基于机器视觉的热轧中间坯镰刀弯在线检测系统
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摘要
为了能够实现对中间坯镰刀弯的非接触在线测量,提出通过基于机器视觉技术的镰刀弯在线测量方案。将面阵CCD相机布置在粗轧机出口倾斜拍摄中间坯表面形状:首先通过亚像素角点定位完成相机标定;再次,通过引入中间坯厚度变量实现对不同厚度的中间坯平面形状由图像坐标向世界坐标转化;最后通过中间坯边缘轮廓连续变化的原理,计算具有重叠区域的连续中间坯图像沿宽度方向的平移量和整体的旋转量,完成中间坯平面图像的拼接。研究结果表明:通过所提出的测量系统及算法可以获得完整的中间坯平面图像及镰刀弯值,通过与工业现场测宽仪的测量结果对比,可知系统测量结果能够反映中间坯弯曲的趋势及细节特征,为热连轧粗轧过程中间坯镰刀弯的控制提供了有效测量手段。
To achieve non-contact and on-line measurement of camber in a hot rolling, the design and implementation of an image-based computer vision measurement system was proposed. In order to capture the plane images of intermediate slab, the area-scan charge-coupled device(CCD) camera was installed at the exit of the rough mill. The camber-detection algorithm consists of three parts. Firstly, the camera was calibrated by subpixel corner detection. Secondly, by introducing the thickness variable, the relationship between the physical positions on the intermediate slab and their relative image positions was formulated. Finally, the translation along the width direction and the rotation were calculated using the continuity of the intermediate slab edge shape, and then each frame capture with overlapped regions from the CCD camera was stitched. The results show that the propose camber measurement system and camber-detection algorithm can achieve the overall slab shape and camber values from the obtained image. The equipment and technique are validated through comparison with center-line deviation measured by width gauge. The accuracy of the system reflects that it can reflect the detailed character of the shape of intermediate slab, which provides a potential measurement tool for camber control.
To achieve non-contact and on-line measurement of camber in a hot rolling, the design and implementation of an image-based computer vision measurement system was proposed. In order to capture the plane images of intermediate slab, the area-scan charge-coupled device(CCD) camera was installed at the exit of the rough mill. The camber-detection algorithm consists of three parts. Firstly, the camera was calibrated by subpixel corner detection. Secondly, by introducing the thickness variable, the relationship between the physical positions on the intermediate slab and their relative image positions was formulated. Finally, the translation along the width direction and the rotation were calculated using the continuity of the intermediate slab edge shape, and then each frame capture with overlapped regions from the CCD camera was stitched. The results show that the propose camber measurement system and camber-detection algorithm can achieve the overall slab shape and camber values from the obtained image. The equipment and technique are validated through comparison with center-line deviation measured by width gauge. The accuracy of the system reflects that it can reflect the detailed character of the shape of intermediate slab, which provides a potential measurement tool for camber control.
引文
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[2]WANG Haiyu,YANG Quan,WANG Xiaochen,et al.Study and application of camber control model of intermediate slab in rough rolling[J].Journal of Iron and Steel Research International,2014,21(9):817-822.
[3]JEONG D,KANG Y,JANG Y J,et al.Development of FEM simulator combined with camber reducing output feedback fuzzy controller for rough rolling process[J].ISIJ International,2013,53(3):511-519.
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[8]雷凤翔.热轧带钢端部形状视觉检测研究[D].天津:河北工业大学控制科学与工程学院,2014:13-14.LEI Fengxiang.Research on vision detection of the hot rolled strip end’s shape[D].Tianjin:Hebei University of Technology.School of Control Science and Engineering,2014:13-14.
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[10]EICHERT G,DEVORICH S.Position and camber measurement in the hot rolling process:EMG hot CAM[C]//Proceedings of the Iron and Technology Conference.Warrendale,PA,United States:Association for Iron and Steel Technology,2013:2329-2337.
[11]何纯玉.中厚板轧制过程高精度侧弯控制的研究与应用[D].沈阳:东北大学材料与冶金学院,2009:98-124.HE Chunyu.Study and application of high accuracy camber control in plate rolling[D].Shenyang:Northeastern University.School of Materials and Metallurgy,2009:98-124.
