CN111413928A - Torpedo car socket position detection and butt joint control system and method based on camera shooting method - Google Patents
Torpedo car socket position detection and butt joint control system and method based on camera shooting method Download PDFInfo
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- CN111413928A CN111413928A CN202010291393.1A CN202010291393A CN111413928A CN 111413928 A CN111413928 A CN 111413928A CN 202010291393 A CN202010291393 A CN 202010291393A CN 111413928 A CN111413928 A CN 111413928A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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Abstract
The invention discloses a system and a method for detecting the position of a torpedo car socket and controlling butt joint based on a camera shooting method, wherein the system comprises: the intelligent camera is used for acquiring image information at a socket of the on-site torpedo car, acquiring a characteristic mark at the position of a power-on socket of the torpedo car, and analyzing and processing the characteristic mark; the intelligent camera comprises a butt joint control unit for receiving distance information transmitted by the intelligent camera, the butt joint control unit converts the distance information into pulse signals and transmits the pulse signals to a stepping driver and a servo driver, the stepping driver controls the walking process of a Y-axis stepping motor and a Z-axis stepping motor in real time, the servo driver controls the walking process of an X-axis servo motor in real time, the Y-axis stepping motor and the Z-axis stepping motor drive a plug to walk vertically and perform centering control, and the X-axis servo motor drives the plug to walk horizontally and perform butt joint control.
Description
Technical Field
The invention relates to the field of power connection control of a torpedo hot metal mixer car in a steel mill, in particular to a system and a method for detecting the position of a torpedo hot metal mixer car socket and controlling butt joint based on a camera shooting method.
Background
The hot molten iron is transported to a working site by a steel mill by using the iron mixing truck, and the plug and the socket are butted by the power connection device, so that the iron mixing truck is electrically connected with the central control system, and the work tasks of controlling the iron mixing truck to pour the molten iron and the like are realized.
The traditional power receiving device is of a pure mechanical structure: the mechanical positioning is carried out on the respective positions of the plug and the socket through the mechanical arm, the guide post and the horn mouth, the compensation of the freedom degrees in other directions is realized through the vibrating motor during the butt joint, and the butt joint of the plug and the socket is realized through the pushing of the air cylinder.
However, the traditional pure mechanical automatic power connection device has low precision, low automation degree, long power connection time and low efficiency, and due to long-time production, the vehicle body is aged, deformed and sunk, the pure mechanical automatic power connection device is difficult to compensate in the vertical (Z-axis) direction, a specific person is required to modify and maintain the vehicle body, the workload of maintenance workers is huge, the maintenance cost is increased, and the normal production progress is influenced.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a system for detecting the position of a torpedo car socket and controlling butt joint based on a camera shooting method, which comprises the following steps:
the characteristic mark is arranged on the socket of the torpedo hot metal mixer car;
the intelligent camera is used for acquiring image information of a socket of the on-site mixer car, acquiring a feature mark at the position of a power-on socket of the mixer car, carrying out image analysis and image processing on the feature mark, and acquiring the position of the central point of the socket of the mixer car through the relative position of the central point of the feature mark and the central point of the socket of the mixer car so as to acquire distance information of a stepping motor which needs to travel on a Y axis and a Z axis;
a docking control unit for receiving the distance information transmitted by the intelligent camera, wherein the docking control unit converts the distance information into pulse signals and transmits the pulse signals to a Y-axis stepping driver, a Z-axis stepping driver and an X-axis servo driver,
the Y-axis stepping driver and the Z-axis stepping driver perform real-time control on the walking process of the Y-axis stepping motor and the walking process of the Z-axis stepping motor, the X-axis servo driver performs real-time control on the walking process of the X-axis servo motor, the Y-axis stepping motor and the Z-axis stepping motor drive the plug to walk vertically and horizontally and perform centering control, and the X-axis servo motor drives the plug to transversely walk to perform butt joint control.
The characteristic marks are colored circular marks, the number of the marks is two, and the central distances of the two colored circular marks are added and then averaged, so that the central point position of the socket of the torpedo car is determined.
The butt joint control unit at least comprises a programmable controller, a signal transmission module, a communication module, a network switch, an Ethernet communication cable and a twisted pair communication cable, the programmable controller is in data communication with the network switch through the communication cable, the network switch is in data communication with the intelligent camera through the Ethernet communication cable, and the communication module is in data communication with the X-axis servo driver through the twisted pair communication cable.
