CN111036863A - Device for positioning ladle drainage port by adopting machine vision and using method thereof - Google Patents
Device for positioning ladle drainage port by adopting machine vision and using method thereof Download PDFInfo
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- CN111036863A CN111036863A CN201811247514.1A CN201811247514A CN111036863A CN 111036863 A CN111036863 A CN 111036863A CN 201811247514 A CN201811247514 A CN 201811247514A CN 111036863 A CN111036863 A CN 111036863A
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- continuous casting
- nozzle
- ladle
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
Abstract
The invention relates to the field of program control manipulators, in particular to a device for positioning a ladle drainage port by using machine vision and a using method thereof, wherein the device comprises a continuous casting ladle (1) and a robot (2), and is characterized by further comprising a base (3), a camera (4), an image processing computer (5) and a position controller (6), wherein the base (3) is fixed on an operating arm of the robot (2), at least one camera (4) is fixed on the base (3), and the camera (4), the image processing computer (5), the position controller (6) and a robot (2) body are sequentially connected through signal lines.
Description
Technical Field
The invention relates to the field of program control manipulators, in particular to a device for positioning a ladle drainage port by adopting machine vision and a using method thereof.
Background
With the wider application of the robot, more and more robots are used for heavy production in the continuous casting production field. Some robots are arranged around the ladle turret, such as robots which perform large ladle related work at a ladle receiving position, a casting position and the like. The robot completes operations in a bale area, including oil cylinder installation, corresponding oil pipe and air pipe signal line plug installation, long water gap installation and the like.
Modern continuous casting machines mostly adopt modes such as a rotary table or a transverse moving trolley for realizing continuous production, and under general conditions, a bale is transferred to the rotary table or the transverse moving trolley through a travelling crane, the positioning precision at the moment is mainly determined by the operation habit and the operation level of field operators, and errors are inevitable. Meanwhile, the position of the big bag is different every time due to the movement of the big bag, which causes a lot of obstacles for the operation of the big bag by the robot, because the robot can not perform related operation on the big bag in a fixed position. For this purpose, a robot visual system is required to be added to complete corresponding operation.
Disclosure of Invention
The invention discloses a device for positioning a ladle drainage port by adopting machine vision and a using method thereof, aiming at overcoming the defects of the prior art and providing mechanical control equipment with accurate control, safety and reliability.
The invention achieves the purpose by the following technical scheme:
the utility model provides an adopt device at mouth of a river under big package of machine vision location, includes continuous casting big package and robot, and the bottom of continuous casting big package is equipped with down the mouth of a river, and one side of continuous casting big package, characterized by are located to the operating arm of robot: also comprises a base, a camera, an image processing computer and a position controller,
the base is fixed on the operation arm of robot, fixes at least one camera on the base, and the lower mouth of a river of continuous casting bale is all aimed at to the objective of camera, and the signal output part of camera passes through signal line connection image processing computer, and the signal output part of image processing computer passes through signal line connection position controller, and position controller's instruction output part passes through signal line connection robot body.
Adopt the device of mouth of a river under big package of machine vision location, characterized by: the included angle between the central axis of the camera objective lens and the central axis of the continuous casting ladle drain is not more than 60 degrees;
the position controller is selected from a control cabinet or a programmable controller.
The use method of the device for positioning the ladle drainage port by adopting machine vision is characterized in that: the method is implemented in sequence according to the following steps:
① shooting, wherein the objective lenses of all cameras are aligned with the down-flow openings of the continuous casting ladle, the position images of the down-flow openings of the continuous casting ladle are shot in real time, and the cameras convert the shot position images into electric signals and input the electric signals into an image processing computer through signal lines;
② calculating the central position of the continuous casting ladle outlet by the image processing computer and outputting the central position information to the position controller through a signal line;
③ correcting, the position controller corrects the operation position of the robot operation arm according to the actually measured central position information of the continuous casting ladle nozzle, so that the robot operation arm is aligned with the continuous casting ladle nozzle.
