CN102620650B - Video steel pipe tracking system - Google Patents
Video steel pipe tracking system Download PDFInfo
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- CN102620650B CN102620650B CN201110030102.4A CN201110030102A CN102620650B CN 102620650 B CN102620650 B CN 102620650B CN 201110030102 A CN201110030102 A CN 201110030102A CN 102620650 B CN102620650 B CN 102620650B
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Abstract
A video steel pipe tracking system is composed of a light source, a camera and a computer. Steel pipes in the production line are irradiated by strip-shaped light emitted from the light source, the deformation curve of the strip-shaped light falling on the steel pipes is collected by the camera and is sent to the computer, the existence of the steel pipes is judged by the computer based on the curvature variation of the reflected light, the moving direction of the steel pipes is judged based on the time sequence of two front and rear reflected light grates, the quantity of the steel pipes is judged according to the quantity of wave crests formed by reflection of the strip-shaped light, and the positions of the steel pipes are tracked according to the positions and lasting time of the wave crests formed by reflection of the strip-shaped light in the field of view. A structured light detection method is adopted for monitoring the flowing direction of the steel pipes by the invention, the reliability is improved, the detection distance is long, the self-influence on the steel pipes is less, damage is reduced, a near-infrared light source is adopted, the system is not influenced by the site lighting variation, the structure is simple, the installing and wiring are convenient, and the quantity of devices is small.
Description
Technical field:
The present invention relates to field of metallurgy, relate in particular to steel pipe's production technology, the particularly supervising device of steel pipe's production process, particularly a kind of video steel pipe tracker.
Background technology:
At the back segment of ERW pipe production line, after the continuous-tube that steel pipe is produced from whole coil of strip is cut, is admitted to finishing area and tests and process.According to the current standard of ERW steel pipe's production industry---the requirement of API (American Petroleum Institute) standard, need to be to the reviewing of all Realization of Product production datas that meet standard-required, namely can inquire about data corresponding while producing this steel pipe and all detection data by being finally printed on the numbering of steel pipe body.Because the area of whole finishing area is very large, length can reach hundreds of rice, the flow direction complexity of steel pipe in region, and the equipment of Check processing is numerous, is difficult to all data to correspond to accurately on the steel pipe of each root production.In prior art, adopt sensor to detect and the artificial mode matching of revising, by the position of various sensor sensing steel pipes, add by the logic judgement of the carrying mechanism of solenoid control and the transmission roller channel of Electric Machine Control, the flow direction of following the tracks of steel pipe.Corresponding a part of steel pipe off-line processing requirements adopts artificial correction, such as being admitted to, steel pipe carries out artificial processing (polishing after manual detection stand, short cut etc.), or ensuing processing etc. is carried out in the online region that the steel pipe of off-line is hung in to appointment again by crane.
But; there is following problem in prior art: the accuracy existing problems that (1) sensor detects; because the environment of pipe production line is severe; the inside and outside burr that body can cause with emulsifying liquid and welding during by sensor check point conventionally; there is a large amount of brown iron oxides on body surface, and when steel pipe enters finishing area simultaneously, temperature is higher.The sensor ratio that detects steel pipe is easier to cause error signal.Simultaneously, because the caliber gap from small to large of product line of the steel pipe of producing is larger, the detection position of sensor is also a very large problem, is badly easy to cause some product cannot respond to due to the problem of installation of sensors position, and then cannot detects if adjusted.(2) field wiring complexity.Because the area of finishing area is huge, the area in each region is also very large, the size of steel pipe differs, length gap is also very large, to correctly detect so the position of steel pipe, just a large amount of sensors need to arranged, and under existing conditions, the problem of reliability detecting due to single-sensor, common corresponding method is the method that adopts redundant sensor, so just need the sensor of greater number, consider that each sensor needs a series of cable such as power supply, detection signal, whole wiring will be very complicated.(3) enforcement and maintenance cost are high.Design, construction, debugging, the cost of safeguarding, due to the problem of the quantity of a large amount of sensors, just become very difficult, and cost can roll up.Therefore the process of whole project also can be delayed for a long time.Meanwhile, the damage of sensor (Natural Damage and the accidental damage of being clashed into by steel pipe) makes spare part and the personnel attrition of maintenance all very large.(4) Software for Design difficulty is high.The processing of a large amount of input and output points, the processing of redundancy can be that the difficulty of Software for Design increases greatly.(5) be unfavorable for system modular.Because all signaling points of sensor detecting system are all closely related with control system, the software and hardware of whole system can finally merge, and is difficult to carry out modularization.
Summary of the invention:
The object of the present invention is to provide a kind of video steel pipe tracker, described this video steel pipe tracker will solve the technical matters that in prior art, in pipe production line, steel pipe detection is inaccurate, monitoring circuit is complicated and maintenance cost is high.
