供设备对中依据,提高了轧线对中精度和自动化水平。(The invention discloses an online accurate centering system of a high-speed wire rod rolling mill and a centering method thereof, wherein the online accurate centering system comprises a rack continuous rolling mill set, a laser, an industrial camera, a data processing module and a display module; the laser is arranged at the outlet position of the frame continuous rolling unit, and the industrial camera is arranged at the inlet position of the frame continuous rolling unit; the laser emitted in the laser sequentially penetrates through each rack hole pattern of the rack continuous rolling unit until the laser penetrates into a lens of the industrial camera, the industrial camera is used for capturing laser and outline image information of each rack hole pattern and sending the information to the data processing module, the data processing module is used for calculating deviation center data of each rack according to the laser spot position and the hole pattern condition of each rack and sending the data to the display module, and the display module is used for displaying the deviation center data of each rack in real time. According to the invention, the off-center numerical value of each frame can be given according to the identification algorithm, the equipment centering basis is accurately provided, and the rolling line centering precision and the automation level are improved.)

1. An on-line accurate centering system of a high-speed wire rod rolling mill comprises: frame continuous rolling unit, its characterized in that still includes: the system comprises a laser, an industrial camera, a data processing module and a display module;

the laser is arranged at the outlet position of the frame continuous rolling unit, and the industrial camera is arranged at the inlet position of the frame continuous rolling unit;

the laser device is characterized in that laser emitted in the laser device sequentially penetrates through each rack hole type of the rack continuous rolling unit until the laser device is arranged in a lens of the industrial camera, the industrial camera is used for capturing laser and outline image information of each rack hole type and sending the information to the data processing module, the data processing module is used for calculating deviation center data of each rack according to laser spot positions and each rack hole type condition and sending the data to the display module, and the display module is used for displaying the deviation center data of each rack in real time.

2. The high-speed wire rod mill online accurate centering system of claim 1, wherein: the laser is fixed at the outlet of the frame continuous rolling unit through an independent support.

3. The high-speed wire rod mill online accurate centering system of claim 1, wherein: the industrial camera is a CCD industrial camera or a CMOS industrial camera.

4. The on-line accurate centering system of the high-speed wire rod rolling mill as claimed in claim 1, wherein the data processing module is an industrial personal computer, P L C or DSP.

5. The high-speed wire rod mill online accurate centering system of claim 1, wherein: the display module is a display.

6. The high-speed wire rod mill online accurate centering method according to any one of claims 1 to 5, comprising: calibrating, calculating and self-correcting;

the calibration comprises the following specific steps:

1) adjusting an industrial camera, starting a laser at the outlet position of the continuous rolling mill set of the stand, enabling the laser to pass through each stand hole pattern and fall into a lens of the industrial camera, adjusting the position of the industrial camera to enable the center of a laser spot to be positioned at the center of a detection window of the industrial camera, namely a centering center, adjusting the angle of the industrial camera to enable the laser spot to be seen only in the field and the light beam to be invisible, namely the laser is vertical to the target surface of the industrial camera, and then fixing the industrial camera;

2) imaging calibration, namely, the industrial camera only needs to calibrate for each rack independently, parameters of the industrial camera are adjusted until the rack hole pattern is clearly imaged in the industrial camera and the size is proper, the setting of the industrial camera at the moment is recorded, and then calibration of all racks is completed in sequence;

3) scaling, namely scaling the imaging and real object ratio of the rack by the industrial camera under the condition set in the step 2), namely fixing a scale on the rack, reading scale marks of the scale by the industrial camera, and dividing the scale marks by pixel values to obtain a scaling coefficient of the rack;

4) dividing interest areas, namely dividing the interest areas by the industrial camera under the condition set in the step 2), and removing other backgrounds except the rack to calculate the center and inclination angle information of the rack hole pattern;

the calculation specifically includes: after calibration is finished, centering calculation is carried out on each rack, the industrial cameras are adjusted to be arranged correspondingly from the first rack, the center and the inclination angle of the first rack are calculated, and the rest is done in the same way until the last rack is obtained;

the self-calibration comprises:

when horizontal and vertical displacement is generated between the industrial camera and the laser, the difference between the current spot center position and the centering center is adopted for obtaining;

when the industrial camera is inclined, the laser spot becomes large, and the inclination is estimated by calculating the spot diameters in the horizontal direction and the vertical direction.

7. The on-line accurate centering method of the high-speed wire rod rolling mill as claimed in claim 6, characterized in that: in the interest region segmentation, when other backgrounds are removed, if the roll gap of the frame is blocked, the hole type edge region of the frame is extracted, and then fitting calculation is carried out.

