CN111957946A - Automatic manipulator guiding device for fixedly mounting camera and using method thereof - Google Patents
Automatic manipulator guiding device for fixedly mounting camera and using method thereof Download PDFInfo
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- CN111957946A CN111957946A CN202010882842.XA CN202010882842A CN111957946A CN 111957946 A CN111957946 A CN 111957946A CN 202010882842 A CN202010882842 A CN 202010882842A CN 111957946 A CN111957946 A CN 111957946A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000009749 continuous casting Methods 0.000 claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 230000009466 transformation Effects 0.000 claims description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 238000003709 image segmentation Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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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
- B22D41/50—Pouring-nozzles
- B22D41/56—Means for supporting, manipulating or changing a pouring-nozzle
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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
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
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Abstract
The invention relates to the field of devices for supporting, operating or replacing a pouring nozzle, in particular to a guiding device of an automatic manipulator for fixedly mounting a camera and a using method thereof. The automatic manipulator guiding device for fixedly mounting the camera comprises a continuous casting platform (1), and is characterized in that: still include revolving platform (2), ladle (3), camera (4) and automatic manipulator (5), on revolving platform (2) rotationally located continuous casting platform (1), on revolving platform (2) was located in ladle (3), the bottom of ladle (3) was equipped with down mouth of a river (31), and one side of continuous casting platform (1) is equipped with camera (4) and automatic manipulator (5). A use method of an automatic manipulator guiding device for fixedly mounting a camera is characterized by comprising the following steps: the method is implemented in sequence according to the following steps: firstly, a coordinate system is determined; calibrating; and thirdly, mounting. The invention has the advantages of convenient installation, high accuracy, safety and reliability.
Description
Technical Field
The invention relates to the field of devices for supporting, operating or replacing a pouring nozzle, in particular to a guiding device of an automatic manipulator for fixedly mounting a camera and a using method thereof.
Background
Modern continuous casting machines mostly adopt modes such as a rotary table or a transverse moving trolley for realizing continuous production, generally, a ladle 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. The long nozzle manipulator is mainly used for installing a long nozzle to the bottom of a ladle in the casting process and holding the long nozzle in the whole production process, at present, most of the long nozzle manipulators are still operated on site by operators, and the area is dangerous in high-temperature, high-dust and high-electromagnetic environment.
With the improvement of automation level, the installation of the long nozzle can be completed by adopting an automatic manipulator controlled by a servo mechanism at present, and the manipulator can automatically complete the walking of a path according to a fixed running track. However, in the continuous casting production process, the position of the rotary table on the ladle is uncertain, and the installation terminal point can only be positioned in a manual operation mode in the past. However, since this position is dangerous and the working environment is poor, an automatic robot is used to install the long nozzle.
Disclosure of Invention
The invention discloses an automatic manipulator guiding device for fixedly mounting a camera and a using method thereof, and aims to overcome the defects of the prior art and provide auxiliary equipment for continuous casting production, which is convenient to mount, high in accuracy, safe and reliable.
The invention achieves the purpose by the following technical scheme:
the utility model provides an automatic manipulator guiding device of fixed mounting camera, includes the continuous casting platform, characterized by: also comprises a rotary table, a ladle, a camera and an automatic manipulator,
the rotary table is rotatably arranged on the continuous casting platform, the ladle is arranged on the rotary table, the bottom of the ladle is provided with a water outlet, one side of the continuous casting platform is provided with a camera and an automatic manipulator,
the automatic manipulator is provided with a foot coordinate system M, the foot coordinate system M comprises an original point O, an x axis determining the positive direction, a y axis determining the positive direction and a z axis determining the positive direction, the x axis, the y axis and the z axis are mutually perpendicular in pairs and are perpendicular to each other to form the original point O, and the positive directions of the x axis, the y axis and the z axis accord with the right-hand rule;
the automatic manipulator determines a base coordinate system P in a calibration plane, the base coordinate system P comprises an original point O ', an x' axis determining a positive direction, a y 'axis determining the positive direction and a z' axis determining the positive direction, a calibration device is arranged on the automatic manipulator, a fixed point on the calibration device is used as a terminal point of the automatic manipulator and is set as the original point O ', the x', y and z 'axes are mutually vertical in pairs, and a foot is set as the original point O', and the positive directions of the x ', y and z' axes accord with the right-hand rule;
the base coordinate system P is obtained by translation and rotation transformation of the foot coordinate system M.
