Patent Application
20240091835
This disclosure relates to a steel-sheet meandering amount measurement device measuring the meandering amount of a steel sheet during rolling by a rolling mill having a plurality of rolling stands, a steel-sheet meandering amount measurement method, hot-rolling equipment for hot-rolled steel strip, and a hot-rolling method of hot-rolled steel strip.
In general, during rolling of a steel sheet by a hot finish rolling mill having a plurality of rolling stands, a phenomenon referred to as meandering sometimes occurs in which the steel sheet is rolled in a state where a center part of the width of the steel sheet is displaced with respect to a center part of work rolls of the rolling stands. When the meandering amount of the steel sheet increases, the steel sheet sometimes comes into contact with a side guide installed on the entry side of the rolling mill and is buckled. When the steel sheet is rolled in this state, a roll breakage trouble referred to as squeezing occurs. Therefore, it is required in a rolling operation of the steel sheet to appropriately set rolling conditions and control the meandering amount of the steel sheet to be as small as possible.
In controlling the meandering amount of the steel sheet, “Differential load type meandering control” and “Sensor type meandering control” are conventionally known.
The “Differential load type meandering control” changes the leveling amount of a rolling stand to be controlled (roll opening difference, which is a roll gap opening difference, between the operation side and the drive side in the rolling stand to be controlled) to be proportional to a differential load between the operation side and the drive side detected from a load detector provided in the rolling stand.
The “Sensor type meandering control” changes the leveling amount of a rolling mill stand to be controlled to be proportional to the meandering amount measured by a meandering amount measurement device installed between a rolling stand one before the rolling stand to be controlled and the rolling stand to be controlled.
Conventionally, “Development of Walking Control Technology in Hot Strip Rolling,” Iron and Steel, Vol. 95 (2009), No. 1, pp 43-50 points out that that the “Differential load type meandering control” is not an effective control measure because, when the sheet width is larger, the meandering suppression effect becomes smaller in the practical control gain setting range in the “Differential load type meandering control.” To solve this, a control system has been proposed in which a “Meandering meter type meandering control” is adopted and the meandering amount between a rolling stand one before a rolling stand to be controlled and the rolling stand to be controlled is periodically measured by the meandering amount measurement device, and the leveling amount of the rolling mill stand to be controlled is adjusted.
Between the rolling stands in the hot finish rolling mill, a large amount of vapor or fumes are generated, and therefore these vapor or fumes block the measurement field of view of a camera in the meandering amount measurement device, which poses a problem that the meandering amount of the steel sheet cannot be measured with high accuracy.
To solve this problem, “Development of Walking Control Technology in Hot Strip Rolling” proposed a method of calculating a point where the differential intensity is maximum (corresponding to the edge of the steel sheet) for each scanning line of the camera, and then estimating the edge line by the weighted least-squares method using the differential intensity as the weight.
Further, to solve the above-described problem, conventionally, a sheet material meandering measurement method described in JP 2004-141956 A has been proposed.
The sheet material meandering measurement method described in JP '956 includes: a step of imaging the surface of the sheet material with a two-dimensional imaging device from a direction inclined in the rolling direction with respect to the perpendicular line of a pass line; a step of detecting the edge position of the sheet material for each scanning line by detecting a change in a density value for each scanning line in the sheet width direction for a captured image; a step of calculating an approximate straight line by applying the least-squares method to each edge position detected for each scanning line; a step of calculating the position of the intersection of the approximate straight line and the predetermined scanning line; and a step of calculating the meandering amount based on the position of the intersection.
Further, to solve the above-described problem, conventionally, an edge detection method described in JP 5454404 B has also been proposed.
The edge detection method described in JP '404 includes: an imaging step of capturing a plurality of images of a region including an edge line of a traveling member with an imaging means, a differential image generation step of generating a differential image by determining the differential intensity of pixels in the image for each of a plurality of temporally continuous images obtained by the imaging step; and a synthesized differential image generation step of synthesizing the plurality of temporally continuous differential images obtained by the differential image generation step and generating a synthesized partial image. Further, the edge detection method includes: a straight line specifying step of specifying a straight line where the differential intensity sum of pixels present on the straight line is maximum in the synthesized differential image obtained by the synthesized differential image generation step; and a determination step of determining whether the differential intensity of the pixels is larger than a threshold.
Between the rolling stands in the hot finish rolling mill, a large amount of vapor or fumes are generated. Only one edge of the steel sheet cannot be detected because the edge is covered with the vapor or the fumes while the other edge of the steel sheet can be detected because the edge is not covered with the vapor or the fumes in some instances.
Both the conventional sheet material meandering measurement methods described in “Development of Walking Control Technology in Hot Strip Rolling” and JP '956 and the conventional edge detection method described in JP '404 are calculation methods in which the meandering amount is calculated only when the edges on both sides of the steel sheet can be detected. This has posed a problem that, when one edge cannot be detected while the other edge of the steel sheet can be detected, the meandering amount of the steel sheet cannot be detected.
