JPH06102284B2 - Steel plate shearing equipment - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to a shearing device for steel plates, and more particularly to a shearing device for shearing steel plates based on the result of automatic recognition of the contour shape of the steel plate.

[Background of the Invention]

In a thick plate finishing line, it is necessary to recognize the shape and dimensions of the steel plate in order to obtain the width and length of the steel plate. In the past, this shape recognition was done by the operator.

The procedure was to visually recognize (measure) the shape of the steel sheet flowing through the line, then specify the shearing length and width with a shearing machine, and issue a shearing command. This procedure was mostly left to the operator.

On the other hand, the demand for product size tends to be complicated for one steel plate, and it is necessary to extract a wide variety of product sizes from one steel plate in order to obtain continuous shape dimensions in the longitudinal and width directions of the steel plate. Must be taken into consideration when making decisions. Therefore, accurate and economical shearing was difficult.

In addition, in the method of detecting the shape of the steel sheet, the displacement of the steel sheet is detected,
There is a method for detecting the shape from the relationship between the displacement and the tension (Japanese Patent Publication No. 53-17071). This method is effective for automatic recognition of shapes, but has a problem that the target is control of the rolling mill and the processing apparatus becomes large-scale. Shape recognition as a pre-treatment of shears requires simpler and more economical shape detection.

[Object of the Invention]

An object of the present invention is to provide a shearing device which performs shape recognition, marking and shearing as pretreatment using a TV camera.

[Outline of Invention]

The present invention recognizes the ends (tip and tail end) of a steel plate with a TV camera, and recognizes both side surfaces of the steel plate with a TV camera.
The size to be sheared is automatically determined from these two recognition results, and after this determination, marking is made at the position to be sheared, and at the shearing part, this marking is recognized by the TV camera,
A shearing command is generated and shearing is performed.

Example of Invention

FIG. 1 is an explanatory diagram of shape recognition according to the present invention. steel sheet
10 has a width of 1.5 m to 5 m and a length of 3 m to 50 m. Measurement accuracy is important for image processing of the steel plate dimensions.

In the case of thick plates, the product dimensions after shearing are in millimeters, so image recognition requires an accuracy of 1 mm or less. Therefore, to measure a width of 5 m, use a TV camera to measure the entire width at one time, and the number of pixels that can be recognized on one screen will be a maximum of 1024 x 1024 (length x width) due to the use of a line sensor. ), The resolution of one pixel = 4.8 mm (500 mm / 1024), and 1 mm
The following accuracy cannot be obtained.

For shearing, it is not necessary to know all the shapes of the steel sheet. It is only necessary to be able to recognize only the shape of the end face of the steel sheet, that is, the contour. The end face includes a tip end portion and a tail end portion of the steel plate, and both end portions. The accuracy mentioned above is at these end faces.

In order to improve the accuracy on the end face, the TV camera is moved along the end face to capture an image for each part of the end face, and a plurality of captured images are combined to obtain the entire end face image. The partial image pickup of the end face has an accuracy of 1 mm per pixel.

FIG. 1 is a diagram showing the steel plate 10 and the scanning direction of the TV camera on the end surface thereof. With respect to the steel plate 10, the TV camera moves in the width direction at the tip portion and also moves in the longitudinal direction at the side surface portion. #
1 to # 5 indicate image numbers obtained by scanning at the tip.
In the figure, one screen is 1 m x 1 m. # 6 to # 10, # 11
The symbols # 15 to # 15 indicate image numbers on the side surface. As described above, when the end of the steel plate is uneven at each position, the unevenness can be obtained as an image by capturing an image with the TV camera along the end face direction. Moreover, the accuracy of the image at that time can be set to the unit of 1 mm.

It should be noted that there may be two TV cameras for capturing the end face shape. This is because the upper and lower longitudinal directions can be photographed at the same time. The shooting of # 1 to # 5 on the tip end face can be realized by moving one or both of them.

Next, in order to obtain the required size of the product at the optimum position based on the shape dimensions of the steel plates synthesized in 1 mm units in the longitudinal and width directions of one steel plate, the maximum length of multiple product widths and the image If there is a relationship between the minimum recognition width and the maximum length of multiple product widths ≤ minimum image recognition width (1), all products can be sampled for the width.

In addition, regarding the length, if there is a relationship between the total length of all products and the effective length of image recognition ≤ the total length of all products ≤ effective length of image recognition. Can be adopted.

Therefore, if the formulas (1) and (2) are satisfied at the same time, all the most efficient products can be collected from one steel plate without waste.

On the other hand, there are cases where only one of the conditions (1) and (2) is satisfied, and cases where both of the conditions are not satisfied at the same time.

Such determination of the sampling condition is performed after synthesizing a plurality of images obtained on the end face.