The automatic manipulator guiding device for fixedly mounting the camera is characterized in that: if the ladle drainage port is in the direct shooting range of the camera, shooting the position of the ladle drainage port by the camera, and calibrating the coordinate of the ladle drainage port in a base coordinate system P; if the ladle drain is not in the direct shooting range of the camera, fixing a positioning plate in the direct shooting range of the camera, keeping the position difference between the positioning plate and the ladle drain fixed, shooting the position of the positioning plate by the camera, and converting and calibrating the coordinate of the ladle drain in a base coordinate system P according to the position difference between the positioning plate and the ladle drain;
the calibration device comprises a calibration ball and a connecting rod, the calibration ball is fixed on the automatic manipulator through the connecting rod, and the center of the calibration ball is used as a fixed point of the calibration device.
The use method of the automatic manipulator guiding device for fixedly mounting the camera is characterized by comprising the following steps: the method is implemented in sequence according to the following steps:
firstly, a coordinate system is determined: the automatic manipulator is provided with a foot coordinate system M, the foot coordinate system M comprises an original point O, an x axis determining the positive direction, a y axis determining the positive direction and a z axis determining the positive direction, the x axis, the y axis and the z axis are mutually perpendicular in pairs and are perpendicular to each other to form the original point O, and the positive directions of the x axis, the y axis and the z axis accord with the right-hand rule;
the automatic manipulator determines a base coordinate system P in a calibration plane, the base coordinate system P comprises an original point O ', an x' axis determining a positive direction, a y 'axis determining the positive direction and a z' axis determining the positive direction, a calibration device is arranged on the automatic manipulator, a fixed point on the calibration device is used as a terminal point of the automatic manipulator and is set as the original point O ', the x', y and z 'axes are mutually vertical in pairs, and a foot is set as the original point O', and the positive directions of the x ', y and z' axes accord with the right-hand rule;
the base coordinate system P is obtained by translation and rotation transformation of a foot coordinate system M;
calibrating: fixing a camera on one side of a ladle drain nozzle of a continuous casting platform, wherein the camera is provided with a camera coordinate system C, manually operating an automatic manipulator to the ladle drain nozzle, and if the ladle drain nozzle is in the direct shooting range of the camera, shooting the position of the ladle drain nozzle by the camera so as to calibrate the coordinate of the ladle drain nozzle in a base coordinate system P; if the ladle drain is not in the direct shooting range of the camera, fixing a positioning plate in the direct shooting range of the camera, keeping the position difference between the positioning plate and the ladle drain fixed, shooting the position of the positioning plate by the camera, and converting and calibrating the coordinate of the ladle drain in a base coordinate system P according to the position difference between the positioning plate and the ladle drain;
mounting: in the production process, a camera shoots the position change of a water outlet of a steel ladle, the offset of the water outlet of the steel ladle in a base coordinate system P is calculated according to the calibrated coordinate of the water outlet of the steel ladle in the base coordinate system P, the offset of the water outlet of the steel ladle in a foot coordinate system M is calculated according to the transformation relation of the base coordinate system P and the foot coordinate system M, and an automatic manipulator automatically installs a long water outlet on the water outlet of the steel ladle by compensating the offset.