It could therefore be helpful to provide a steel-sheet meandering amount measurement device capable of exactly measuring the meandering amount of the steel sheet in measuring the meandering amount of the steel sheet during rolling, not only when both the edges of the steel sheet can be detected but even when one edge of the steel sheet cannot be detected because the edge is covered with vapor or the like while the other edge of the steel sheet can be detected because the edge is not covered with vapor or the like, a steel-sheet meandering amount measurement method, a hot-rolling equipment for hot-rolled steel strip, and a hot-rolling method of hot-rolled steel strip.
We thus provide:
A steel-sheet meandering amount measurement device measures the meandering amount of a steel sheet during rolling by a rolling mill having a plurality of rolling stands, and includes: an imaging device installed between the rolling stands adjacent to each other and configured to periodically image the surface of the steel sheet traveling during rolling; and a meandering amount arithmetically operating device configured to calculate the meandering amount of the steel sheet based on a plurality of captured images captured by the imaging device; in which the meandering amount arithmetically operating device includes: an uncorrected edge detection unit configured to calculate a luminance difference between pixels adjacent to each other in the width direction of each of the plurality of captured images periodically captured by the imaging device, detect a plurality of sites where the absolute value of the luminance difference is maximum on a drive side in the width direction of the steel sheet as a drive side edge site zds of the steel sheet, and detect a plurality of sites where the absolute value of the luminance difference is maximum on a work side in the width direction of the steel sheet as a work side edge site zws of the steel sheet; a measurement reliability determination unit configured to determine that the drive side edge site zds(N) and the work side edge site zws(N) at a current time have low reliability when each of the sums αds, αws of change amount absolute values is equal to or larger than a predetermined threshold, and determine that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability when each of the sums αds, αws is less than the predetermined threshold, the sums αds, αws being represented by Equations (1), (2) of the drive side edge sites (zds(i), i=1, 2, . . . , N) and the work side edge sites (zws(i), i=1, 2, . . . , N), detected by N times in the past including the current time extracted from the plurality of drive side edge sites zds and work side edge sites zws, respectively, detected by the uncorrected edge detection unit; a sheet width updating unit configured to calculate the number of pixels W′ corresponding to the sheet width calculated from both the drive side edge site zds(N) and the work side edge site zws(N) at the current time and update the number of pixels W corresponding to the sheet width to the calculated W′ when the measurement reliability determination unit determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability, and leave the number of pixels W corresponding to the sheet width as the number of pixels W when the measurement reliability determination unit determines that at least one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has low reliability; and a meandering amount calculation unit configured to calculate the meandering amount of the steel sheet using the drive side edge site zds(N) and the work side edge site zws(N) at the current time when the measurement reliability determination unit determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability, calculate by interpolation the other side edge site using the number of pixels W from the sheet width updating unit with the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability as a reference and calculate the meandering amount of the steel sheet using the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation when the measurement reliability determination unit determines that only one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has high reliability, and not calculate the meandering amount of the steel sheet when the measurement reliability determination unit determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability:
αds=Σi=2N|zdsi−zdsi−1| (1)
αws=Σi=2N|zwsi−zdwsi−1| (2)
Hot-rolling equipment for hot-rolled steel strip includes the steel-sheet meandering amount measurement device described above.
A steel-sheet meandering amount measurement method measures the meandering amount of a steel sheet during rolling by a rolling mill having a plurality of rolling stands, and includes: an imaging step of periodically imaging the surface of the steel sheet traveling during rolling by an imaging device installed between the rolling stands adjacent to each other; an uncorrected edge detection step of calculating a luminance difference between pixels adjacent to each other in the width direction of each of the plurality of captured images periodically captured in the imaging step, detecting a plurality of sites where the absolute value of the luminance difference is maximum on a drive side in the width direction of the steel sheet as a drive side edge site zds of the steel sheet, and detecting a plurality of sites where the absolute value of the luminance difference is maximum on a work side in the width direction of the steel sheet as a work side edge site zws of the steel sheet; a measurement reliability determination step of determining that the drive side edge site zds(N) and the work side edge site zws(N) at a current time have low reliability when each of the sums αds, αws of change amount absolute values is equal to or larger than a predetermined threshold, and determining that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability when each of the sums αds, αws is less than the predetermined threshold, the sums αds, αws being represented by Equations (1), (2) of the drive side edge sites (zds(i), i=1, 2, . . . , N) and the work side edge sites (zws(i), i=1, 2, . . . , N), detected by N times in the past including the current time extracted from the plurality of drive side edge sites zds and work side edge sites zws, respectively, detected in the uncorrected edge detection step; a sheet width updating step of calculating the number of pixels W′ corresponding to the sheet width calculated from both the drive side edge site zds(N) and the work side edge site zws(N) at the current time and updating the number of pixels W corresponding to the sheet width to the calculated W′ when the measurement reliability determination step determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability, and leaving the number of pixels W corresponding to the sheet width as the number of pixels W when the measurement reliability determination step determines that at least one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has low reliability; and a meandering amount calculation step of calculating the meandering amount of the steel sheet using the drive side edge site zds(N) and the work side edge site zws(N) at the current time when the measurement reliability determination step determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability, calculating by interpolation the other side edge site using the number of pixels W from the sheet width updating step with the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability as a reference and calculating the meandering amount of the steel sheet using the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation when the measurement reliability determination step determines that only one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has high reliability, and not calculating the meandering amount of the steel sheet when the measurement reliability determination step determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability.