Position determination for product shearing of a steel sheet will be described with reference to FIG. A reference line for determining the shear position is set in advance. The T side reference line, the S side reference line, the B side reference line, and the N side reference line are the respective reference lines. The T-side reference side is the reference line at the tip of the steel sheet, the B-side reference line is the reference line at the tail end of the steel sheet, and the N-side reference line and the S-side reference line are the reference lines at the side surfaces of the steel sheet. Show. The four reference lines B, T, N, S are reference lines when the steel plate 10 has a normal shape.

The positions of the four scenes of the steel plate 10 with respect to these four reference lines B, T, S, N are determined from the obtained images. This position detection is performed by the image processing device that has captured the image data obtained from the TV camera. In FIG. 2, this scene position is the shape position shown by the solid line.

Next, from such a shape, among the shapes existing inside the reference line, at each of the four end surfaces of the tip, the tail end, and both side surfaces,
The position farthest from the reference line is detected. This maximum distance position is earned one for each side. In Figure 2, position T
1, N1, B1, S1 are the positions farthest from the reference line on each side.

Next, the minimum effective width W and the minimum effective length L of the steel plate 10 are obtained from the respective reference lines T, N, B, S and the respective recess positions T1, N1, B1, S1. The standard effective width W _r and the standard effective length L _r are set in advance, and W _r <W,
If both L _r <L are satisfied, the size of the reference steel plate is satisfied, and it is understood that the maximum number of products can be collected. If only one of them is satisfied, the product is sampled within that range, and if neither is satisfied, the product is sampled within that range.

In addition, when collecting products of various different sizes instead of collecting products of uniform size, it is necessary to collect according to the shape.

Further, even if the size of the reference size is satisfied, the structure of the reference size can be applied to a set of non-uniform sizes instead of a set of uniform sizes. This example is shown in FIG. The figure shows a case where products M1, M2, and M3 having different shapes are collected. If the product that can be collected from a single steel plate is estimated in advance, the reference size can be obtained in advance.

After the shape thus recognized and the size that can be collected are determined, automatic marking processing is performed. In this marking process, first, the positions where the products M1, M2, M3 should be sampled are determined. In the figure, A, B, C and D indicate the sampling positions. This sampling position can be automatically determined according to the size of the steel plate and the size and number of products to be sampled. Next, marking is performed so as to be sheared according to the automatically determined position. This marking is performed by coloring (spraying) some or all of the sheared positions. This marking is the shearing position during shearing.

FIG. 3 shows an embodiment of a shape automatic detection / marking device. The two TV cameras 2 and 3 are attached to the TV drive system 5. The TV cameras 2 and 3 can move in the arrow direction. Steel plate 10 moves along the line in the direction of the arrow, and at the front end surface of steel plate 10, TV cameras 2 and 3 move along the front end surface to obtain a plurality of images. Furthermore, for both sides,
The TV cameras 2 and 3 are held at the positions on both sides, and the steel plate 10 moving in the imaging visual field is imaged at the positions.

The sensor 4 is used to detect the entry of the steel plate 10 into the visual fields of the TV cameras 2 and 3. Due to this entry, the carrying in of the steel plate is stopped, and after that, the TV cameras 2 and 3 are moved in the end face direction to perform shooting. You can shoot without stopping the steel plate.

The image processing device 7 takes in the screens captured by the TV cameras 2 and 3 one after another, synthesizes them, and obtains the peripheral shape of the steel plate 10. At the time of this image composition, the TV camera position signal on the TV drive shaft 5 is captured and used as the screen identification number.

The memory 8 stores the processing result. The arithmetic unit 9 takes in an image showing the peripheral shape stored in the memory 8, and calculates each reference line.
The deviation of the shape with respect to T, N, B, S is obtained, and then the minimum concave portion positions T1, N1, B1, S1 therein are obtained. This position T1, N1, B
The optimum position for shearing is determined based on 1, S1. This optimum position is the position where the maximum product can be sampled under the condition that satisfies the expressions (1) and (2), and otherwise the optimum shear position is within the range of the condition.

The marker control circuit 11 controls the marking device 6 to perform marking in the width direction and the longitudinal direction at the same time so as to mark at the determined position, and applies a "marker".

FIG. 4 shows an embodiment of a shearing device for shearing the marked steel plate. The line subjected to shape detection / marking and the line to be sheared form a series of lines. 18
Is a crop shear and 19 is a side shear. The steel plate 10 is stopped by the steel plate detection sensor 27 arranged on the front surface of the clipper. TV camera 30 co-located with sensor
Is moved in the direction opposite to the traveling direction, and image information is input to the image processing device 21. The image determination layer 22 sequentially determines a pattern that coincides with the “mark 13 marked on the steel plate surface, and determines the distance L _A from the center of the crop shear to the television camera at the time of coincidence. Roller table controller 29
Set a distance of L _A with respect to and move the shearing position of the tip to below the crop shear blade. When the movement is completed, the shear shear command device 23 outputs a shear command to the crop shear control device 25. Thereafter, the shear control of 14, 15 and 16 is performed by the roller table control device 29 by the distance determined by the product dimension length.
It can be sheared by setting to. At this time, the TV camera 30 reads the "marker" and plays a role of monitoring whether or not the transport APC under the crop blade is accurately controlled.

