CN105066933A - Ladle refractory layer thickness measuring method based on 3D scanner - Google Patents
Ladle refractory layer thickness measuring method based on 3D scanner Download PDFInfo
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- CN105066933A CN105066933A CN201510450465.1A CN201510450465A CN105066933A CN 105066933 A CN105066933 A CN 105066933A CN 201510450465 A CN201510450465 A CN 201510450465A CN 105066933 A CN105066933 A CN 105066933A
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- ladle
- point cloud
- mouth
- dimensional point
- distance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
Abstract
The invention discloses a ladle refractory layer thickness measuring method based on a 3D scanner. According to the method, a 3D scanner scans the openings and inner surfaces of new and old ladles under control of a computer and transmits data to the computer, and the computer calculates refractory material loss by comparing the positions of the inner surfaces of the working layers of the new and old ladles in a standard coordinate system and displays the thickness of a refractory material layer. According to the invention, the ladles are scanned and the degree of refractory material loss is calculated directly without the need for positioning with the aid of a second 3D scanner or additional positioning scanning. The operation process can be greatly simplified. The method can be applied to a complex busy steel plant environment more easily. The probability of wrong operation is reduced.
Description
Technical field
The present invention relates to a kind of steel-making technical field of automation, specifically, what relate to is a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer.
Background technology
Basic functional principle based on the ladle thickness measurement technology of resistance to material of spatial digitizer gathers steel ladle working layer inside surface by spatial digitizer, the inside surface position collected and permanent layer inside surface (namely working lining outside surface) are contrasted, the remaining thickness of working lining can be drawn.These technological difficulties are how to obtain permanent layer inside surface position and are placed in the same coordinate system with the working lining inside surface collected thus carry out contrasting (this process we be called that ladle is located).
Prior art mainly through second location scanning instrument or carry out independent location scanning realize ladle location:
1, ladle location is realized by second location scanning instrument: this technology needs use two spatial digitizers, one (scanner A), for scanning ladle inside surface, another (scanner B) is for scanning the outside and scanner A of ladle thus determining the relative position of scanner A and ladle surface.Because the relative position of working lining inside surface and ladle surface is fixing, the position of working lining inside surface in scanner A coordinate system can be obtained by said method.
2, ladle location is realized by independent location scanning: this technology needs moving three dimension scanner outside from multi-angle scanning ladle, then multi-angle scanning is placed in the same coordinate system by location algorithm.Because the relative position of working lining inside surface and ladle surface is fixing, the position of working lining inside surface in scanner coordinate system can be obtained by said method.
Summary of the invention
The object of the invention is to solve above-mentioned deficiency of the prior art, providing a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer, is than background technology ladle resistance to sheet material layers (also known as working lining) thickness measurement technology more easily.
Core Superiority of the present invention directly to scan ladle and to obtain the extent of deterioration of resistance to material, and do not need to realize location by second spatial digitizer and carry out extra location scanning operation.The present invention can simplify the operation flow process greatly, is more easily applied in complicated busy steel mill's environment, and reduces the probability of maloperation.
For realizing above-mentioned object, a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer of the present invention, described method comprises the steps:
The first step, utilize spatial digitizer to scan ladle, obtain ladle 3 d scan data, comprise 3-D scanning X, Y, Z passage and three-dimensional point cloud p;
Second step, the 3-D scanning X that the first step is obtained, Y, Z passage is merged into and represents and the d passage of scanner distance, and in d passage, carries out rim detection and ellipses detection to detect ladle mouth outer;
The value of ladle outer respective coordinates in 3rd step, taking-up X, Y, Z tri-passages, obtain ladle mouth outer coordinate in three dimensions, this coordinate forms a three-dimensional point cloud, and carries out plane fitting to described three-dimensional point cloud, and gained plane is ladle mouth place plane;
4th step, matching is justified to the three-dimensional point cloud on the ladle mouth outer in the 3rd step, obtain the center of ladle mouth;
The ladle mouth place plane that 5th step, the center of ladle mouth obtained in conjunction with the 4th step and the 3rd step obtain, obtains ladle axis;
The three-dimensional point cloud p of the ladle axis that 6th step, utilization detect to scanning gained screens, and removes incoherent data, obtains three-dimensional point cloud q;
The distance of the 7th step, the some distance ladle mouth plane calculated in three-dimensional point cloud q, finds the bag mouth of a river, the end according to range information from three-dimensional point cloud q;
8th step, utilize position, mouth of a river Criterion coordinate system at the bottom of ladle mouth place plane, ladle axis and bag, and three-dimensional point cloud q is transformed in conventional coordinates;
The vertical range of the 9th step, the three-dimensional point cloud q calculating ladle side wall inner surfaces distance ladle axis utilized in conventional coordinates;
Tenth step, calculate the distance of new, old ladle side wall inner surfaces distance ladle axis by the first step to the method for the 9th step, its difference is working lining extent of deterioration.