A hot-rolling method of hot-rolled steel strip includes a step of measuring the meandering amount of a steel sheet during rolling by a rolling mill having a plurality of rolling stands by the steel-sheet meandering amount measurement method described above.
Our steel-sheet meandering amount measurement device, the steel-sheet meandering amount measurement method, the hot-rolling equipment for hot-rolled steel strip, and the hot-rolling method of hot-rolled steel strip can provide a steel-sheet meandering amount measurement device capable of exactly measuring the meandering amount of the steel sheet in measuring the meandering amount of the steel sheet during rolling, not only when both the edges of the steel sheet can be detected but even when one edge of the steel sheet cannot be detected because the edge is covered with vapor or the like while the other edge of the steel sheet can be detected because the edge is not covered with vapor or the like, a steel-sheet meandering amount measurement method, a hot-rolling equipment for hot-rolled steel strip, and a hot-rolling method of hot-rolled steel strip.
An example of our devices, steel strips and methods are described with reference to the drawings. The example described below exemplifies devices or methods embodying our technical concepts, and our technical ideas do not specify the materials, shapes, structures, arrangement, and the like of constituent components to the materials, shapes, structures, arrangement and the like described below. The drawings are schematic. Therefore, the relationship between the thickness and the planar dimension, ratio and the like may be different from the actual relationship, ratio and the like. The drawings include portions different in mutual dimensional relationships and ratios.
In hot-rolling equipment for hot-rolled steel strip 1, a slab heated in a heating furnace (not illustrated) undergoes a rough rolling step, a finish rolling step, and a cooling step, and a steel sheet having predetermined sheet width and sheet thickness is manufactured and wound up. More specifically, the hot-rolling equipment 1 includes the heating furnace, a rough rolling mill (not illustrated), a finish rolling mill 2 (see
In the finish rolling step, tandem rolling is performed in which a steel sheet 10 is simultaneously finish rolled in the finish rolling mill 2 illustrated in
Each of the leveling devices 3 adjusts the rolling reduction amount by a rolling reduction device (not illustrated) attached to the operation side of each of the rolling stands F1 to Fn and the rolling reduction amount by a rolling reduction device (not illustrated) attached to the drive side of each of the rolling stands F1 to Fn.
Further, the finish rolling mill 2 includes, for performing a “Sensor type meandering control,” a meandering amount measurement device 4 measuring the meandering amount of the steel sheet 10 during finish rolling by the finish rolling mill 2 and a meandering control device 7 arithmetically operating a roll opening difference, which is a roll gap opening difference, between the operation side and the drive side in the rolling stand Fn to be controlled based on the meandering amount of the steel sheet 10 calculated by the meandering amount measurement device 4, and sending the arithmetically operated roll opening difference to the leveling device 3 provided in the rolling stand Fn to be controlled.
The meandering amount measurement device 4 includes a line sensor camera 5 as an imaging device periodically imaging the surface of the steel sheet 10 during finish rolling and a meandering amount arithmetically operating device 6 calculating the meandering amount of the steel sheet 10 based on a plurality of captured images captured by the line sensor camera 5. In this configuration, the rolling stand to be controlled is the rolling stand Fn on the final stage, and the line sensor camera 5 is installed between the rolling stand Fn to be controlled and the rolling stand Fn−1 on the upstream side by one before the rolling stand Fn.
The line sensor camera 5 is a one-dimensional imaging device, contains a CCD imaging sensor element and the like, and images the surface of the steel sheet 10 traveling during rolling in a manner of crossing in the width direction of the steel sheet 10 as illustrated in
The meandering amount arithmetically operating device 6 calculates the meandering amount of the steel sheet 10 based on the plurality of captured images 20 captured by the line sensor camera 5, and includes, as illustrated in
The captured image acquisition unit 61 of the meandering amount arithmetically operating device 6 acquires the plurality of captured images 20 of the surface of the steel sheet 10 periodically captured by the line sensor camera 5.
The uncorrected edge detection unit 62 calculates a luminance difference between pixels adjacent to each other in the width direction of each of the plurality of captured images 20 acquired by the captured image acquisition unit 61, detects a plurality of sites where the luminance difference is maximum on the drive side in the width direction of the steel sheet 10 as a drive side edge site zds of the steel sheet 10, and detects a plurality of sites where the luminance difference is maximum on the work side in the width direction of the steel sheet 10 as a work side edge site zws of the steel sheet 10.
Specifically, the uncorrected edge detection unit 62 calculates the luminance difference between pixels adjacent to each other from a center part in the width direction of each of the captured images 20 (a center line CL in the width direction of the steel sheet of the captured image 20 illustrated in
In an environment without vapor or fumes between the rolling stand Fn and the rolling stand Fn−1 where the line sensor camera 5 is installed, a drive side site (drive side edge site zds) indicated by P1 where the absolute value of the luminance difference between pixels adjacent to each other in the width direction is maximum coincides with an actual drive side edge site d of the steel sheet 10 as illustrated in
On the other hand, in an environment with vapor or fumes between the rolling stand Fn and the rolling stand Fn−1 where the line sensor camera 5 is installed, the drive side site (drive side edge site zds) indicated by P1 where the absolute value of the luminance difference between pixels adjacent to each other in the width direction is maximum sometimes does not sometimes coincide with the actual drive side edge site d of the steel sheet 10 as illustrated in
The uncorrected edge holding unit 63 holds the plurality of drive side edge sites zds and work side edge sites zws of the steel sheet 10 detected by the uncorrected edge detection unit 62.