The use method of the automatic manipulator guiding device for fixedly mounting the camera is characterized by comprising the following steps:
firstly, the calibration device comprises a calibration ball and a connecting rod, the calibration ball is fixed on the automatic manipulator through the connecting rod, and the center of the calibration ball is used as a fixed point of the calibration device;
and secondly, sequentially fixing two cameras on one side of a ladle drainage port of the continuous casting platform by adopting a binocular vision method, and forming coordinates of the two ladle drainage ports in a base coordinate system P by the two cameras, wherein the specific flow is as follows:
reading in a camera image → image segmentation → threshold segmentation → shape matching → recognizing circle center → determining the 3D coordinates of the circle center in the positioning plate → comparing with a calibration value to calculate the offset → off-line cold calibration → camera calibration → full-automatic long nozzle manipulator calibration;
the specific calculation method is as follows:
assuming that a camera coordinate system C, a base coordinate system P and a foot coordinate system M are determined, wherein the camera coordinate system C is obtained after calibration of a camera;
determining homogeneous transformation matrix of target plate coordinate system P' relative to camera coordinate system C by position of positioning plate in camera observation field
；
Determining homogeneous transformation matrix of foot coordinate system M relative to camera coordinate system C through movement of automatic manipulator in camera view field
And simultaneously recording the coordinate Q of the point Q needing teaching of the automatic manipulator in the camera coordinate system CCIn the foot coordinate system M, coordinate QM；
Finding out the coordinate Q of the point Q under the base coordinate system PP=
×QC；
When the positioning plate moves, the new target plate coordinate system P' is relatively transformed with the camera coordinate system C in a homogeneous way
；
Q ' is at the position Q ' of the foot coordinate system M 'M=
×
×QP；
And moving the automatic manipulator to the position Q' M of the foot coordinate system M to complete the repositioning.
According to the invention, the camera for positioning is fixedly arranged on the continuous casting platform, the ladle down nozzle is positioned by the camera, and the coordinate system relation between the camera and the automatic manipulator is determined by calibration, so that the automatic manipulator can automatically identify the position of the ladle down nozzle, and further the automatic manipulator is guided to complete the disassembly and assembly of the long nozzle, and the full-automatic function of the automatic manipulator is realized.
The invention has the following beneficial effects: the installation is convenient, the accuracy is high, and is safe and reliable.
Drawings
Figure 1 is a schematic view of the structure of the present invention,
figure 2 is a schematic representation of the foot coordinate system and base coordinate system of the present invention,
figure 3 is a schematic view of a calibration tool according to the invention,
FIG. 4 is a schematic view of a positioning plate of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples.
Example 1
An automatic manipulator guiding device for fixedly mounting a camera comprises a continuous casting platform 1, a rotary table 2, a steel ladle 3, a camera 4 and an automatic manipulator 5, and as shown in figures 1-4, the automatic manipulator guiding device has the following specific structure:
the rotary table 2 is rotatably arranged on the continuous casting platform 1, the ladle 3 is arranged on the rotary table 2, the bottom of the ladle 3 is provided with a water outlet 31, one side of the continuous casting platform 1 is provided with a camera 4 and an automatic manipulator 5,
the automatic manipulator 5 is provided with a foot coordinate system M, the foot coordinate system M comprises an original point O, an x axis determining the positive direction, a y axis determining the positive direction and a z axis determining the positive direction, the x axis, the y axis and the z axis are mutually perpendicular in pairs and are vertical to the original point O, and the positive directions of the x axis, the y axis and the z axis accord with the right-hand rule;
the automatic manipulator 5 determines a base coordinate system P in a calibration plane, the base coordinate system P comprises an original point O ', an x' axis determining a positive direction, a y 'axis determining the positive direction and a z' axis determining the positive direction, a calibration device 6 is arranged on the automatic manipulator 5, a fixed point on the calibration device 6 is used as a terminal end point of the automatic manipulator 5 and is determined as the original point O ', the x', y and z 'axes are mutually vertical in pairs, and a foot is taken as the original point O', and the positive directions of the x ', y and z' axes conform to the right-hand rule;
the base coordinate system P is obtained by translation and rotation transformation of the foot coordinate system M.