8. The on-line accurate centering method of the high-speed wire rod rolling mill as claimed in claim 7, characterized in that: during the calculation, if the position of the roll gap of the rack can be detected, the included angle between the connecting line of the roll gaps on the two sides and the horizontal line is an inclined angle, the midpoint of the connecting line of the roll gaps on the two sides is the center of the rack, and the horizontal deviation and the vertical deviation of the center of the rack and the centering center are multiplied by a proportionality coefficient to obtain the horizontal deviation and the vertical deviation of the rack;

if the position of the roll gap of the frame cannot be detected, only the position of the edge point of the hole pattern is extracted to calculate the center position and the inclination angle of the hole pattern, and the center position and the inclination angle of the hole pattern can be calculated by using the coordinates of the edge point of the hole pattern through HOUGH conversion or a least square method.

Technical Field

The invention relates to a centering technology of a high-speed wire rod rolling mill, in particular to an online accurate centering system of the high-speed wire rod rolling mill and a centering method thereof.

Background

At present, the rolling speed of high-speed wire rods can reach more than 110m/s, so that the distance between the frames of the high-speed wire rod production rough and medium rolling prestress rolling mill is long, the distance between the frames of rough and medium rolling 1H-14V can reach dozens of meters, and the actual centering deviation on site is large. In order to ensure the rolling stability and improve the product quality, the center precision of each stand is required to be controlled at the level of 0.1mm, which puts a high requirement on the centering technology of the wire rod rough and medium rolling mill.

In the traditional operation procedure, usually during the fixed repair of the rolling line, the hole pattern center of each frame is adjusted one by a method of manually pulling a steel wire rope, so that the centering precision of the whole rolling line is ensured. In production practice, the method is long in time consumption, the fixed repair time is often prolonged, and the precision is poor. In recent years, the related art also searches for a new centering technique. For example, in a patent "emitter tool for laser measurement at the center of a high-speed wire rolling mill" (chinese patent publication No. CN 201455006U), a device is proposed in which a laser emitter is fixed at an inlet of a rolling mill, and the rolling mill is centered by using laser as a reference; as another patent, "a remote high-precision centering and debugging device and method" (chinese patent publication No. CN 108007394 a), a method and device for completing high-precision centering by receiving laser signals by a photoelectric position sensor is proposed.

Although the methods can replace manual wire drawing to improve the centering efficiency of the high-speed wire rolling mill, the centering precision of each stand cannot be quantitatively provided, and each stand still needs to be adjusted by manual experience.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an online accurate centering system of a high-speed wire rod rolling mill and a centering method thereof, which can provide the off-center numerical value of each rack according to an identification algorithm, accurately provide the centering basis of equipment and improve the centering accuracy and automation level of a rolling line.

In order to achieve the purpose, the invention adopts the following technical scheme:

in one aspect, an on-line accurate centering system for a high-speed wire rod mill comprises: the frame continuous rolling unit still includes: the system comprises a laser, an industrial camera, a data processing module and a display module;

the laser is arranged at the outlet position of the frame continuous rolling unit, and the industrial camera is arranged at the inlet position of the frame continuous rolling unit;

the laser device is characterized in that laser emitted in the laser device sequentially penetrates through each rack hole type of the rack continuous rolling unit until the laser device is arranged in a lens of the industrial camera, the industrial camera is used for capturing laser and outline image information of each rack hole type and sending the information to the data processing module, the data processing module is used for calculating deviation center data of each rack according to laser spot positions and each rack hole type condition and sending the data to the display module, and the display module is used for displaying the deviation center data of each rack in real time.

The laser is fixed at the outlet of the frame continuous rolling unit through an independent support.

The industrial camera is a CCD industrial camera or a CMOS industrial camera.

The data processing module is an industrial personal computer, P L C or DSP.

The display module is a display.

In another aspect, an on-line accurate centering method for a high-speed wire rod rolling mill comprises the following steps: calibrating, calculating and self-correcting;

the calibration comprises the following specific steps:

1) adjusting an industrial camera, starting a laser at the outlet position of the continuous rolling mill set of the stand, enabling the laser to pass through each stand hole pattern and fall into a lens of the industrial camera, adjusting the position of the industrial camera to enable the center of a laser spot to be positioned at the center of a detection window of the industrial camera, namely a centering center, adjusting the angle of the industrial camera to enable the laser spot to be seen only in the field and the light beam to be invisible, namely the laser is vertical to the target surface of the industrial camera, and then fixing the industrial camera;

2) imaging calibration, namely, the industrial camera only needs to calibrate for each rack independently, parameters of the industrial camera are adjusted until the rack hole pattern is clearly imaged in the industrial camera and the size is proper, the setting of the industrial camera at the moment is recorded, and then calibration of all racks is completed in sequence;