The measurement reliability determination unit 64 determines that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability when each of the sums αds, αws of change amount absolute values is equal to or larger than a predetermined threshold R, and determines that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability when each of the sums αds, αws is less than the predetermined threshold R, the sums as, αws being represented by Equations (1), (2) of the drive side edge sites (zds(i), i=1, 2, . . . , N) and the work side edge sites (zws(i), i=1, 2, . . . , N) of the steel sheet 10 detected by N times in the past including the current time extracted from the plurality of drive side edge sites zds and work side edge sites zws, respectively, of the steel sheet 10 held by the uncorrected edge holding unit 63:
αds=Σi=2N|zdsi−zdsi−1| (1)
αws=Σi=2N|zwsi−zdwsi−1| (2)
More specifically, the measurement reliability determination unit 64 acquires data of the plurality drive side edge sites zds and work side edge sites zws of the steel sheet 10 held by the uncorrected edge holding unit 63.
Then, the measurement reliability determination unit 64 extracts the drive side edge sites (zds(i), i=1, 2, . . . N) detected by N times in the past including the current time from the acquired plurality of drive side edge sites zds of the steel sheet 10 and calculates the sum αds of the change amount absolute values represented by Equation (1) of the extracted drive side edge sites (zds(i), i=1, 2, . . . N) detected by N times in the past including the current time. Similarly, the measurement reliability determination unit 64 extracts the work side edge sites (zws(i), i=1, 2, . . . N) detected by N times in the past including the current time from the acquired plurality of work side edge sites zws of the steel sheet 10 and calculates the sum αws of the change amount absolute values represented by Equation (2) of the extracted work side edge sites (zws(i), i=1, 2, . . . N) detected by N times in the past including the current time.
Then, the measurement reliability determination unit 64 determines whether each of the sum αds of the change amount absolute values of the drive side edge sites and the sum αws of the change amount absolute values of the work side edge sites is equal to or larger than a predetermined threshold J. The value of the threshold 3 is set to an empirically acceptable value when the steel sheet 10 is a common steel sheet as the change amount between one edge (drive side edge) in the width direction and the other edge (work side edge) in the width direction of the steel sheet 10.
Then, the measurement reliability determination unit 64 determines that the reliability of the drive side edge site zds(N) at the current time is low when the sum αds of the change amount absolute values of the drive side edge sites is equal to or larger than the predetermined threshold value β, and determines that the reliability of the work side edge site zws(N) at the current time is low when the sum αws of the change amount absolute values of the work side edge sites is equal to or larger than the predetermined threshold value β. The measurement reliability determination unit 64 determines that the reliability of the drive side edge site zds(N) at the current time is high when the sum αds of the change amount absolute values of the drive side edge sites is less than the predetermined threshold value J, and determines that the reliability of the work side edge site zws(N) at the current time is high when the sum αws of the change amount absolute values of the work side edge sites is less than the predetermined threshold value β.
The sheet width updating unit 65 of the meandering amount arithmetically operating device 6 calculates the number of pixels W′ corresponding to the sheet width calculated from both the drive side edge site zds(N) and the work side edge site zws(N) at the current time and updates the number of pixels W (The initial value of W is the number of pixels to the set sheet width.) corresponding to the sheet width to the calculated W′ when the measurement reliability determination unit 64 determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability. The sheet width updating unit 65 leaves the number of pixels W corresponding to the sheet width as the number of pixels W when the measurement reliability determination unit 64 determines that at least one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has low reliability. The number of pixels to the set sheet width, which is the initial value of W, is sent from a host computer (not illustrated) to the sheet width updating unit 65 of the meandering amount arithmetically operating device 6.
The meandering amount calculation unit 66 calculates the meandering amount of the steel sheet 10 using the drive side edge site zds(N) and the work side edge site zws(N) at the current time detected by the uncorrected edge detection unit 62, the reliability evaluation results of the drive side edge site zds(N) and the work side edge site zws(N) at the current time by the measurement reliability determination unit 64, and the number of pixels W corresponding to the sheet width held by the sheet width updating unit 65.
Specifically, as shown in Table 1, the meandering amount calculation unit 66 calculates the meandering amount of the steel sheet using the drive side edge site zds(N) and the work side edge site zws(N) at the current time when the measurement reliability determination unit 64 determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability (Case 1). Specifically, in Case 1, the meandering amount calculation unit 66 calculates an average value=(zds(N)+zws(N))/2 of zds(N) and zws(N) as the meandering amount of the steel sheet 10 because the coordinate amount in the center part of the steel sheet 10 is the meandering amount when the mill center coordinate is set to 0.