Preferably, in the described first step: just ladle is scanned by spatial digitizer, obtain X, Y, Z tri-two-dimensional matrix passages, represent the x of number of scans strong point in scanner coordinate system respectively, y, z coordinate; All number of scans strong points form a three-dimensional point cloud p.
Preferably, in described second step:
Gone out distance and the d passage of each distance spatial digitizer on matrix by x, y, z tri-path computations, computing formula is:
D passage use edge detection algorithm and Hough transformation Ellipses Detection find the coordinate of ladle mouth outer in two-dimensional matrix.
Preferably, in described 5th step: be ladle axis through the center of ladle mouth and the vertical line of ladle mouth place plane.
Preferably, in described 6th step: three-dimensional point cloud p is screened, only retain the point that distance ladle half-breadth is less than setting numerical value, form three-dimensional point cloud q.
Preferably, in described 7th step: find distance ladle mouth place plane point farthest in the three-dimensional point cloud q retained, be the bag mouth of a river, the end.
Preferably, in described 8th step: three coordinate axis of conventional coordinates are expressed as e1, e2, e3, in this conventional coordinates:
True origin is positioned at ladle mouth center; The corresponding ladle axis of e1 axle; The corresponding ladle axis of e2 axle is to the direction at the bag mouth of a river, the end; E3 axle is simultaneously vertical with e1 axle, e2 axle;
Carry out coordinate transform to three-dimensional point cloud q and be placed on e1, in the conventional coordinates that e2, e3 are formed, so far ladle has been located.
Preferably, in described 9th step: in conventional coordinates, each point on ladle inside surface sidewall represents with (α, ρ), and α is the coordinate of e1 axle in this conventional coordinates, and ρ is and this point and e1 axle vertical join line and e2 axle angle; For each point (α, ρ) on sidewall, calculate its vertical range to ladle axis and be expressed as f (α, ρ).
Preferably, in described tenth step:
1) wrap to the 9th step scanning is new by the described first step before ladle uses, obtain new ladle sidewall to the distance of ladle axis, be expressed as f
0(x, ρ), and preserve these data lower;
2) press the described first step during each use to the 9th step scan both old bag, obtain the distance of old ladle sidewall to ladle axis, be expressed as f (x, ρ);
3) f is calculated
0(x, ρ)-f (x, ρ), namely draws the extent of deterioration of working lining at (x, ρ) place.
Compared with prior art, beneficial effect is in the present invention:
The ladle thickness measuring of the resistance to material solution that the present invention proposes is directly by realizing ladle location to the location at the mouth of a river at the bottom of ladle mouth outer and bag, do not need by second location scanning instrument or carry out extra location scanning operation, thus enormously simplify the ladle thickness measuring of resistance to material workflow.
Accompanying drawing explanation
Fig. 1 is the workflow diagram of the inventive method;
Fig. 2 is the x that one embodiment of the present invention spatial digitizer gathers, y, z two-dimensional matrix passage, and wherein (a) is x passage, and (b) is y passage, and (c) is z passage;
Fig. 3 is the distance d passage of one embodiment of the present invention distance spatial digitizer;
Fig. 4 is that one embodiment of the present invention carries out ellipses detection to d passage, finds ladle mouth outer;
Fig. 5 is one embodiment of the present invention ladle mouth plane and ladle axis;
Fig. 6 is the screening of one embodiment of the present invention three-dimensional point cloud, and wherein (a) is for all to put cloud, and (b) is the some cloud after screening;
Fig. 7 is one embodiment of the present invention conventional coordinates schematic diagram.
Embodiment
Below in conjunction with drawings and Examples, the technical solution of the present invention is further explained, but following content is not intended to limit the scope of the invention.