[12]OLLIKKALA A V H,KANANEN T P,MAKYNEN A J,et al.Camera-based curvature measurement of a large incandescent object[C]//Proceedings of SPIE:the International Society for Optical Engineering.Bellingham,WA,United States:Society of Photo-Optical Instrumentation Engineers,2013:87883D1-6.
[13]MONTAGUE R J,WATTON J,BROWN K J.A machine vision measurement of slab camber in hot strip rolling[J].Journal of Materials Processing Technology,2005,168(1):172-180.
[14]FRAGA C,GONZALEZ R C,CANCELAS J A,et al.Camber measurement system in a hot rolling mill[C]//Conference Record of the 2004 IEEE Industry Applications Conference:39th IAS Annual Meeting.Piscataway,NJ,United States:Institute of Electrical and Electronics Engineers Inc,2004:897-902.
[15]YANG Y Y,CHEN C M,HO C Y,et al.Development of a camber measurement system in a hot rolling mill[C]//Conference Record:IEEE Industry Applications Society Annual Meeting.Piscataway,NJ,United States:Institute of Electrical and Electronics Engineers Inc,2008:379-384.
[16]LEE J,CHOI Y J.Development of camber and steering control system in hot strip mill[C]//19th IEEE International Conference on Emerging Technologies and Factory Automation,ETFA 2014.Piscataway,NJ,United States:Institute of Electrical and Electronics Engineers Inc,2014:1-4
[17]KONG N,YOO J,LEE J,et al.Vision-based camber measurement system in the endless hot rolling process[J].Optical Engineering,2011,50(10):107202-107210.
[18]YOO J,LEE W,KONG N,et al.An edge detection algorithm for steel bar in hot rolling process(ICCAS 2014)[C]//International Conference on Control,Automation and Systems.Gyeonggi-do,Korea:IEEE Computer Society,2014:1389-1391.
[19]ZHANG Zhengyou.Flexible camera calibration by viewing a plane from unknown orientations[C]//Proceedings of the IEEE International Conference on Computer Vision.Piscataway,NJ,United States:Institute of Electrical and Electronics Engineers Inc,1999:666-673.
[20]BELLAVIA F,TEGOLO D,VALENTI C.Improving Harris corner selection strategy[J].IET Computer Vision,2011,5(2):87-96.
[21]谭晓波.摄像机标定及相关技术研究[D].长沙:国防科学技术大学机电工程及自动化学院,2004:32-34.TAN Xiaobo.Study on calibration and its correlation technique[D].Changsha:National University of Defense Technology.Institute of Mechanical and Electrical Engineering&Automation,2004:32-34.
[22]叶明,王惠文,寇薇.大规模曲线的自动分类方法及其应用[J].系统管理学报,2010,19(6):640-644.YE Ming,WANG Huiwen,KOU Wei.Automatic classification method of large-scale curves and application[J].Journal of Systems&Management,2010,19(6):640-644.
[2]WANG Haiyu,YANG Quan,WANG Xiaochen,et al.Study and application of camber control model of intermediate slab in rough rolling[J].Journal of Iron and Steel Research International,2014,21(9):817-822.
[3]JEONG D,KANG Y,JANG Y J,et al.Development of FEM simulator combined with camber reducing output feedback fuzzy controller for rough rolling process[J].ISIJ International,2013,53(3):511-519.
[4]陈江宁.现代宽厚板特殊检测仪表的应用与展望[J].自动化仪表,2001,22(1):1-5,8.CHEN Jiangning.The application and prospects of modern special detecting instrument for the heavy plate[J].Process Automation Instrumentation,2001,22(1):1-5,8.
[5]Harris Instrument Corporation.Continuous online camber measurement[EB/OL].[2016-01-01].http://harris-instrument.com/wp-content/uploads/2016/01/HIC-Continuous-Online-CamberMeasurement-1.pdf
[6]张向磊.基于线阵相机的带钢镰刀弯在线检测技术研究[D].北京:北京科技大学机械工程学院,2009:50-67.ZHANG Xianglei.Research on online detection technique of sickle-curved strip steel using line scan camera[D].Beijing:University of Science and Technology Beijing.School of Mechanical Engineering,2009:50-67.