When the measurement reliability determination unit 64 determines that only one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has high reliability (Cases 2 and 3), the meandering amount calculation unit 66 calculates by interpolation the other side edge site using the number of pixels W from the sheet width updating unit 65 with the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability as a reference and calculates the meandering amount of the steel sheet 10 using the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation as shown in Table 1.
More specifically, when only the drive side edge site zds(N) at the current time is determined to have high reliability (Case 2), the meandering amount calculation unit 66 calculates by interpolation the other side edge site using the number of pixels W from the sheet width updating unit 65 with the drive side edge site zds(N) at the current time having high reliability as a reference and calculates the meandering amount of the steel sheet 10 using the drive side edge site zds(N) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation as shown in Table 1. In Case 2, the meandering amount of the steel sheet 10 is calculated as zds(N)+W×x/2 assuming that the center part of the steel sheet 10 is a part where ½ of a value obtained by multiplying the number of pixels W corresponding to the sheet width by a length x per pixel is added to the drive side edge site zds(N) at the current time having high reliability. The mill center coordinate is 0.
When only the work side edge site zws(N) at the current time is determined to have high reliability (Case 3), the meandering amount calculation unit 66 calculates by interpolation the other side edge site using the number of pixels W from the sheet width updating unit 65 with the work side edge site zws(N) at the current time having high reliability as a reference and calculates the meandering amount of the steel sheet 10 using the work side edge site zws(N) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation as shown in Table 1. In Case 3, the meandering amount of the steel sheet 10 is calculated as zws(N)−W×x/2 assuming that the center part of the steel sheet 10 is a part where ½ of a value obtained by multiplying the number of pixels W corresponding to the sheet width by a length x per pixel is subtracted from the work side edge site zws(N) at the current time having high reliability. The mill center coordinate is 0.
When the measurement reliability determination unit 64 determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability (Case 4), the meandering amount calculation unit 66 does not calculate the meandering amount of the steel sheet 10 as shown in Table 1.
The output unit 67 of the meandering amount arithmetically operating device 6 sends the meandering amount of the steel sheet 10 calculated by the meandering amount calculation unit 66 to the meandering control device 7.
The meandering control device 7 arithmetically operates the roll opening difference, which is the roll gap opening difference, between the operation side and the drive side in the rolling stand Fn to be controlled based on the meandering amount of the steel sheet 10 from the output unit 67 of the meandering amount arithmetically operating device 6 and sends the arithmetically operated roll opening difference to the leveling device 3 provided in the rolling stand Fn to be controlled.
The leveling device 3 adjusts the rolling reduction amount by the rolling reduction device attached to the operation side of the rolling stand Fn to be controlled and the rolling reduction amount by the rolling reduction device attached to the drive side of the rolling stand Fn based on the roll opening difference sent from the meandering control device 7 such that the roll opening difference of the rolling stand Fn to be controlled is equal to the roll opening difference sent from the meandering control device 7. Thus, the leveling amount of the rolling stand Fn to be controlled is changed in proportion to the meandering amount of the steel sheet 10, and the meandering amount of the steel sheet 10 is reduced.
Thus, according to the steel-sheet meandering amount measurement device 4 of this configuration, the meandering amount arithmetically operating device 6 includes the measurement reliability determination unit 64 determining that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability when each of the sums αds, αws of the change amount absolute values is equal to or larger than the predetermined threshold, and determining that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability when each of the sums αds, αws is less than the predetermined threshold, the sums αds, αws being represented by Equations (1), (2) of the drive side edge sites (zds(i), i=1, 2, . . . , N) and the work side edge sites (zws(i), i=1, 2, . . . , N) respectively, detected by N times in the past including the current time. The meandering amount arithmetically operating device 6 further includes the meandering amount calculation unit 66 calculating the meandering amount of the steel sheet 10 using the drive side edge site zds(N) and the work side edge site zws(N) at the current time when the measurement reliability determination unit 64 determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability, calculating by interpolation the other side edge site using the number of pixels W from the sheet width updating unit 65 with the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability as a reference and calculating the meandering amount of the steel sheet 10 using the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation when the measurement reliability determination unit 64 determines that only one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has high reliability, and not calculating the meandering amount of the steel sheet 10 when the measurement reliability determination unit 64 determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability.
Thus, the steel-sheet meandering amount measurement device 4 can be provided which can exactly measure the waking amount of the steel sheet 10, not only when both the edges of the steel sheet 10 can be detected but even when one edge of the steel sheet 10 cannot be detected because the edge is covered with vapor or fumes while the other edge of the steel sheet 10 can be detected because the edge is not covered with vapor or fumes in measuring the meandering amount of the steel sheet during rolling.
Further, the meandering amount arithmetically operating device 6 includes the output unit 67 outputting the meandering amount of the steel sheet 10 calculated by the meandering amount calculation unit 66 to the meandering control device 7. Thus, the meandering control device 7 can appropriately control the leveling of the rolling stand Fn to be controlled based on the meandering amount measured by the meandering amount measurement device 4.