A working mode of a torpedo car socket position detection and docking control system based on a camera shooting method comprises the following steps:
when the torpedo hot metal mixer car arrives at the working position, carry out the self-checking to programmable controller and initialize the triaxial position of X/Y/Z and carry out the state of awaiting orders, control smart camera simultaneously and carry out position detection for the first time to the central point of torpedo hot metal mixer car socket: the method comprises the steps of calibrating a camera, carrying out Gaussian filtering processing on an image of a target area, carrying out RGB color model separation on the image to extract red components, extracting the edge of a characteristic target by using a Fourier edge extraction function so as to determine the position of the central point of the characteristic target, calculating the distance deviation of the central point in the Y-axis and Z-axis directions, and transmitting the distance deviation to a programmable controller in an Ethernet communication mode;
carrying out first centering: the programmable controller sends instructions to the Y-axis stepping driver and the Z-axis stepping driver, controls the Y-axis stepping motor to run for a corresponding distance in the vertical direction, and controls the Z-axis stepping motor to run for a corresponding distance in the vertical direction;
the programmable controller sends an instruction to the X-axis servo driver to control the X-axis servo motor to run for a corresponding distance in the transverse direction, and simultaneously controls the intelligent camera to carry out secondary shooting;
and (3) carrying out second centering: the programmable controller sends instructions to the Y-axis stepping driver and the Z-axis stepping driver, controls the Y-axis stepping motor to run for a corresponding distance in the vertical direction, and controls the Z-axis stepping motor to run for a corresponding distance in the vertical direction;
accurate butt joint process: the programmable controller sends an instruction to the X-axis servo driver, controls the X-axis servo motor to drive the plug to be accurately butted with the socket of the iron mixing car in the transverse direction, and completes the electricity connection process.
Due to the adoption of the technical scheme, the invention particularly relates to a system and a method for detecting the position and butt joint control of a mixer car socket based on a camera shooting method, wherein the system can be applied to the power connection process of a mixer car in a steel plant, the camera shooting method is adopted to carry out non-contact detection and calculation on the position and the centering distance of the power connection socket of the mixer car, and an instruction is sent to a motor driver through P L C to control the motor to operate so as to drive a plug to run, and the plug is accurately centered and butted with the mixer car socket, so that the system improves the butt joint accuracy of the plug and the mixer car socket, improves the automation degree of detection equipment and an automatic power connection device, improves the butt joint working efficiency, and reduces the manual later maintenance and maintenance cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the architecture of the system of the present invention;
FIG. 2 is a network topology diagram of the system of the present invention;
FIG. 3 is a schematic diagram of the Y-axis stepper drive control process in the system of the present invention;
FIG. 4 is a schematic diagram of a Z-axis step drive control process in the system of the present invention;
FIG. 5 is a diagram of servo drive control wiring in the system of the present invention;
FIG. 6 is a flow chart of a method of the system of the present invention;
FIG. 7 is a flowchart illustrating the detection of the socket center point of the hot metal mixer car in the system of the present invention
In the figure: 1.1 a torpedo car socket, 1.2 plugs, 1.3 intelligent cameras, 10 a butt joint control unit, 1.4Y-axis stepping motors, 1.5Z-axis stepping motors, 1.6X-axis servo motors, 1.7 drag chain cables, 1.8 and characteristic marks; 2.1, a programmable controller, 2.2, a signal transmission module, 2.3, a communication module, 2.4, a network switch, 2.7, an Ethernet communication cable and 2.8 twisted-pair communication cables; 3.1, a Y-axis stepping driver, 4.1, a Z-axis stepping driver, 5.1 and an X-axis servo driver; 10.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
a torpedo car socket position detection and docking control system based on a camera method as shown in fig. 1 and 2, which uses a smart camera 1.3 to perform image acquisition on a field torpedo car socket 1.1; and the intelligent camera 1.3 transmits the traveling distances of the Y-axis stepping driver 3.1 and the Z-axis stepping driver 4.1, which need to be on the Y axis and the Z axis, to the programmable controller 2.1 through an Ethernet communication cable 2.7.
Further, as shown in fig. 2 to 5, the feature mark 1.8 is obtained by a method that we first need to determine the center point of the target torpedo car socket, and since the field environment is bad, the common feature mark is easily affected and not easily locked, we determine the mark to be red circle for locking by a camera shooting method, and lock the center point of the torpedo car socket by the relative position between the center point of the red circle mark and the center point of the torpedo car socket. Because the socket 1.2 has the condition of horizontal plane rotation, the center point of a red circular mark, namely the feature mark 1.8, and the center point of the iron mixing car socket 1.1 are not overlapped and have deviation in the X-axis direction, two red circular marks are arranged to form the feature mark 1.8, and the center point of the iron mixing car socket is determined by half of the sum of the center distances of the two red circular marks.