3) scaling, namely scaling the imaging and real object ratio of the rack by the industrial camera under the condition set in the step 2), namely fixing a scale on the rack, reading scale marks of the scale by the industrial camera, and dividing the scale marks by pixel values to obtain a scaling coefficient of the rack;

4) dividing interest areas, namely dividing the interest areas by the industrial camera under the condition set in the step 2), and removing other backgrounds except the rack to calculate the center and inclination angle information of the rack hole pattern;

the calculation specifically includes: after calibration is finished, centering calculation is carried out on each rack, the industrial cameras are adjusted to be arranged correspondingly from the first rack, the center and the inclination angle of the first rack are calculated, and the rest is done in the same way until the last rack is obtained;

the self-calibration comprises:

when horizontal and vertical displacement is generated between the industrial camera and the laser, the difference between the current spot center position and the centering center is adopted for obtaining;

when the industrial camera is inclined, the laser spot becomes large, and the inclination is estimated by calculating the spot diameters in the horizontal direction and the vertical direction.

In the interest region segmentation, when other backgrounds are removed, if the roll gap of the frame is blocked, the hole type edge region of the frame is extracted, and then fitting calculation is carried out.

During the calculation, if the position of the roll gap of the rack can be detected, the included angle between the connecting line of the roll gaps on the two sides and the horizontal line is an inclined angle, the midpoint of the connecting line of the roll gaps on the two sides is the center of the rack, and the horizontal deviation and the vertical deviation of the center of the rack and the centering center are multiplied by a proportionality coefficient to obtain the horizontal deviation and the vertical deviation of the rack;

if the position of the roll gap of the frame cannot be detected, only the position of the edge point of the hole pattern is extracted to calculate the center position and the inclination angle of the hole pattern, and the center position and the inclination angle of the hole pattern can be calculated by using the coordinates of the edge point of the hole pattern through HOUGH conversion or a least square method.

In the technical scheme, the on-line accurate centering system and the centering method of the high-speed wire rod rolling mill provided by the invention also have the following beneficial effects:

1) the centering system of the invention adopts a CCD or CMOS industrial camera with strong anti-interference capability to capture the laser emitted at the outlet of the rolling mill and the hole pattern outline image of each frame, thereby accurately detecting the degree of each frame deviating from the hole pattern center on line and improving the detection stability and accuracy;

2) the centering system can automatically give specific numerical values of all the machine frames deviating from the center through a recognition algorithm according to signals captured by the industrial camera, and provides accurate centering basis for binding;

3) the centering system can quantitatively describe the centering deviation of each rack, improve the accurate centering basis, obviously improve the centering efficiency and the automation level of binding at the same time, and can be widely applied to the accurate centering field of high-speed wire rolling.

Drawings

FIG. 1 is a state diagram of the centering system of the present invention in use;

FIG. 2 is a state diagram of the centering system of embodiment 1 of the present invention in use;

FIG. 3 is a schematic diagram of a centering system of embodiment 1 of the present invention when the roll gap is not blocked during the segmentation of the region of interest;

FIG. 4 is a schematic diagram of the centering system of embodiment 1 of the present invention when the roll gap is blocked during the segmentation of the region of interest;

FIG. 5 is a schematic diagram of the system of the present invention in the calculation of tilt angle in embodiment 1;

FIG. 6 is a state diagram of the centering system of embodiment 2 of the present invention in use;

FIG. 7 is a schematic diagram of the centering system of embodiment 2 of the present invention when the roll gap is blocked during the segmentation of the region of interest;

fig. 8 is a schematic diagram of the inclination angle calculation in embodiment 2 of the centering system of the present invention.

Detailed Description

The technical scheme of the invention is further explained by combining the drawings and the embodiment.

Referring to fig. 1, the present invention provides an on-line precise centering system for a high-speed wire rod rolling mill, which includes: the continuous rolling mill of frame group of constituteing by a plurality of frame 1 still includes: laser 2, industrial camera 3, data processing module 4 and display module 5.

Preferably, the laser 2 is arranged at an exit position of the stand continuous rolling unit, and the industrial camera 3 is arranged at an entrance position of the stand continuous rolling unit.

Preferably, the laser 6 emitted from the laser 2 is used as a unit center reference, the laser 6 sequentially passes through each rack hole type 7 of the rack continuous rolling unit until the laser is in a lens of the industrial camera 3, the industrial camera 3 is used for capturing outline image information of the laser 6 and each rack hole type 7 and sending the information to the data processing module 4, the data processing module 4 is used for calculating off-center data of each rack 1 according to a laser 6 light spot position and each rack hole type 7 condition and sending the data to the display module 5, and the display module 5 is used for displaying the off-center data of each rack 1 in real time for an operator to refer.