The use method of the device for positioning the ladle drain port by adopting the machine vision is characterized in that in the step ②, if the number of the cameras is one, namely monocular vision is adopted, the 2D positioning method is used for identifying the profile of the continuous casting ladle drain port and calculating the central position of the drain port, and the specific steps of the 2D positioning method are that the drain port of the continuous casting ladle is circular, when the camera shoots the drain port at the bottom of the continuous casting ladle, the shot drain port image is elliptical because an included angle of not more than 30 degrees exists in the vertical direction of the camera and the bottom of the continuous casting ladle, and the central point of the elliptical image of the drain port is calculated to be the central position of the drain port according to the image identification theory;
if the number of the cameras is more than one, namely binocular vision or multi-ocular vision is adopted, the central position of the lower nozzle is calculated by a 3D positioning method, and the 3D positioning method comprises the following specific steps: the method comprises the steps of positioning the water outlet by identifying a plurality of characteristic points on the water outlet of the continuous casting ladle, wherein the number of the characteristic points is not less than three, identifying the position and the posture of the water outlet, and calculating parameters of the water outlet in a Cartesian coordinate system, namely (x, y, z, a, b and c).
The invention adopts a monocular or binocular vision system and realizes the positioning of the ladle system through an image recognition algorithm. And sending the change of the position to the robot so as to realize the hand-eye coordination of the robot.
The invention can be used for detecting the position of the ladle drain nozzle, and the position of the drain nozzle is detected and calculated by monocular, binocular or binocular vision when the robot needs to operate the drain nozzle, and then the position is sent to the robot, so that the hand-eye coordination of the robot is completed.
The invention has the beneficial effects that: the control is accurate, safe and reliable.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples.
Example 1
The utility model provides an adopt device of mouth of a river under big package of machine vision location, includes continuous casting big package 1, robot 2, base 3, camera 4, image processing computer 5 and position controller 6, as shown in figure 1, concrete structure is:
a water outlet 11 is arranged at the bottom of the continuous casting ladle 1, and an operating arm of the robot 2 is arranged at one side of the continuous casting ladle 1;
the base 3 is fixed on the operation arm of robot 2, fixes at least one camera 4 on the base 3, and the lower mouth of a river of continuous casting bale 1 is all aimed at to the objective of camera 4, and the signal output part of camera 4 passes through signal line connection image processing computer 5, and the signal output part of image processing computer 5 passes through signal line connection position controller 6, and position controller 6's instruction output part passes through signal line connection robot 2 body.
In this embodiment: the included angle between the central axis of the objective lens of the camera 4 and the central axis of the drain 11 of the continuous casting bale 1 is not more than 60 degrees;
the position controller 6 is a control cabinet or a programmable controller;
the camera 4 may employ laser detection.
When the embodiment is used: the method is implemented in sequence according to the following steps:
① shooting, aiming all the objective lenses of the cameras 4 at the water outlet 11 of the continuous casting ladle 1, shooting the position images of the water outlet 11 of the continuous casting ladle 1 in real time, converting the shot position images into electric signals by the cameras 4 and inputting the electric signals into the image processing computer 5 through signal lines;
② calculating that the image processing computer 5 calculates the central position of the down nozzle 11 of the continuous casting ladle 1 and outputs the central position information to the position controller 6 through a signal line;
if the number of the cameras 4 is one, namely monocular vision is adopted, the outline of the lower nozzle 11 of the continuous casting ladle 1 is identified and the central position of the lower nozzle 11 is calculated by a 2D positioning method, wherein the 2D positioning method comprises the following specific steps: the lower nozzle 11 of the continuous casting ladle 1 is circular, when the camera 4 shoots the lower nozzle 11 at the bottom of the continuous casting ladle 1, because an included angle of not more than 30 degrees exists in the vertical direction of the camera 4 and the bottom of the continuous casting ladle 1, the shot image of the lower nozzle 11 is elliptical, and the central point of the elliptical image of the lower nozzle 11 is calculated to be the central position of the lower nozzle 11 according to the image recognition theory;
