CN105066933B - A kind of ladle flame retardant coating thickness measuring method based on spatial digitizer - Google Patents
A kind of ladle flame retardant coating thickness measuring method based on spatial digitizer Download PDFInfo
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- CN105066933B CN105066933B CN201510450465.1A CN201510450465A CN105066933B CN 105066933 B CN105066933 B CN 105066933B CN 201510450465 A CN201510450465 A CN 201510450465A CN 105066933 B CN105066933 B CN 105066933B
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- ladle
- mouth
- spatial digitizer
- point cloud
- flame retardant
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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 present invention discloses a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer, methods described is scanned to the ladle mouth and inner surface of new, old ladle and transfers data to computer under computer by a spatial digitizer, and computer calculates the thickness that resistance to material is lost and shows resistance to material layer by contrasting position of the new and old steel ladle working layer inner surface in conventional coordinates.The present invention is directly scanned to ladle and calculates the extent of deterioration of resistance to material, is positioned without being realized by second spatial digitizer, it is not required that carry out extra positioning scan operation.The present invention can greatly simplify operating process, it is easier in steel mill's environment busy applied to complexity, and reduce the probability of maloperation.
Description
Technical field
Technical field of automation is made steel the present invention relates to one kind, specifically, is referred to a kind of based on spatial digitizer
Ladle flame retardant coating thickness measuring method.
Background technology
The basic functional principle of the ladle thickness measurement technology of resistance to material based on spatial digitizer is to gather steel by spatial digitizer
Bag working lining inner surface, by the inner surface position collected and permanent layer inner surface (namely working lining outer surface) progress pair
Than, you can draw the remaining thickness of working lining.The technological difficulties are how to obtain permanent layer inner surface position and with collecting
Working lining inner surface be placed in the same coordinate system so as to being contrasted (this process we be referred to as ladle positioning).
Mainly by second positioning scanner or progress, individually positioning scanning realizes that ladle is positioned to prior art:
1st, realize that ladle is positioned by second positioning scanner：The technology needs to use two spatial digitizers, one
(scanner A) is used to scan ladle inner surface, another (scanner B) be used to scan outside ladle and scanner A so that it is determined that
Scanner A and the relative position of ladle surface.Because the relative position of working lining inner surface and ladle surface is solid
Fixed, position of the working lining inner surface in scanner A coordinate systems can be obtained by the above method.
2nd, realize that ladle is positioned by individually positioning scanning：The technology needs moving three dimension scanner to be scanned from multi-angle
Outside ladle, then multi-angle scanning is placed in the same coordinate system by location algorithm.Due to working lining inner surface and ladle
The relative position of surface is fixed, and working lining inner surface can be obtained in scanner coordinate system by the above method
Position.
The content of the invention
It is an object of the invention to solve above-mentioned deficiency of the prior art, there is provided a kind of steel based on spatial digitizer
Bag flame retardant coating thickness measuring method, is than background technology more easily ladle resistance to material layer (also known as working lining) thickness measurement technology.
The present invention Core Superiority be that the extent of deterioration of resistance to material can be directly scanned and obtained to ladle, without by means of
Help second spatial digitizer to realize positioning and carry out extra positioning scan operation.The present invention can greatly simplify operation stream
Journey, it is easier in steel mill's environment busy applied to complexity, and reduce the probability of maloperation.
To realize above-mentioned purpose, a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer of the present invention,
Methods described comprises the following steps：
The first step, spatial digitizer scanning ladle is utilized, obtain ladle 3 d scan data, including 3-D scanning X, Y, Z
Passage and three-dimensional point cloud p；
Second step, 3-D scanning X, Y, the Z passage that the first step is obtained is merged into represent with the d passages of scanner distance,
And carry out rim detection and ellipses detection in d passages to detect ladle mouth outer；
3rd step, the value for taking out ladle outer respective coordinates in X, Y, tri- passages of Z, obtain ladle mouth outer in three-dimensional space
Between in coordinate, the coordinate constitute a three-dimensional point cloud, and to the three-dimensional point cloud carry out plane fitting, gained plane is steel
Plane where bag mouth；
4th step, on the ladle mouth outer in the 3rd step three-dimensional point cloud carry out justify fitting, obtain the center of ladle mouth；
Plane where the ladle mouth that 5th step, the center with reference to the ladle mouth that the 4th step is obtained and the 3rd step are obtained, is obtained
Ladle axis；
6th step, using the ladle axis detected the three-dimensional point cloud p obtained by scanning is screened, removed incoherent
Data, obtain three-dimensional point cloud q；
7th step, distance of the point in three-dimensional point cloud q apart from ladle mouth plane is calculated, according to range information from three-dimensional point cloud
The bag bottom mouth of a river is found in q；
8th step, set up conventional coordinates using plane, ladle axis and bag bottom mouth of a river position where ladle mouth, and by three
Dimension point cloud q is transformed in conventional coordinates；
9th step, three-dimensional point cloud q in conventional coordinates is utilized to calculate ladle side wall inner surfaces hanging down apart from ladle axis
Straight distance；
Tenth step, calculate by the method for the first step to the 9th step new, old ladle side wall inner surfaces apart from ladle axis away from
From its difference is flame retardant coating extent of deterioration.