In the crop shear, one mark portion of the "marker" is sheared and a part is left to flow to the side shear shearing machine in the next step.

The side shear shearing machines 19 and 20 are designed to shear the side surface of the steel sheet according to the product width of the steel sheet, but the steel sheet whose tip end is sheared by the crop shear is stopped by the detection of the steel sheet detection sensor 28. The minus mark, which is marked on the steel plate from the cutting edge of the S-side side shear by the television camera 12 arranged at the same position as the sensor, is input to the image processing device 21 as image information. The image determination apparatus 22 - a pattern matching the indicia determined from under Saidoshiya S side blade - calculating determining the distance W _A to mark marked. From the determined W _A and product size W _P , the side shear S and N side movement distances are indicated by the side shear shear command device.
Calculate at 24.

S-side moving distance = W _A N-side moving distance = W _N -W _P + α W _P : Width of product dimension W _N : Center distance of TV camera from N side blade bottom α: Deviation from center of TV camera to − mark It is determined. The determined value is set in the side shear control device 26, and both sides of the steel plate are sheared.

〔The invention's effect〕

According to the present invention, since the shape and dimension can be automatically detected accurately without the need for human visual inspection, there is an effect of completely automating the measuring process in the shear line and saving labor. Further, since the TV camera is moved along the end surface of the steel plate to capture the contour shape of the steel plate, the accuracy of the contour shape can be improved, and the minimum effective shape can be obtained based on the detected contour shape. Obtain the width W and the minimum effective length L, compare them with the preset standard effective width W _r and standard effective length L _r, and collect as a product within the minimum effective width W and the minimum effective length L from the comparison result. Since the position to be specified is specified and the marking is performed, it is possible to determine the optimum position for product sampling, which is very effective in improving the yield. In addition, since the marking at the determined position is performed in the width direction and the longitudinal direction at the same time, it is easy to detect the marking position, and even if the automatic judgment is not possible, it can be accurately performed by other manual operation. Since shearing is possible, the overall reliability is improved.

In addition, the shearing machine control enables accurate movement of the crop shear and side shear to the marker position. In particular, by considering the distance (deviation) α from the marker to the center of the TV camera, the steel plate Since shearing can be performed and the shearing position can be accurately grasped by image recognition according to the present invention as an operating method, there are effects of complete automation and labor saving.

[Brief description of drawings]

FIG. 1 is an explanatory view of a shape detection example of the present invention, FIG. 2 is an explanatory view of product sampling and marking, FIG. 3 is an embodiment view of a shape detection / marking device, and FIG. 4 is an embodiment view of a shearing device. Is. 2,3,30,12 TV camera, 10 steel plate, 7 image processing device, 6 marking device, 18 clipper,
19 …… Side shear, 25,26 …… Shear control device, 21…
... Image processing device.

Claims (1)

[Claims] 1. A TV camera for imaging the contour shape of a steel plate,
The minimum effective width W and the minimum effective length L are obtained based on the contour shape imaged by the TV camera, and the minimum effective width W and the minimum effective length L are compared with the preset standard effective width Wr and the standard effective length Lr. Marking means for automatically marking the steel sheet in the width direction and the longitudinal direction simultaneously by specifying the position to be sampled as a product within the minimum effective width W and the minimum effective length L from the comparison result, and the marking means. It comprises a shearing means for detecting the marker and shearing the steel sheet, and the shearing means comprises a TV camera for detecting the marker of the steel sheet, a crop shear shearing machine at the front end of the steel sheet in the longitudinal direction, and a side shear on the S side side shear end of the steel sheet. The moving distance between the crop shear and the steel plate is detected by the shearing machine and the side shear shearing machine on the other end N side of the steel plate in the width direction and the marker detection TV camera from the bottom of the crop shear to the marker. Defined by the distance L _A, and the moving distance of the S-side side shear with determining the distance W _A from the lower S-side side shear blade to the marker, the N-side side moving distance N side side shear blades of a shear From the above to the center of the marker detection TV camera W _N , product width
W _P , the crop shear and side shear shear command device determined by the deviation α from the marker to the marker detection TV camera center, and the movement distance between the crop shear and the steel plate by the command signal of the crop shear and side shear shear command device. A roller table control device for controlling, a crop shear control device for controlling shear, and a side shear control device for controlling the moving distance and shear of each of the S-side and N-side side shears. Shearing device.