The hot-rolling equipment for hot-rolled steel strip 1 according to this configuration further includes the meandering amount measurement device 4. Thus, the hot-rolling equipment for hot-rolled steel strip 1 can be provided which can exactly measure the meandering amount of the steel sheet 10 in measuring the meandering amount of the steel sheet during rolling, not only when both the edges of the steel sheet 10 can be detected but even when one edge of the steel sheet 10 cannot be detected because the edge is covered with vapor or fumes while the other edge of the steel sheet 10 can be detected because the edge is not covered with vapor or fumes.
Next, the flow of processing by the meandering amount measurement device 4 indicating the meandering amount measurement method according to one example is described with reference to the flowchart illustrated in
First, the finish rolling of the steel sheet 10 is started, and Step S1 determines whether the line sensor camera 5 has detected a tip portion of the steel sheet 10. The line sensor camera 5 is provided with a steel sheet detection sensor (not illustrated) detecting the tip portion and a tail portion of the steel sheet 10.
Then, when the determination result by the line sensor camera 5 is YES (when the tip portion has been detected), the process proceeds to Step S2. When the determination result is No (when the tip portion has not been detected), the process returns to Step S1.
In Step S2, the line sensor camera 5 periodically images the surface of the steel sheet 10 traveling during rolling in a manner crossing in the width direction of the steel sheet 10 (imaging step).
Next, the process proceeds to Step S3. The captured image acquisition unit 61 of the meandering amount arithmetically operating device 6 acquires a plurality of captured images 20 of the surface of the steel sheet 10 periodically captured by the line sensor camera 5 (captured image acquisition step).
Next, the process proceeds to Step S4. The uncorrected edge detection unit 62 calculates the luminance difference between pixels adjacent to each other in the width direction of each of the plurality of captured images 20 acquired in Step S3, detects a site where the luminance difference is maximum on the drive side in the width direction of the steel sheet 10 as the drive side edge site zds of the steel sheet 10, and detects a site where the luminance difference is maximum on the work side in the width direction of the steel sheet 10 as the work side edge site zws of the steel sheet 10 (uncorrected edge detection step).
Next, the process proceeds to Step S5. The uncorrected edge holding unit 63 holds a plurality of drive side edge sites zds and work side edge sites zws detected in Step S4 (uncorrected edge holding step).
Then, the process proceeds to Step S6. The measurement reliability determination unit 64 determines that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability when each of the sums αds, αws of the change amount absolute values is equal to or larger than the predetermined threshold R, and determines that the drive side edge site zds(N) and the work side edge site zws(N) at a current time have high reliability when each of the sums αds, αws is less than the predetermined threshold R, the sums αds, αws being represented by Equations (1), (2) of the drive side edge sites (zds(i), i=1, 2, . . . , N) and the work side edge sites (zws(i), i=1, 2, . . . , N) of the steel sheet 10 detected by N times in the past including the current time extracted from the plurality of drive side edge sites zds and work side edge sites zws, respectively, of the steel sheet 10 held in Step S5 (measurement reliability determination step).
Next, the process proceeds to Step S7. The sheet width updating unit 65 calculates the number of pixels W′ corresponding to the sheet width calculated from both the drive side edge site zds(N) and the work side edge site zws(N) at the current time and updates the number of pixels W (The initial value of W is the number of pixels to the set sheet width.) corresponding to the sheet width to the calculated W′ when Step S6 determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability. The sheet width updating unit 65 leaves the number of pixels W corresponding to the sheet width as the number of pixels W when Step S6 determines that at least one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has low reliability (sheet width updating step).
Then, the process proceeds to Step S8. When Step S6 determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability, the meandering amount calculation unit 66 calculates the meandering amount of the steel sheet 10 using the drive side edge site zds(N) and the work side edge site zws(N) at the current time. When Step S7 determines that only one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability, the meandering amount calculation unit 66 calculates by interpolation the other side edge site using the number of pixels W from Step S6 with the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability as a reference and calculates the meandering amount of the steel sheet 10 using the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation. When Step S6 determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability, the meandering amount calculation unit 66 does not calculate the meandering amount of the steel sheet 10 (meandering amount calculation step).
Then, the process proceeds to Step S9. The output unit 67 of the meandering amount arithmetically operating device 6 sends the meandering amount of the steel sheet 10 calculated in Step S8 to the meandering control device 7 (output step).
Finally, the process proceeds to Step S10. The line sensor camera 5 determines whether the tail portion of the steel sheet 10 has been detected.
Then, when the determination result by the line sensor camera 5 is YES (when the tail portion has been detected), the processing is ended. When the determination result is No (when the tail portion has not been detected), the process returns to Step S2.
Thus, the processing by the meandering amount measurement device 4 is ended.