[7]李毅杰,王力飞,孙一康,等.线阵CCD用于热轧带钢头部形状检测[J].北京科技大学学报,1994,16(3):280-282,288.LI Yijie,WANG Lifei,SUN Yikang,et al.Detecting the shape of hot strip head area with linear CCD[J].Journal of University of Science and Technology Beijing,1994,16(3):280-282,288.
[8]雷凤翔.热轧带钢端部形状视觉检测研究[D].天津:河北工业大学控制科学与工程学院,2014:13-14.LEI Fengxiang.Research on vision detection of the hot rolled strip end’s shape[D].Tianjin:Hebei University of Technology.School of Control Science and Engineering,2014:13-14.
[9]KAMPMEIJER L,HOL C,DE R J,et al.Strip tracking measurement and control in hot strip rolling[J].Metallurgia Italiana,2014,106(3):29-34.
[10]EICHERT G,DEVORICH S.Position and camber measurement in the hot rolling process:EMG hot CAM[C]//Proceedings of the Iron and Technology Conference.Warrendale,PA,United States:Association for Iron and Steel Technology,2013:2329-2337.
[11]何纯玉.中厚板轧制过程高精度侧弯控制的研究与应用[D].沈阳:东北大学材料与冶金学院,2009:98-124.HE Chunyu.Study and application of high accuracy camber control in plate rolling[D].Shenyang:Northeastern University.School of Materials and Metallurgy,2009:98-124.
[12]OLLIKKALA A V H,KANANEN T P,MAKYNEN A J,et al.Camera-based curvature measurement of a large incandescent object[C]//Proceedings of SPIE:the International Society for Optical Engineering.Bellingham,WA,United States:Society of Photo-Optical Instrumentation Engineers,2013:87883D1-6.
[13]MONTAGUE R J,WATTON J,BROWN K J.A machine vision measurement of slab camber in hot strip rolling[J].Journal of Materials Processing Technology,2005,168(1):172-180.
[14]FRAGA C,GONZALEZ R C,CANCELAS J A,et al.Camber measurement system in a hot rolling mill[C]//Conference Record of the 2004 IEEE Industry Applications Conference:39th IAS Annual Meeting.Piscataway,NJ,United States:Institute of Electrical and Electronics Engineers Inc,2004:897-902.
[15]YANG Y Y,CHEN C M,HO C Y,et al.Development of a camber measurement system in a hot rolling mill[C]//Conference Record:IEEE Industry Applications Society Annual Meeting.Piscataway,NJ,United States:Institute of Electrical and Electronics Engineers Inc,2008:379-384.
[16]LEE J,CHOI Y J.Development of camber and steering control system in hot strip mill[C]//19th IEEE International Conference on Emerging Technologies and Factory Automation,ETFA 2014.Piscataway,NJ,United States:Institute of Electrical and Electronics Engineers Inc,2014:1-4
[17]KONG N,YOO J,LEE J,et al.Vision-based camber measurement system in the endless hot rolling process[J].Optical Engineering,2011,50(10):107202-107210.
[18]YOO J,LEE W,KONG N,et al.An edge detection algorithm for steel bar in hot rolling process(ICCAS 2014)[C]//International Conference on Control,Automation and Systems.Gyeonggi-do,Korea:IEEE Computer Society,2014:1389-1391.
[19]ZHANG Zhengyou.Flexible camera calibration by viewing a plane from unknown orientations[C]//Proceedings of the IEEE International Conference on Computer Vision.Piscataway,NJ,United States:Institute of Electrical and Electronics Engineers Inc,1999:666-673.
[20]BELLAVIA F,TEGOLO D,VALENTI C.Improving Harris corner selection strategy[J].IET Computer Vision,2011,5(2):87-96.
[21]谭晓波.摄像机标定及相关技术研究[D].长沙:国防科学技术大学机电工程及自动化学院,2004:32-34.TAN Xiaobo.Study on calibration and its correlation technique[D].Changsha:National University of Defense Technology.Institute of Mechanical and Electrical Engineering&Automation,2004:32-34.
[22]叶明,王惠文,寇薇.大规模曲线的自动分类方法及其应用[J].系统管理学报,2010,19(6):640-644.YE Ming,WANG Huiwen,KOU Wei.Automatic classification method of large-scale curves and application[J].Journal of Systems&Management,2010,19(6):640-644.