As shown in Fig. 1-Fig. 7, the present embodiment provides a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer, described method is realized by a spatial digitizer and a computer, spatial digitizer scans ladle mouth and inside surface under computer control and sends data to computer, and computer is calculated by algorithm described below and shows the thickness of resistance to sheet material layers.
Described method specific works flow process is as follows:
1, spatial digitizer is placed in 4 ~ 8 meters of before bag mouth, just ladle is scanned, obtain X, Y, Z tri-two-dimensional matrix passages (as shown in (a), (b), (c) in Fig. 2), represent the x of number of scans strong point in scanner coordinate system respectively, y, z coordinate; All number of scans strong points form a three-dimensional point cloud p;
2, go out each distance apart from spatial digitizer on matrix by X, Y, Z tri-path computations and be d passage (as shown in Figure 3), computing formula is:
3, on d passage, Ellipses Detection is used to find the coordinate of ladle mouth outer in two-dimensional matrix (as shown in Figure 4);
4, take out the value of respective coordinates in X, Y, Z tri-passages, obtain ladle mouth outer coordinate in three dimensions, this coordinate forms a three-dimensional point cloud; Carry out plane fitting to this three-dimensional point cloud, matching gained plane is ladle mouth place plane (as shown in Figure 5); Justify matching to this three-dimensional point cloud, the center of circle of matching gained circle is ladle mouth center; Straight line through ladle mouth center and ladle mouth place plane orthogonal is ladle axis (as shown in Figure 5);
5, the three-dimensional point cloud p of X, Y, Z tri-passage compositions is screened, only retain the point (as shown in (a), (b) in Fig. 6) that distance ladle half-breadth is less than 2.5 meters, form three-dimensional point cloud q;
6, in the three-dimensional point cloud q retained, find distance ladle mouth place plane point farthest, this point is the bag mouth of a river, the end (as shown in Figure 5);
7, conventional coordinates is built according to position, the mouth of a river at the bottom of ladle mouth place plane, ladle axis and bag, three coordinate axis of conventional coordinates are expressed as e1, e2, e3, in this coordinate system: true origin is positioned at ladle mouth center, the corresponding ladle axis of e1 axle, the corresponding ladle axis of e2 axle is to the direction at the bag mouth of a river, the end, e3 axle simultaneously and e1, e2 axle vertical (as shown in Figure 7);
8, carry out coordinate transform to three-dimensional point cloud q, and be placed in conventional coordinates, so far ladle has been located;
9, in conventional coordinates, each point on ladle inside surface sidewall represents with (α, ρ), and wherein α is the coordinate of e1 axle in this conventional coordinates, ρ is this point and e1 axle vertical join line and e2 axle angle; For each point (α, ρ) on sidewall, calculate the vertical range that it arrives ladle axis, this distance is expressed as f (α, ρ);
10, wrap by the step scanning of above-mentioned 1-9 is new before ladle uses, the distance calculating new ladle sidewall distance axis is denoted as f
0(α, ρ), and preserve these data lower; By calculating f during each scanning
0(α, ρ)-f (α, ρ), namely draws the extent of deterioration of working lining at (α, ρ) place.
In the present embodiment, described spatial digitizer is initially installed near ladle rollover prevention system, and in conjunction with working temperature, ladle size, tip-over angle and internal surface reflection rate to determine putting position; Its concrete technical parameter comprises:
1) horizontal scanning scope: 0-360; Vertical scanning scope: +/-40;
2) sweep frequency: be not less than 50kHz;
3) Accuracy: inner higher than +/-4mm in effective range;
4) interference of hot gas in ladle can be subject to during scanning;
5) optical maser wavelength is close to ultraviolet, and energy is feedback space data and temperature data simultaneously;
6) client development software is supplied with SDK kit.
To sum up, the method of the invention under computer by a spatial digitizer is scanned the ladle mouth of new, old ladle and inside surface and transfers data to computer respectively, and computer is by contrast new, the old steel ladle working layer inside surface resistance to material loss of the position calculation in conventional coordinates and show the thickness of resistance to sheet material layers.The present invention directly scans ladle and calculates the extent of deterioration of resistance to material, and does not need to realize location by second spatial digitizer, does not also need to carry out extra location scanning operation.The present invention can simplify the operation flow process greatly, is more easily applied in complicated busy steel mill's environment, and reduces the probability of maloperation.