As described above, according to the meandering amount measurement method of this example, the measurement reliability determination step (Step S6) determines that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability when each of the sums αds, αws of the change amount absolute values is equal to or larger than the predetermined threshold, and determines that the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability when each of the sums αds, αws is less than the predetermined threshold, the sums αds, αws being represented by Equations (1), (2) of the drive side edge sites (zds(i), i=1, 2, . . . , N) and the work side edge sites (zws(i), i=1, 2, . . . , N), respectively, detected by N times in the past including the current time. According to the meandering amount measurement method, when the measurement reliability determination step (Step S6) determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have high reliability, the meandering amount calculation step (Step S8) calculates the meandering amount of the steel sheet 10 using the drive side edge site zds(N) and the work side edge site zws(N) at the current time. When the measurement reliability determination step (Step S6) determines that only one of the drive side edge site zds(N) and the work side edge site zws(N) at the current time has high reliability, the meandering amount calculation step (Step S8) calculates by interpolation the other side edge site using the number of pixels W from the sheet width updating unit 65 with the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability as a reference and calculates the meandering amount of the steel sheet 10 using the drive side edge site zds(N) or the work side edge site zws(N) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation. When the measurement reliability determination step (Step S6) determines that both the drive side edge site zds(N) and the work side edge site zws(N) at the current time have low reliability, the meandering amount calculation step (Step S8) does not calculate the meandering amount of the steel sheet 10.
Thus, the steel-sheet meandering amount measurement method can be provided which can exactly measure the meandering amount of the steel sheet 10 in measuring the meandering amount of the steel sheet during rolling, not only when both the edges of the steel sheet 10 can be detected but even when one edge of the steel sheet 10 cannot be detected because the edge is covered with vapor or fumes while the other edge of the steel sheet 10 can be detected because the edge is not covered with vapor or fumes.
Further, the meandering amount measurement method according to this example includes the output step of outputting the meandering amount of the steel sheet 10 calculated in the meandering amount calculation step (Step S8) to the meandering control device (Step S9). Thus, the meandering control device 7 can appropriately control the leveling of the rolling stand Fn to be controlled based on the meandering amount measured in the meandering amount measurement step.
Further, the hot-rolling method of hot-rolled steel strip according to this example includes the step of measuring the meandering amount of the steel sheet 10 during rolling by the finish rolling mill 2 having the plurality of rolling stands F1 to Fn according to this meandering amount measurement method. Thus, the hot-rolling method of hot-rolled steel strip can be provided which can exactly measure the meandering amount of the steel sheet 10 in measuring the meandering amount of the steel sheet during rolling, not only when both the edges of the steel sheet 10 can be detected but even when one edge of the steel sheet 10 cannot be detected because the edge is covered with vapor or fumes while the other edge of the steel sheet 10 can be detected because the edge is not covered with vapor or fumes.
Although the example is described above, this disclosure is not limited thereto and can be variously altered and modified.
For example, the imaging device does not need to be the line sensor camera 5 but may be an area sensor camera.
When the luminance difference between pixels adjacent to each other in the width direction of the captured image 20 is calculated in the uncorrected edge detection unit 62 (pre-correction detection step), in addition to when the luminance difference between pixels adjacent to each other is calculated from the center part in the width direction to each of the drive side and the work side on both ends in the width direction of each of the captured images 20, the luminance difference between pixels adjacent to each other may be calculated from the work side on one end in the width direction of the captured images 20 to the center part in the width direction and to the drive side on one end in the width direction of the captured image 20.
The sheet width updating unit (sheet width updating step) 65 may be configured such that, when the number of pixels W′ corresponding to the sheet width is calculated from both the drive side edge site zds(N) and the work side edge site zws(N) at the current time and the calculated W′ is within the preset upper and lower limit range, the sheet width updating unit (sheet width updating step) 65 updates the number of pixels W corresponding to the sheet width to the calculated W′, and that, when the calculated W′ is out of the preset upper and lower limit range, the sheet width updating unit (sheet width updating step) 65 leaves the number of pixels W corresponding to the sheet width as the number of pixels W. Thus, when the number of pixels W′ calculated in the sheet width updating unit (sheet width updating step) 65 deviates from the number of pixels corresponding to the regular sheet width of the steel sheet 10, the sheet width updating operation becomes unnecessary so that the processing time in the meandering amount calculation processing can be shortened. The “preset upper and lower limit range” means the upper and lower limit range of the number of pixels corresponding to the regular sheet width of the steel sheet 10.
The line sensor camera 5 as the imaging device is installed between the rolling stand Fn to be controlled and the rolling stand Fn−1 on the upstream side by one before the rolling stand Fn, but our devices are not limited thereto. The line sensor camera 5 may be installed between any rolling stands such as between the stands F1 and F2 adjacent to each other, between the stands F2 and F3 adjacent to each other, . . . , between the stands Fn−1 and Fn adjacent to each other.
The meandering amount measurement device 4 and the meandering amount measurement method according to this example are applied in measuring the meandering amount of the steel sheet 10 during rolling by the finish rolling mill 2 of the hot-rolling equipment 1 but may be applied in measuring the meandering amount of a steel sheet during rolling with a continuous cold rolling mill of cold rolling equipment.
We finish rolled the steel sheet 10 using hot-rolling equipment 1 having seven rolling stands F1 to F7, periodically imaged the surface of the steel sheet 10 by the line sensor camera 5 installed between the rolling stand F6 and the rolling stand F7 to be controlled at that time, and then calculated, by the meandering amount arithmetically operating device 6, the meandering amount of the steel sheet 10 in a Comparative Example and an Example based on the plurality of captured images 20 captured by the line sensor camera 5.
For this two-dimensional image, the meandering amount of the steel sheet 10 was calculated in the Comparative Example and the Example.