Preferably, in the first step：Just ladle is scanned by spatial digitizer, X, Y, tri- two dimensions of Z is obtained
Matrix channel, represents x, y, z coordinate of the scan data point in scanner coordinate system respectively；All scan data point compositions one
Individual three-dimensional point cloud p.
Preferably, in the second step：
By x, y, tri- path computations of z go out each point on matrix and, apart from the distance i.e. d passages of spatial digitizer, calculate public
Formula is：
Ladle mouth outer is found in Two-Dimensional Moment using edge detection algorithm and Hough transformation Ellipses Detection on d passages
Coordinate in battle array.
Preferably, in the 5th step：Vertical line through plane where the center of ladle mouth and ladle mouth is steel
Bag axis.
Preferably, in the 6th step：Three-dimensional point cloud p is screened, only reservation is less than apart from ladle half-breadth and set
The point of fixed number value, constitutes three-dimensional point cloud q.
Preferably, in the 7th step：Where ladle mouth plane is found in the three-dimensional point cloud q retained farthest
Point, as wraps the bottom mouth of a river.
Preferably, in the 8th step：Three reference axis of conventional coordinates are expressed as e1, e2, e3, and the standard is sat
In mark system：
The origin of coordinates is located at ladle mouth center；E1 axles correspondence ladle axis；E2 axles correspond to ladle axis to the bag bottom mouth of a river
Direction；E3 axles are simultaneously vertical with e1 axles, e2 axles；
Coordinate transform is carried out to three-dimensional point cloud q and e1 is placed on, e2, in the conventional coordinates that e3 is constituted, so far ladle
Positioning is completed.
Preferably, in the 9th step：In conventional coordinates, each point on ladle inner surface side wall uses (α, ρ)
Represent, α is the coordinate of e1 axles in the conventional coordinates, ρ is the point and e1 axles vertical join line and e2 axle angles；For side
Each point (α, ρ) on wall, calculates it and is expressed as f (α, ρ) to the vertical range of ladle axis.
It is preferred that, in the tenth step：
1) first step is pressed to the new bag of the 9th step scanning using preceding in ladle, obtain new ladle side wall to ladle axis
Distance, is expressed as f0(x, ρ), and preserve the lower data；
2) scan old bag by the first step to the 9th step when using every time, acquisition old ladle side wall to ladle axis away from
From being expressed as f (x, ρ)；
3) f is calculated0(x, ρ)-f (x, ρ), that is, draw extent of deterioration of the flame retardant coating at (x, ρ) place.
Compared with prior art, beneficial effect is the present invention：
The ladle thickness measuring of resistance to material solution proposed by the present invention directly passes through the positioning to ladle mouth outer and the bag bottom mouth of a river
Realize that ladle is positioned, it is not necessary to by second positioning scanner or the extra positioning scan operation of progress, so that significantly simple
The ladle thickness measuring of resistance to material workflow is changed.
Brief description of the drawings
Fig. 1 is the workflow diagram of the inventive method；
Fig. 2 is the x that one embodiment of the present invention spatial digitizer is gathered, y, z two-dimensional matrix passages, wherein (a) is logical for x
Road, (b) is y passages, and (c) is z passages；
Fig. 3 is for one embodiment of the present invention apart from spatial digitizer apart from d passages；
Fig. 4 is that one embodiment of the present invention carries out ellipses detection to d passages, finds ladle mouth outer；
Fig. 5 is one embodiment of the present invention ladle mouth plane and ladle axis；
Fig. 6 screens for one embodiment of the present invention three-dimensional point cloud, wherein (a) is all point clouds, (b) is the point after screening
Cloud；
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
For limiting protection scope of the present 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 realizes that spatial digitizer scans ladle mouth and interior under computer control by a spatial digitizer and a computer
Surface simultaneously sends data to computer, and the thickness of resistance to material layer is calculated and be shown by algorithm described below for computer.