Although content of the present invention has done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1., based on a ladle flame retardant coating thickness measuring method for spatial digitizer, it is characterized in that, described method comprises the steps:
The first step, utilize spatial digitizer to scan ladle, obtain ladle 3 d scan data, comprise 3-D scanning X, Y, Z passage and three-dimensional point cloud p;
Second step, the 3-D scanning X that the first step is obtained, Y, Z passage is merged into and represents and the d passage of scanner distance, and in d passage, carries out rim detection and ellipses detection to detect ladle mouth outer;
The value of ladle outer respective coordinates in 3rd step, taking-up X, Y, Z tri-passages, obtain ladle mouth outer coordinate in three dimensions, this coordinate forms a three-dimensional point cloud, and carries out plane fitting to described three-dimensional point cloud, and gained plane is ladle mouth place plane;
4th step, matching is justified to the three-dimensional point cloud on the ladle mouth outer in the 3rd step, obtain the center of ladle mouth;
The ladle mouth place plane that 5th step, the center of ladle mouth obtained in conjunction with the 4th step and the 3rd step obtain, obtains ladle axis;
The three-dimensional point cloud p of the ladle axis that 6th step, utilization detect to scanning gained screens, and removes incoherent data, obtains three-dimensional point cloud q;
The distance of the 7th step, the some distance ladle mouth plane calculated in three-dimensional point cloud q, finds the bag mouth of a river, the end according to range information from three-dimensional point cloud q;
8th step, utilize position, mouth of a river Criterion coordinate system at the bottom of ladle mouth place plane, ladle axis and bag, and three-dimensional point cloud q is transformed in conventional coordinates;
The vertical range of the 9th step, the three-dimensional point cloud q calculating ladle side wall inner surfaces distance ladle axis utilized in conventional coordinates;
Tenth step, calculate the distance of new, old ladle side wall inner surfaces distance ladle axis by the first step to the method for the 9th step, its difference is working lining extent of deterioration.
2. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, it is characterized in that, in the described first step: just ladle is scanned by spatial digitizer, obtain X, Y, Z tri-two-dimensional matrix passages, represent the x of number of scans strong point in scanner coordinate system respectively, y, z coordinate; All number of scans strong points form a three-dimensional point cloud p.
3. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, is characterized in that, in described second step:
Gone out distance and the d passage of each distance spatial digitizer on matrix by X, Y, Z tri-path computations, computing formula is:
D passage use edge detection algorithm and Hough transformation Ellipses Detection find the coordinate of ladle mouth outer in two-dimensional matrix.
4. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, is characterized in that, in described 5th step: be ladle axis through the center of ladle mouth and the vertical line of ladle mouth place plane.
5. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, is characterized in that, in described 6th step: screen three-dimensional point cloud p, only retains the point that distance ladle half-breadth is less than setting numerical value, forms three-dimensional point cloud q.
6. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, is characterized in that, in described 7th step: in the three-dimensional point cloud q retained, find distance ladle mouth place plane point farthest, is the bag mouth of a river, the end.
7. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, is characterized in that, in described 8th step: three coordinate axis of conventional coordinates are expressed as e1, e2, e3, in this conventional coordinates:
True origin is positioned at ladle mouth center; The corresponding ladle axis of e1 axle; The corresponding ladle axis of e2 axle is to the direction at the bag mouth of a river, the end; E3 axle is simultaneously vertical with e1 axle, e2 axle;
Carry out coordinate transform to three-dimensional point cloud q and be placed on e1, in the conventional coordinates that e2, e3 are formed, so far ladle has been located.
8. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, it is characterized in that, in described 9th step: in conventional coordinates, each point (α on ladle inside surface sidewall, ρ) represent, α is the coordinate of e1 axle in this conventional coordinates, and ρ is and this point and e1 axle vertical join line and e2 axle angle; For each point (α, ρ) on sidewall, calculate its vertical range to ladle axis and be expressed as f (α, ρ).
9. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to any one of claim 1-8, is characterized in that, in described tenth step:
1) wrap to the 9th step scanning is new by the described first step before ladle uses, obtain new ladle sidewall to the distance of ladle axis, be expressed as f
0(x, ρ), and preserve these data lower;
2) press the described first step during each use to the 9th step scan both old bag, obtain the distance of old ladle sidewall to ladle axis, be expressed as f (x, ρ);
3) f is calculated
0(x, ρ)-f (x, ρ), namely draws the extent of deterioration of working lining at (x, ρ) place.
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Cited By (1)
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