if the number of the cameras 4 is more than one, namely binocular vision or multi-ocular vision is adopted, the central position of the lower nozzle 11 is calculated by a 3D positioning method, and the 3D positioning method comprises the following specific steps: the method comprises the steps of positioning a water outlet 11 by identifying a plurality of characteristic points on the water outlet 11 of a continuous casting ladle 1, wherein the number of the characteristic points is not less than three, identifying the position and the posture of the water outlet 11, and calculating parameters (x, y, z, a, b and c) of the water outlet 11 in a Cartesian coordinate system;
the Cartesian coordinate system is used for describing and determining the position and the posture of the operating arm of the robot 2, the origin of the Cartesian coordinate system is arranged at the center of a first joint of the operating arm of the robot 2, the x axis and the y axis of a plane rectangular coordinate system are determined firstly, and then the positive direction of the z axis is determined according to the right-hand rule. Parameters x, y and z in a cartesian coordinate system respectively refer to the distance between the projection of an object on the x-axis, the y-axis and the z-axis of the cartesian coordinate system and an origin, and parameters a, b and c in the cartesian coordinate system respectively refer to the rotation angles of the object around the x-axis, the y-axis and the z-axis, generally, a is called a deflection angle, b is called a pitch angle and c is called a rotation angle;
③, correcting the operation position of the operation arm of the robot 2 by the position controller 6 according to the actually measured central position information of the water outlet 11 of the continuous casting ladle 1, so that the operation arm of the robot 2 is aligned with the water outlet 11 of the continuous casting ladle 1.
When the 3D positioning method is used, because the lower nozzle 11 cannot be directly positioned, some characteristic points are needed, the characteristic points are generally of the equipment, such as round holes of the continuous casting bale 1, but if the equipment does not exist, the characteristic points can be artificially increased at the fixed position of the continuous casting bale 1, such as: and adding a plurality of round, rectangular and other special-shaped objects as marks, wherein the number of the characteristic points is not less than three, and the relative positions of the special-shaped marks and the water outlet 11 are fixed. The 3D positioning can be performed by indirectly calculating the position of the drain 11 by recognizing these marks as characteristic points.
Claims (4)
1. The utility model provides an adopt device of mouth of a river under big package of machine vision location, includes continuous casting big package (1) and robot (2), the bottom of continuous casting big package (1) is equipped with down mouth of a river (11), and one side of continuous casting big package (1), characterized by are located to the operating arm of robot (2): also comprises a base (3), a camera (4), an image processing computer (5) and a position controller (6),
the base (3) is fixed on the operation arm of robot (2), fixed at least one camera (4) on base (3), the lower mouth of a river of continuous casting bale (1) is all aimed at to the objective of camera (4), the signal output part of camera (4) passes through signal line connection image processing computer (5), the signal output part of image processing computer (5) passes through signal line connection position controller (6), the instruction output part of position controller (6) passes through signal line connection robot (2) body.
2. The apparatus for positioning the ladle nozzle using machine vision as claimed in claim 1, wherein: the included angle between the central axis of the objective lens of the camera (4) and the central axis of the drain opening (11) of the continuous casting ladle (1) is not more than 60 degrees;
the position controller (6) is selected from a control cabinet or a programmable controller.
3. The use method of the device for positioning the ladle nozzle by machine vision as claimed in claim 1 or 2 is characterized in that: the method is implemented in sequence according to the following steps:
① shooting, wherein the objective lenses of all cameras (4) are aligned with the water outlet (11) of the continuous casting bale (1), the position images of the water outlet (11) of the continuous casting bale (1) are shot in real time, and the shot position images are converted into electric signals by the cameras (4) and are input into an image processing computer (5) through signal lines;
②, calculating the central position of the water outlet (11) of the continuous casting ladle (1) by the image processing computer (5) and outputting the central position information to the position controller (6) through a signal line;
③, correcting the operation position of the operation arm of the robot (2) by the position controller (6) according to the actually measured central position information of the water outlet (11) of the continuous casting ladle (1) so that the operation arm of the robot (2) is aligned with the water outlet (11) of the continuous casting ladle (1).