Further, the docking control unit 10 includes a programmable controller 2.1, a signal transmission module 2.2, a communication module 2.3, a network switch 2.4, an ethernet communication cable 2.7, and a twisted pair communication cable 2.8, where the programmable controller 2.1 and the network switch 2.4 communicate data through the ethernet communication cable 2.7, the network switch 2.4 and the smart camera 1.3 communicate data through the ethernet communication cable 2.7, and the communication module 2.3 and the X-axis servo driver 5.1 communicate data through the twisted pair communication cable 2.8.
Furthermore, the type of the programmable controller 2.1 can be siemens S7-1214P L C, wherein the programmable controller 2.1 performs data communication with the Y-axis stepping driver 3.1 and the Z-axis stepping driver 4.1 in a hard-wire connection manner, and performs data communication with the X-axis servo driver 5.1 through the communication module 2.3 by using a twisted pair cable 2.8, wherein the programmable controller 2.1 sends instructions to the X-axis servo driver 5.1, the Y-axis stepping driver 3.1 and the Z-axis stepping driver 4.1 to respectively control the traveling of the X-axis servo motor 1.6, the Y-axis stepping motor 1.4 and the Z-axis stepping motor 1.5, wherein the Y-axis and Z-axis stepping motors are controlled to drive the plug to travel in the vertical direction and the vertical direction to realize the accurate centering function, and the X-axis servo motor 1.6 is controlled to drive the plug 1.2 to travel in the transverse direction to realize the accurate docking function.
Further, as shown in fig. 6 and 7, a control method of a torpedo car socket position detection and docking control system based on a camera method includes the following steps:
when the torpedo car reaches the working position, the programmable controller 2.1 carries out self-checking, initializes the position of the X/Y/Z three axes, and places the three axes on the working position for standby, at the moment, the programmable controller 2.1 sends a shooting instruction to the intelligent camera 1.3 to carry out first position detection on the central point of the socket of the torpedo car;
first position detection: calibrating a camera, performing Gaussian filtering processing on an image of a target area, performing RGB color model separation on the image, segmenting the image to extract red components, extracting the edge of a feature target by using a Fourier edge extraction function, determining the position of the center point of the feature target, calculating the distance deviation of the center point in the Y-axis and Z-axis directions, and transmitting the numerical value to a programmable controller 2.1 in an Ethernet communication mode.
Carrying out first centering: the programmable controller 2.1 sends an instruction to the Y-axis stepping driver 3.1 to control the Y-axis stepping motor 1.4 to run for a corresponding distance in the vertical direction, and the programmable controller 2.1 sends an instruction to the Z-axis stepping driver 4.1 to control the Z-axis stepping motor 1.5 to run for a corresponding distance in the vertical direction.
The programmable controller 2.1 sends an instruction to the X-axis servo driver 5.1, controls the X-axis servo motor 1.6 to run for a corresponding distance in the transverse direction, waits for the instruction controlled by the programmable controller 2, and carries out secondary shooting 6.9 (wherein the secondary shooting forms a closed loop to increase the reliability of the system)
And (3) second centering: the programmable controller 2.1 sends an instruction to the Y-axis stepping driver 3.1 to control the Y-axis stepping motor 1.4 to run for a corresponding distance in the vertical direction, and the programmable controller 2.1 sends an instruction to the Z-axis stepping driver 4.1 to control the Z-axis stepping motor 1.5 to run for a corresponding distance in the vertical direction.
Accurate butt joint process: the programmable controller 2.1 sends an instruction to the X-axis servo driver 5.1, controls the X-axis servo motor 1.6 to drive the plug to be accurately butted with the socket of the torpedo car in the transverse direction, and realizes the power connection function.
