Title:
METHOD AND APPARATUS FOR OPTIMAL SHEARING CONTROL OF STEEL BILLET BASED ON DEPTH VISION
Document Type and Number:
WIPO Patent Application WO/2022/233096
Kind Code:
A1
Abstract:
A method for optimal shearing control of a steel billet based on depth vision comprises: setting up a depth camera and setting a world coordinate system; calibrating the parameters of the depth camera; acquiring RGB and depth views of a steel billet; by means of a pinhole camera model, obtaining three-dimensional coordinates of each pixel point, and then performing pre-processing by means of pass-through filtering and outlier removal; using a random sampling consistency algorithm to fit the plane of the upper surface of the steel billet, then projecting the plane to a 2D plane, and using a centre extension method to calculate an optimal shearing line; on the basis of the moving speed of the steel billet and the coordinates of the head of the position to be sheared, acquiring the distance between the head and the shearing edge, and calculating the moment to control the shearing of the shearing head. The system comprises a depth camera, a data preprocessing module, a detection module, and a visual servo module; the depth camera is mounted at the front end of the shearing opening and is connected to the data preprocessing module, and is used for collecting and transmitting an original RGB image and depth image; the data preprocessing module is used for transmitting processed three-dimensional data or two-dimensional images to the detection module after performing certain processing on the original two-dimensional images; the detection module is connected to the visual servo module, and is used for obtaining a result of the detection of the optimal shearing line; and the visual servo module is used for converting the result into a control signal. Image information is used for solving the problem of shearing line detection at the head and tail of a steel billet to achieve the objective of saving energy and materials; the world coordinate precision obtained by the depth camera is high, saving a complex calibration process, and the arrangement is simple.
Inventors:
LI XU (CN)
LUAN FENG (CN)
LUO XIAOBO (CN)
DONG ZISHUO (CN)
WU YAN (CN)
HAN YUEJIAO (CN)
ZHANG DIANHUA (CN)
LUAN FENG (CN)
LUO XIAOBO (CN)
DONG ZISHUO (CN)
WU YAN (CN)
HAN YUEJIAO (CN)
ZHANG DIANHUA (CN)
Application Number:
PCT/CN2021/109202
Publication Date:
November 10, 2022
Filing Date:
July 29, 2021
Export Citation:
Assignee:
UNIV NORTHEASTERN (CN)
International Classes:
B23D31/00; G05B19/408; G06T3/00; G06T5/00
Foreign References:
| CN113219903A | 2021-08-06 | |||
| CN101658954A | 2010-03-03 | |||
| CN112224590A | 2021-01-15 | |||
| US20170308736A1 | 2017-10-26 | |||
| JP2015061020A | 2015-03-30 | |||
| CN111035115A | 2020-04-21 | |||
| US20070025612A1 | 2007-02-01 | |||
| US10745839B1 | 2020-08-18 |
Other References:
ZOU FENGXIN, GAO ZENGXUE, YU LI, YANGXI FOREST : "Application of Optimized Shearing System in 1450mm Hot Rolling Plant of Jigang", INDUSTRIAL MEASUREMENT, vol. 21, no. 6, 26 November 2011 (2011-11-26), pages 25 - 28, XP093001182, ISSN: 1002-1183
Attorney, Agent or Firm:
SHENYANG DONGDA INTELLECTUAL PROPERTY AGENCY CO., LTD (CN)
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