4. The use method of the device for positioning the ladle nozzle by machine vision according to the claim 3 is characterized in that in the step ②, if the number of the cameras (4) is one, the outline of the nozzle (11) of the continuous casting ladle (1) is identified and the central position of the nozzle (11) is calculated by a 2D positioning method, the 2D positioning method comprises the specific steps that the nozzle (11) of the continuous casting ladle (1) is circular, when the camera (4) shoots the nozzle (11) at the bottom of the continuous casting ladle (1), an included angle which is not more than 30 degrees exists in the vertical direction of the camera (4) and the bottom of the continuous casting ladle (1), the shot nozzle (11) image is elliptical, and the central point of the elliptical image of the nozzle (11) is calculated to be the central position of the nozzle (11);
if the number of the cameras (4) is more than one, the central position of the lower nozzle (11) is calculated by a 3D positioning method, and the 3D positioning method comprises the following specific steps: the method comprises the steps of identifying a plurality of characteristic points on a drain nozzle (11) of a continuous casting ladle (1), locating the drain nozzle (11), wherein the number of the characteristic points is not less than three, identifying the position and the posture of the drain nozzle (11), and calculating parameters of the drain nozzle (11) in a Cartesian coordinate system, namely (x, y, z, a, b, c).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811198722 | 2018-10-15 | ||
| CN2018111987227 | 2018-10-15 |
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| CN111036863A true CN111036863A (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811247514.1A Pending CN111036863A (en) | 2018-10-15 | 2018-10-25 | Device for positioning ladle drainage port by adopting machine vision and using method thereof |
| CN201821732439.3U Active CN209174850U (en) | 2018-10-15 | 2018-10-25 | The device of big packet collector nozzle is positioned using machine vision |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821732439.3U Active CN209174850U (en) | 2018-10-15 | 2018-10-25 | The device of big packet collector nozzle is positioned using machine vision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112170825A (en) * | 2020-10-09 | 2021-01-05 | 中冶赛迪工程技术股份有限公司 | Long nozzle replacing method, equipment, terminal and medium based on visual servo |
| CN112247134A (en) * | 2020-10-30 | 2021-01-22 | 首要金属科技奥地利有限责任公司 | Device and method for operating a shielding tube |
| CN115026271A (en) * | 2022-05-25 | 2022-09-09 | 江阴兴澄特种钢铁有限公司 | Method for realizing continuous casting nozzle installation measurement calibration system |
| CN115026271B (en) * | 2022-05-25 | 2024-04-19 | 江阴兴澄特种钢铁有限公司 | Implementation method of continuous casting nozzle installation measurement calibration system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111476845A (en) * | 2020-03-28 | 2020-07-31 | 无锡埃姆维工业控制设备有限公司 | Binocular vision guiding method based on continuous casting equipment |
| DE102020213501A1 (en) * | 2020-10-27 | 2022-04-28 | Sms Group Gmbh | Device and method for monitoring machine parts in the metalworking industry |
-
2018
- 2018-10-25 CN CN201811247514.1A patent/CN111036863A/en active Pending
- 2018-10-25 CN CN201821732439.3U patent/CN209174850U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112170825A (en) * | 2020-10-09 | 2021-01-05 | 中冶赛迪工程技术股份有限公司 | Long nozzle replacing method, equipment, terminal and medium based on visual servo |
| CN112247134A (en) * | 2020-10-30 | 2021-01-22 | 首要金属科技奥地利有限责任公司 | Device and method for operating a shielding tube |
| CN112247134B (en) * | 2020-10-30 | 2022-06-28 | 首要金属科技奥地利有限责任公司 | Device and method for operating a shielding tube |
| CN115026271A (en) * | 2022-05-25 | 2022-09-09 | 江阴兴澄特种钢铁有限公司 | Method for realizing continuous casting nozzle installation measurement calibration system |
| CN115026271B (en) * | 2022-05-25 | 2024-04-19 | 江阴兴澄特种钢铁有限公司 | Implementation method of continuous casting nozzle installation measurement calibration system |
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| Publication number | Publication date |
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| CN209174850U (en) | 2019-07-30 |
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