Preferably, the laser 6 is a reference for centering, and the laser 2 should be stably fixed on the continuous rolling stand set or fixed at an outlet position of the continuous rolling stand set through a separate bracket.

Preferably, the industrial camera 3 is a CCD industrial camera or a CMOS industrial camera with high interference rejection.

Preferably, the data processing module 4 is an industrial personal computer, P L C or DSP.

Preferably, the display module 5 is a display.

The invention also provides an online accurate centering method of the high-speed wire rod rolling mill, which comprises the following steps: and calibrating, calculating and self-correcting.

Preferably, the calibration is as follows:

1) adjusting an industrial camera, starting a laser 2 at an outlet position of a rack continuous rolling unit, enabling a laser 6 to pass through each rack hole type 7 and then fall into a lens of the industrial camera 3, adjusting the position of the industrial camera 3 to enable the center of a laser 6 light spot to be positioned at the center of a detection window of the industrial camera 3, namely, a centering center, adjusting the angle of the industrial camera 3 to enable the laser 6 light spot to be seen only in a field and a light beam not to be seen, namely, enabling the laser 6 to be perpendicular to a target surface of the industrial camera 3, and then fixing the industrial camera 3;

2) and imaging calibration, wherein the industrial camera 3 cannot clearly take all the rack hole patterns 7 at the same time due to the large length of the high-speed rolling line, so that the industrial camera 3 only needs to be calibrated for each rack 1 independently. Taking the i-frame as an example (i is 1, 2 … …, N-1, N), adjusting parameters such as focal length, aperture, zoom and the like of the industrial camera 3 until the i-frame hole pattern 7 is clearly imaged in the industrial camera 3 and the size is proper, recording the setting of the industrial camera 3 at the moment, wherein the setting can be marked as setting i, and then sequentially completing the calibration of all frames 1;

3) scaling, namely, under the condition that the industrial camera 3 sets i, scaling the imaging and object ratio of the i frame, namely, fixing a scale on the i frame, reading scale marks of the scale by the industrial camera 3, and dividing the scale marks by pixel values to obtain a scaling coefficient of the frame;

4) and (3) dividing the interest area, wherein under the condition that the industrial camera 3 is provided with i, the shot image is not required to be processed in all areas, and only the information of the center and the inclination angle of the pass of the i frame is needed, so that the interest area can be divided, the background except the frame 1 is removed, the processing speed is improved, and the interference is reduced. For different pass, the center and inclination angle information of the pass of the frame are calculated, the conditions are different, the optimal condition is that the roll gap of the frame is not shielded, only the roll gap areas at two sides are required to be intercepted, if the roll gap of the frame is shielded, the edge area of the pass of the frame is extracted, and then fitting calculation is carried out.

Preferably, the calculating specifically includes: after calibration is complete, a centering calculation can be performed for each gantry 1, typically starting with the first gantry 1, adjusting the industrial camera 3 to setting 1, calculating the first gantry center and tilt angle, and so on until the last gantry.

For the frame i, the position of a roll gap of the frame can be detected, an included angle between a connecting line of the roll gaps on the two sides and a horizontal line is an inclined angle, the middle point of the connecting line of the roll gaps on the two sides is the center of the frame, and the horizontal deviation and the vertical deviation of the center of the frame and the centering center are multiplied by a proportionality coefficient to obtain the horizontal deviation and the vertical deviation of the frame;

for the frame i, if the position of the roll gap of the frame cannot be detected, only the position of the edge point of the hole pattern is extracted to estimate the center position and the inclination angle of the hole pattern. Generally, the elliptical hole pattern is blocked, and the hole pattern center and the inclination angle can be calculated by using the coordinates of the hole pattern edge points through a HOUGH transformation method or a least square method.

Preferably, the self-calibration comprises:

the calibration is necessary in the idle state of the unit, because the position of the industrial camera 3 and the laser 2 inevitably varies due to vibrations of the unit, ground subsidence, etc., which affect the accuracy of the centering. When horizontal and vertical displacements are generated between the industrial camera 3 and the laser 2, the difference between the current spot center position and the centering center is adopted to obtain the horizontal and vertical displacements, and the obtained horizontal and vertical displacements can be fed back to a calculation part to compensate the center offset; or not feedback, and only output to the operator for reference.

Meanwhile, the industrial camera 3 may be tilted, when the industrial camera 3 is tilted, the laser 6 spot becomes large, and the tilt is estimated by calculating the spot diameters in the horizontal and vertical directions. When the measured diameter is too large to deviate from the original spot diameter, an alarm can be given to prompt an operator.