In the Comparative Example, the meandering amount of the steel sheet 10 was calculated in the following steps:
Step 1: The luminance difference between pixels adjacent to each other in the width direction of the two-dimensional image was calculated, a plurality of sites where the absolute value of the luminance difference is maximum on the drive side in the width direction of the steel sheet 10 was detected as the drive side edge site zds of the steel sheet 10, and a plurality of sites where the absolute value of the luminance difference is maximum on the work side in the width direction of the steel sheet 10 was detected as the work side edge site zws of the steel sheet.
Step 2: The drive side edge sites (zds(i), i=1, 2, . . . , 100) and the work side edge sites (zws(i), i=1, 2, . . . , 100) detected by 100 times in the past including the current time were individually subjected to regression, an approximate straight line of each of the drive side edge sites (zds(i), i=1, 2, . . . , 100) and the work side edge sites (zws(i), i=1, 2, . . . , 100) was obtained, and the drive side edge site and the work side edge site at the current time were estimated from the approximate straight lines.
Step 3: The meandering amount of the steel sheet 10 was calculated using the drive side edge site and the work side edge site at the current time estimated in Step 2.
In our Example, the meandering amount of the steel sheet 10 was calculated in the following steps:
Step 1: The luminance difference between pixels adjacent to each other in the width direction of the two-dimensional image was calculated, a plurality of sites where the absolute value of the luminance difference is maximum on the drive side in the width direction of the steel sheet 10 was detected as the drive side edge site zds of the steel sheet 10, and a plurality of sites where the absolute value of the luminance difference is maximum on the work side in the width direction of the steel sheet 10 was detected as the work side edge site zws of the steel sheet.
Step 2: When each of the sums αds, αws of the change amount absolute values was equal to or larger than the predetermined threshold 3, the drive side edge site zds(N) and the work side edge site zws(N) at the current time were determined to have low reliability and, when each of the sums αds, αws of the change amount absolute values was less than the predetermined threshold J, the drive side edge site zds(N) and the work side edge site zws(N) at the current time were determined to have high reliability, the sums αds, αws being represented by Equations (1), (2) of the drive side edge sites (zds(i), i=1, 2, . . . , N=20) and the work side edge sites (zws(i), i=1, 2, . . . , N=20), respectively, detected by 20 times in the past including the current time. β was set to 30 px (number of pixels)×Length (2 mm) per 1 px (1 pixel)=60 mm. In β, the preferable number of pixels is 5 or more and 100 or less, and the more preferable number of pixels is 10 or more and 50 or less.
Step 3: When Step 2 determined that both the drive side edge site zds (20) and the work side edge site zws (20) at the current time had high reliability, the number of pixels W′ corresponding to the sheet width calculated from both the drive side edge site zds (20) and the work side edge site zws (20) at the current time was calculated and the number of pixels W corresponding to the sheet width was updated to the calculated W′ and, when Step 2 determined that at least one of the drive side edge site zds (20) and the work side edge site zws (20) at the current time had low reliability, the number of pixels W corresponding to the sheet width was left as the number of pixels W.
Step 4: When Step 2 determined that both the drive side edge site zds (20) and the work side edge site zws (20) at the current time had high reliability, the meandering amount of the steel sheet 10 was calculated using the drive side edge site zds (20) and the work side edge site zws (20) at the current time, when Step 2 determined that only one of the drive side edge site zds (20) and the work side edge site zws (20) at the current time had high reliability, the other side edge site was calculated by interpolation using the number of pixels W from Step 3 with the drive side edge site zds (20) or the work side edge site zws (20) at the current time having high reliability as a reference and the meandering amount of the steel sheet 10 was calculated using the drive side edge site zds (20) or the work side edge site zws (20) at the current time having high reliability and the other side edge site subjected to the calculation by interpolation, and, when Step 2 determined that both the drive side edge site zds (20) and the work side edge site zws (20) at the current time had low reliability, the meandering amount of the steel sheet 10 was not calculated.
In the Comparative Example and our Example, Step 1 was carried out to detect the drive side edge sites and the work side edge sites of the steel sheet 10. Then, the drive side edge sites are indicated by the solid line and the work side edge sites are indicated by the dashed line as illustrated in
Therefore, in the Comparative Example, the meandering amount of the steel sheet 10 was not able to be exactly measured in measuring the meandering amount of the steel sheet 10 during rolling when one edge (drive side edge) of the steel sheet 10 was not able to be detected because the edge was covered with vapor or fumes while the other edge (work side edge) of the steel sheet 10 was able to be detected because the edge was not covered with vapor or fumes.
On the other hand,
Therefore, in our Example, the meandering amount of the steel sheet 10 can be exactly measured in measuring the meandering amount of the steel sheet 10 during rolling when one edge (drive side edge) of the steel sheet 10 cannot be detected because the edge is covered with vapor or fumes while the other edge (work side edge) of the steel sheet 10 can be detected because the edge is not covered with vapor or fumes.
In our Example, sites where the meandering amount is 0 px in and after the data order of 14000 are sites where both the edge sites have low reliability and the meandering amount is not output to the meandering control device 7 for the control, and therefore no actual damage is caused.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-012395 | Jan 2021 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/045855 | 12/13/2021 | WO |