Methods described specific workflow is as follows：
1st, spatial digitizer is placed in before bag mouth at 4~8 meters, just ladle is scanned, obtain X, Y, tri- Two-Dimensional Moments of Z
Battle array passage ((a), (b), (c) are shown in such as Fig. 2), represents x, y, z coordinate of the scan data point in scanner coordinate system respectively；
All scan data points constitute a three-dimensional point cloud p；
2nd, by X, Y, tri- path computations of Z go out on matrix each point apart from the distance of spatial digitizer be d passages (such as
Shown in Fig. 3), calculation formula is：
3rd, coordinate of the ladle mouth outer in two-dimensional matrix is found (such as Fig. 4 institutes using Ellipses Detection on d passages
Show)；
4th, the value of respective coordinates in X, Y, tri- passages of Z is taken out, the coordinate of ladle mouth outer in three dimensions is obtained, should
Coordinate constitutes a three-dimensional point cloud；Plane fitting is carried out to the three-dimensional point cloud, fitting gained plane is plane where ladle mouth
(as shown in Figure 5)；The three-dimensional point cloud is carried out to justify fitting, the center of circle of fitting gained circle is ladle mouth center；Through ladle mouth
The center straight line vertical with plane where ladle mouth is ladle axis (as shown in Figure 5)；
5th, to X, Y, the three-dimensional point cloud p of tri- passage compositions of Z is screened, and is only retained and is less than apart from ladle half-breadth
2.5 meters of point ((a), (b) are shown in such as Fig. 6), constitutes three-dimensional point cloud q；
6th, in the three-dimensional point cloud q retained, the point farthest apart from plane where ladle mouth is found, the point is bag bottom water
Mouth (as shown in Figure 5)；
7th, plane, ladle axis and bag bottom mouth of a river position build conventional coordinates, conventional coordinates according to where ladle mouth
Three reference axis be expressed as e1, e2, e3, in the coordinate system：The origin of coordinates is located at ladle mouth center, e1 axles correspondence ladle
Axis, the direction of e2 axles correspondence ladle axis to the bag bottom mouth of a river, e3 axles are simultaneously and e1, e2 axle are vertical (as shown in Figure 7)；
8th, coordinate transform is carried out to three-dimensional point cloud q, and be placed in conventional coordinates, so far ladle positioning is completed；
9th, in conventional coordinates, each point on ladle inner surface side wall represents that wherein α is the point mark with (α, ρ)
The coordinate of e1 axles, ρ are the point and e1 axles vertical join line and e2 axle angles in conventional coordinates；For each point on the wall of side
(α, ρ), calculates its vertical range for arriving ladle axis, and the distance is expressed as f (α, ρ)；
10th, the new bag of scanning the step of ladle presses above-mentioned 1-9 before, calculating new ladle side wall is remembered apart from the distance of axis
Make f0(α, ρ), and preserve the lower data；Every time by calculating f during scanning0(α, ρ)-f (α, ρ), that is, draw flame retardant coating at (α, ρ)
The extent of deterioration at place.
In the present embodiment, described spatial digitizer is initially installed near ladle rollover prevention system, and combination operating temperature,
Ladle size, angle of tumbling and inner surface reflectivity are to determine putting position；Its specific technical parameter includes：
1) horizontal sweep scope：0-360；Vertical scanning scope：+/-40；
2) scan frequency：It is not less than 50kHz；
3)Accuracy：It is higher than +/- 4mm inside effective range；
4) it can be disturbed when scanning by hot gas in ladle；
5) optical maser wavelength, can be while feedback space data and temperature data close to ultraviolet；
6) client development software is supplied with SDK kits.