This video steel pipe tracker of the present invention, comprise light source, video camera and computing machine, wherein, utilize described light source to send strip light, utilize described strip light to irradiate the steel pipe in production line, utilize described camera acquisition to drop on the inflection curves of the strip light on steel pipe, picture signal is sent to described computing machine by video camera, utilize computing machine to change to judge that according to catoptrical curvature steel pipe exists, judge the direction of steel pipe motion according to the sequential of former and later two reflected light grids, judge the quantity of steel pipe according to the quantity of the crest forming after strip light reflection, the position that position according to the crest forming after strip light reflection in visual field and duration are followed the tracks of steel pipe.
Further, described light source is near-infrared light source.
Further, described video camera is near infrared camera.
Further, described computing machine is integrated in described video camera.
Further, described computing machine is connected in Ethernet or wireless network.
Further, described light source and video camera are staggered installation of.
Further, described light source and video camera are arranged in a field layer, described computing machine adopts image processing workstation and is arranged in a key-course, the data line of video camera is connected with described image processing workstation, in described key-course, be provided with a plurality of Programmable Logic Controllers, image processing workstation is connected with described Programmable Logic Controller by network, key-course is connected with a manufacturing execution system by network, described manufacturing execution system comprises operation workstation, engineering work station and manufacturing execution system server, described operation workstation, engineering work station is connected with a switch respectively with manufacturing execution system server, network in key-course is also connected with described switch.
Further, be provided with sensor in field layer, described sensor setting is at steel pipe travelling belt place.
Principle of work of the present invention is: the method that the present invention adopts structured light to detect, structured light refers to by strip light visible or that invisible light source sends.In the time that structured light is irradiated to body surface, the structural relation between grating is by the concavo-convex modulation of body surface.Be embodied in the time that body surface is smooth relationship consistency between the grid of the light that luminophor and video camera obtain or have projective transformation; In the time of body surface out-of-flatness, the difference of object height changes the direct distance of grid and the shape of light, changes the 3D information that can obtain body surface by video camera analysis image.Adopt near-infrared light source can reduce the impact of environment.In the time having steel pipe, structured light is modulated by the height of steel pipe, occurs deformation.The task of image processing workstation detects this inflection curves exactly, thereby the existence of perception steel pipe whether.In the time that camera and light source are fixing, by judging that catoptrical curvature changes, can judge whether that steel pipe exists, can judge the direction of steel pipe motion by checking the sequential of grid, in addition, by judging the quantity of the crest forming after structured light reflection and the quantity of the position judgment steel pipe in visual field the position of following the tracks of steel pipe at regular intervals.
The present invention and prior art are compared, and its effect is actively with obvious.The present invention adopts structured light detection method that steel pipe is flowed to and monitored in video steel pipe tracker, improve reliability, distant due to what detect, therefore be subject to the impact of steel pipe itself less, not fragile, owing to having adopted near-infrared light source, the illumination variation of production scene also can not impact system simultaneously; And simple in structure, installation wiring is convenient, number of devices is few, a set of camera and light-source system can cover large stretch of region, replace the large quantity sensor of original system, can process the data of multiple cameras simultaneously for the treatment of the computing machine (image processing workstation) of image information simultaneously.Video recognition system independence itself and original control system, can independently split, simultaneously also can be completely independent according to region corresponding to regional, just there is better adaptability for different clients' demand like this.
Accompanying drawing explanation:
Fig. 1 is the detection schematic diagram (when steel pipe does not exist) of video steel pipe tracker of the present invention.
Fig. 2 is the detection schematic diagram (when steel pipe exists) of video steel pipe tracker of the present invention.
Fig. 3 is the schematic diagram of an embodiment of video steel pipe tracker of the present invention.
Embodiment:
Embodiment 1:
As depicted in figs. 1 and 2, video steel pipe tracker of the present invention, comprise light source (not shown), video camera 8 and computing machine, wherein, utilize described light source to send strip light, utilize described strip light to irradiate the steel pipe 10 in production line, utilize described video camera 8 to gather the inflection curves that drops on the strip light on steel pipe 10, picture signal is sent to described computing machine by video camera 8, utilize computing machine to change to judge that according to catoptrical curvature steel pipe 10 exists, judge according to the sequential of former and later two reflected light grids the direction that steel pipe 10 moves, judge the quantity of steel pipe 10 according to the quantity of the crest forming after strip light reflection, the position that position according to the crest forming after strip light reflection in visual field and duration are followed the tracks of steel pipe 10.
Concrete, while there is steel pipe 10 in the visual field of video camera 8, the structured light at A, B two places is modulated by the height of steel pipe, occurs deformation.This inflection curves of COMPUTER DETECTION, thus the existence of perception steel pipe 10 is whether.In the time that video camera 8 and light source are fixing, by judging that catoptrical curvature changes, judge whether steel pipe 10 exists, by checking that the sequential of A place grid and B place grid can judge the direction that steel pipe moves.