The system disclosed by the invention uses the intelligent camera 1.3 as main detection equipment, processes images by using a computer vision recognition and image processing technology to determine the position of the socket center point of the torpedo car, and takes factors such as image distortion, dust, vibration and the like into account by an algorithm, so that the accuracy, the automation degree and the working efficiency of the equipment are improved, and the manual later maintenance and maintenance cost is reduced.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The utility model provides a torpedo car socket position detection and butt joint control system based on camera method which characterized in that includes:
a characteristic mark (1.8) arranged on the torpedo car socket (1.1);
the intelligent camera (1.3) is used for acquiring image information of a socket of the on-site mixer car, the intelligent camera (1.3) acquires a feature mark (1.8) at the position of the socket (1.1) of the mixer car, performs image analysis and image processing on the feature mark (1.8), and obtains the position of the central point of the socket of the mixer car through the relative position of the central point of the feature mark and the central point of the socket of the mixer car so as to obtain distance information of the stepping motor which needs to travel on the Y axis and the Z axis;
a docking control unit (10) for receiving the distance information transmitted by the intelligent camera (1.3), wherein the docking control unit (10) converts the distance information into pulse signals and transmits the pulse signals to a Y-axis stepping driver (3.1), a Z-axis stepping driver (4.1) and an X-axis servo driver (5.1),
y axle step-by-step driver (3.1) and Z axle step-by-step driver (4.1) carry out real time control to the walking process of Y axle step-by-step motor (1.4) and Z axle step-by-step motor (1.5) respectively, X axle servo driver (5.1) carries out real time control to the walking process of X axle servo motor (1.6), wherein Y axle step-by-step motor (1.4) and Z axle step-by-step motor (1.5) drive plug and walk at vertical and go on centering control, X axle servo motor (1.6) drive plug (1.2) are walked at the horizontal line and are carried out butt joint control.
2. The camera-based hybrid electric vehicle socket position detection and docking control system according to claim 1, further characterized in that: the characteristic marks (1.8) are colored circular marks, the number of the marks is two, and the central distances of the two colored circular marks are added and then averaged, so that the central point of the socket of the torpedo car is determined.
3. The camera-based hybrid electric vehicle socket position detection and docking control system according to claim 1, further characterized in that: the butt joint control unit (10) at least comprises a programmable controller (2.1), a signal transmission module (2.2), a communication module (2.3), a network switch (2.4), an Ethernet communication cable (2.7) and a twisted pair communication cable (2.8), wherein the programmable controller (2.1) is in data communication with the network switch (2.4) through the Ethernet communication cable (2.7), the network switch (2.4) is in data communication with the intelligent camera (1.3) through the Ethernet communication cable (2.7), and the communication module (2.3) is in data communication with the X-axis servo driver (5.1) through the twisted pair communication cable (2.8).
4. A system according to any one of claims 1 to 3, wherein: the working mode of the system comprises the following steps:
when the torpedo car reaches the working position, the programmable controller (2.1) is subjected to self-checking, the position of the X/Y/Z three axes is initialized, a standby state is carried out, and the intelligent camera (1.3) is controlled to carry out first position detection on the central point of the torpedo car socket: the method comprises the steps of calibrating a camera, carrying out Gaussian filtering processing on an image of a target area, carrying out RGB color model separation on the image to extract red components, extracting the edge of a characteristic target by using a Fourier edge extraction function so as to determine the position of the central point of the characteristic target, calculating the distance deviation of the central point in the Y-axis and Z-axis directions, and transmitting the distance deviation to a programmable controller (2.1) in an Ethernet communication mode;
carrying out first centering: the programmable controller (2.1) sends instructions to the Y-axis stepping driver (3.1) and the Z-axis stepping driver (4.1), controls the Y-axis stepping motor (1.4) to run for a corresponding distance in the vertical direction, and controls the Z-axis stepping motor (1.5) to run for a corresponding distance in the vertical direction;
the programmable controller (2.1) sends an instruction to the X-axis servo driver (5.1) to control the X-axis servo motor (1.6) to run for a corresponding distance in the transverse direction, and meanwhile, the programmable controller (2.1) controls the intelligent camera (1.3) to carry out secondary shooting;
and (3) carrying out second centering: the programmable controller (2.1) sends instructions to the Y-axis stepping driver (3.1) and the Z-axis stepping driver (4.1), controls the Y-axis stepping motor (1.4) to run for a corresponding distance in the vertical direction, and controls the Z-axis stepping motor (1.5) to run for a corresponding distance in the vertical direction;
accurate butt joint process: the programmable controller (2.1) sends an instruction to the X-axis servo driver (5.1) to control the X-axis servo motor (1.6) to drive the plug (1.2) to be accurately butted with the socket of the torpedo car in the transverse direction so as to complete the power connection process.
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| CN202010291393.1A CN111413928B (en) | 2020-04-14 | 2020-04-14 | System and method for detecting and butting control of position of socket of iron mixing vehicle based on camera shooting method |
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| CN202010291393.1A CN111413928B (en) | 2020-04-14 | 2020-04-14 | System and method for detecting and butting control of position of socket of iron mixing vehicle based on camera shooting method |
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Cited By (1)
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| CN111874551A (en) * | 2020-08-05 | 2020-11-03 | 佛山隆深机器人有限公司 | Mobile cluster splicing and transporting device |
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| CN111413928B (en) | 2023-07-25 |
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