To sum up, steel of the method for the invention by a spatial digitizer under computer respectively to new, old ladle
Bag mouth and inner surface are scanned and transfer data to computer, and computer is by contrasting new, old steel ladle working layer inner surface in mark
Position in conventional coordinates calculates the thickness that resistance to material is lost and shows resistance to material layer.The present invention is directly scanned and calculated to ladle
Go out the extent of deterioration of resistance to material, positioned without being realized by second spatial digitizer, it is not required that carry out extra positioning and sweep
Retouch operation.The present invention can greatly simplify operating process, it is easier in steel mill's environment busy applied to complexity, and reduce behaviour by mistake
The probability of work.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer, it is characterised in that methods described comprises the following steps：
The first step, spatial digitizer scanning ladle is utilized, obtain ladle 3 d scan data, including 3-D scanning X, Y, Z passage
With three-dimensional point cloud p；
Second step, 3-D scanning X, Y, the Z passage that the first step is obtained is merged into represent with the d passages of scanner distance, and in d
Rim detection and ellipses detection is carried out in passage to detect ladle mouth outer；
3rd step, the value for taking out ladle outer respective coordinates in X, Y, tri- passages of Z, obtain ladle mouth outer in three dimensions
Coordinate, the coordinate constitute a three-dimensional point cloud, and to the three-dimensional point cloud carry out plane fitting, gained plane is ladle mouth
Place plane；
4th step, on the ladle mouth outer in the 3rd step three-dimensional point cloud carry out justify fitting, obtain the center of ladle mouth；
Plane where the ladle mouth that 5th step, the center with reference to the ladle mouth that the 4th step is obtained and the 3rd step are obtained, obtains ladle
Axis；
6th step, using the ladle axis detected the three-dimensional point cloud p obtained by scanning is screened, remove incoherent number
According to obtaining three-dimensional point cloud q；
7th step, distance of the point in three-dimensional point cloud q apart from ladle mouth plane is calculated, according to range information from three-dimensional point cloud q
Find the bag bottom mouth of a river；
8th step, set up conventional coordinates using plane, ladle axis and bag bottom mouth of a river position where ladle mouth, and by three-dimensional point
Cloud q is transformed in conventional coordinates；
9th step, using in conventional coordinates three-dimensional point cloud q calculate ladle side wall inner surfaces apart from ladle axis it is vertical away from
From；
Tenth step, by the method for the first step to the 9th step the distance of new, old ladle side wall inner surfaces apart from ladle axis is calculated, its
Difference is flame retardant coating extent of deterioration.
2. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, it is characterised in that institute
State in the first step：Just ladle is scanned by spatial digitizer, X is obtained, Y, tri- two-dimensional matrix passages of Z are represented respectively
Scan data the point x in scanner coordinate system, y, z coordinate；All scan data points constitute 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, it is characterised in that institute
State in second step：
By X, Y, tri- path computations of Z go out each distance i.e. d passages put apart from spatial digitizer, calculation formula on matrix
For：
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Ladle mouth outer is found in two-dimensional matrix using edge detection algorithm and Hough transformation Ellipses Detection on d passages
Coordinate, wherein：X, y, z refer to x of the data point in scanner coordinate system, and y, z coordinate, two-dimensional matrix refers to spatial digitizer
Ladle is scanned, X, Y, tri- two-dimensional matrixs of Z is obtained.
4. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, it is characterised in that institute
State in the 5th step：Vertical line through plane where the center of ladle mouth and ladle mouth is ladle axis.
5. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, it is characterised in that institute
State in the 6th step：Three-dimensional point cloud p is screened, only retains the point for being less than setting numerical value apart from ladle half-breadth, three are constituted
Dimension point cloud q.
6. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, it is characterised in that institute
State in the 7th step：The farthest point of the plane where ladle mouth is found in the three-dimensional point cloud q retained, the bottom mouth of a river is as wrapped.
7. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, it is characterised in that institute
State in the 8th step：Three reference axis of conventional coordinates are expressed as e1, e2, e3, in the conventional coordinates：
The origin of coordinates is located at ladle mouth center；E1 axles correspondence ladle axis；Direction of the e2 axles correspondence ladle axis to the bag bottom mouth of a river；
E3 axles are simultaneously vertical with e1 axles, e2 axles；
Coordinate transform is carried out to three-dimensional point cloud q and e1 is placed on, e2, in the conventional coordinates that e3 is constituted, so far ladle is positioned
Complete.
8. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim 1, it is characterised in that institute
State in the 9th step：In conventional coordinates, each point on ladle inner surface side wall represents that α sits for the standard with (α, ρ)
The coordinate of e1 axles in mark system, ρ is the point and e1 axles vertical join line and e2 axle angles；For on the wall of side each point (α,
ρ), calculate it and be expressed as f (α, ρ) to the vertical range of ladle axis.
9. a kind of ladle flame retardant coating thickness measuring method based on spatial digitizer according to claim any one of 1-8, it is special
Levy and be, in the tenth step：
1) ladle using it is preceding by the first step to the new bag of the 9th step scanning, obtain new ladle side wall to ladle axis away from
From being expressed as f0(x, ρ), and preserve the lower data；
2) old bag is scanned by the first step to the 9th step when using every time, old ladle side wall is obtained to the distance of ladle axis,
It is expressed as f (x, ρ)；
3) f is calculated0(x, ρ)-f (x, ρ), that is, draw extent of deterioration of the flame retardant coating at (x, ρ) place.
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