Further, described light source is near-infrared light source.
Further, described video camera 8 is near infrared cameras.
Further, described computing machine is integrated in described video camera 8.
Further, described computing machine is connected in Ethernet or wireless network.
Further, described light source and video camera 8 are staggered installation of.
As shown in Figure 3, in one embodiment of the invention, described light source and video camera 8 are arranged in a field layer, described computing machine adopts image processing workstation 6 and is arranged in a key-course, the data line of video camera 8 is connected with described image processing workstation 6, in described key-course, be provided with a plurality of Programmable Logic Controllers 5, image processing workstation 6 is connected with described Programmable Logic Controller 5 by network, key-course is connected with a manufacturing execution system by network, described manufacturing execution system comprises operation workstation 1, engineering work station 2 and manufacturing execution system server 3, described operation workstation 1, engineering work station 2 is connected with a switch 4 respectively with manufacturing execution system server 3, network in key-course is also connected with described switch 4.
Further, be provided with sensor 9 in field layer, described sensor 9 is arranged on steel pipe travelling belt place.
Further, Programmable Logic Controller 5 is connected with contact panel 7.
Claims (7)
1. a video steel pipe tracker, comprise light source, video camera and computing machine, it is characterized in that: utilize described light source to send strip light, utilize described strip light to irradiate the steel pipe in production line, utilize described camera acquisition to drop on the inflection curves of the strip light on steel pipe, picture signal is sent to described computing machine by video camera, utilize computing machine to change to judge that according to catoptrical curvature steel pipe exists, judge the direction of steel pipe motion according to the sequential of former and later two reflected light grids, judge the quantity of steel pipe according to the quantity of the crest forming after strip light reflection, the position that position according to the crest forming after strip light reflection in visual field and duration are followed the tracks of steel pipe.
2. video steel pipe tracker as claimed in claim 1, is characterized in that: described light source is near-infrared light source.
3. video steel pipe tracker as claimed in claim 2, is characterized in that: described video camera is near infrared camera.
4. video steel pipe tracker as claimed in claim 1, is characterized in that: described computing machine is integrated in described video camera.
5. video steel pipe tracker as claimed in claim 1, is characterized in that: described computing machine is connected in Ethernet or wireless network.
6. video steel pipe tracker as claimed in claim 1, it is characterized in that: described light source and video camera are arranged in a field layer, described computing machine adopts image processing workstation and is arranged in a key-course, the data line of video camera is connected with described image processing workstation, in described key-course, be provided with a plurality of Programmable Logic Controllers, image processing workstation is connected with described Programmable Logic Controller by network, key-course is connected with a manufacturing execution system by network, described manufacturing execution system comprises operation workstation, engineering work station and manufacturing execution system server, described operation workstation, engineering work station is connected with a switch respectively with manufacturing execution system server, network in key-course is also connected with described switch.
7. video steel pipe tracker as claimed in claim 6, is characterized in that: in field layer, be provided with sensor, described sensor setting is at steel pipe travelling belt place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110030102.4A CN102620650B (en) | 2011-01-26 | 2011-01-26 | Video steel pipe tracking system |
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| CN201110030102.4A CN102620650B (en) | 2011-01-26 | 2011-01-26 | Video steel pipe tracking system |
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| CN102620650B true CN102620650B (en) | 2014-07-09 |
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| CN106441127B (en) * | 2016-08-31 | 2019-02-26 | 洞头默克蒂森工业自动化有限公司 | A kind of pipe diameter and concave-convex surface detector |
| CN107562011A (en) * | 2017-10-18 | 2018-01-09 | 芜湖新兴铸管有限责任公司 | A kind of cast tube production line security protection control system and its control method |
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| CN101118155A (en) * | 2006-08-01 | 2008-02-06 | 三菱电机株式会社 | Method and system for sensing the surface shape of a reflective object |
| CN101281024A (en) * | 2008-05-27 | 2008-10-08 | 北京中星微电子有限公司 | Structure light coding, decoding method as well as coding and decoding device |
| JP2010104514A (en) * | 2008-10-29 | 2010-05-13 | Konica Minolta Opto Inc | Optical tomographic image measuring apparatus |
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Address after: 335 3rd floor, Guangshun Road, Changning District, Shanghai Patentee after: Shanghai ruibode intelligent system Limited by Share Ltd Address before: 335 3rd floor, Guangshun Road, Changning District, Shanghai Patentee before: Shanghai Ruibode Intelligent System Sci. & Tech. Co., Ltd. |
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Address after: 200335, Shanghai, Changning District, No. 3, No. 8 Canton Road Patentee after: SHANGHAI CHINESE CAR RIBERD INTELLIGENT SYSTEM Co.,Ltd. Address before: 200335, Shanghai, Changning District, No. 3, No. 8 Canton Road Patentee before: SHANGHAI RUIBODE INTELLIGENT SYSTEMS Co.,Ltd. |