In this embodiment: if the ladle 3 drain 31 is in the direct shooting range of the camera 4, the camera 4 shoots the position of the ladle 3 drain 31, so as to calibrate the coordinate of the ladle 3 drain 31 in the base coordinate system P; if the ladle 3 drain 31 is not in the direct shooting range of the camera 4, fixing a positioning plate 7 in the direct shooting range of the camera 4, keeping the position difference between the positioning plate 7 and the ladle 3 drain 31 fixed, shooting the position of the positioning plate 7 by the camera 4, and converting and calibrating the coordinate of the ladle 3 drain 31 in a base coordinate system P according to the position difference between the positioning plate 7 and the ladle 3 drain 31;
the calibration device 6 comprises a calibration ball 61 and a connecting rod 62, the calibration ball 61 is fixed on the automatic manipulator 5 through the connecting rod 62, and the center of the calibration ball 61 is used as a fixed point of the calibration device 6.
When the method is used, the steps are implemented in sequence as follows:
firstly, a coordinate system is determined: as shown in fig. 1: a rotary table 2 is rotatably arranged on the continuous casting platform 1, a ladle 3 is arranged on the rotary table 2, a water outlet 31 is arranged at the bottom of the ladle 3, and a camera 4 and an automatic manipulator 5 are arranged on one side of the continuous casting platform 1;
as shown in fig. 2: the automatic manipulator 5 is provided with a foot coordinate system M, the foot coordinate system M comprises an original point O, an x axis determining the positive direction, a y axis determining the positive direction and a z axis determining the positive direction, the x axis, the y axis and the z axis are mutually perpendicular in pairs and are vertical to the original point O, and the positive directions of the x axis, the y axis and the z axis accord with the right-hand rule;
the automatic manipulator 5 determines a base coordinate system P in a calibration plane, the base coordinate system P comprises an original point O ', an x' axis determining a positive direction, a y 'axis determining the positive direction and a z' axis determining the positive direction, a calibration device 6 is arranged on the automatic manipulator 5, a fixed point on the calibration device 6 is used as a terminal end point of the automatic manipulator 5 and is determined as the original point O ', the x', y and z 'axes are mutually vertical in pairs, and a foot is taken as the original point O', and the positive directions of the x ', y and z' axes conform to the right-hand rule;
as shown in fig. 3: the calibration device 6 comprises a calibration ball 61 and a connecting rod 62, the calibration ball 61 is fixed on the automatic manipulator 5 through the connecting rod 62, and the center of the calibration ball 61 is used as a fixed point of the calibration device 6;
obviously, the base coordinate system P can be obtained by translation and rotation transformation of the foot coordinate system M;
calibrating: fixing a camera 4 at one side of a ladle 3 drain 31 of a continuous casting platform 1, manually operating an automatic manipulator 5 to the ladle 3 drain 31 by the camera 4 with a camera coordinate system C, and if the ladle 3 drain 31 is in the direct shooting range of the camera 4, shooting the position of the ladle 3 drain 31 by the camera 4 so as to calibrate the coordinate of the ladle 3 drain 31 in a base coordinate system P; considering the actual situation of the site, if the ladle 3 drain 31 is not in the direct shooting range of the camera 4, as shown in fig. 4: fixing a positioning plate 7 in the direct shooting range of a camera 4 to keep the position difference between the positioning plate 7 and a ladle 3 drain nozzle 31 fixed, shooting the position of the positioning plate 7 by the camera 4, and converting and calibrating the coordinate of the ladle 3 drain nozzle 31 in a base coordinate system P according to the position difference between the positioning plate 7 and the ladle 3 drain nozzle 31;
during calibration, a binocular vision method is adopted, the two cameras 4 are sequentially fixed on one side of the ladle 3 lower nozzle 31 of the continuous casting platform 1, coordinates of the two ladle 3 lower nozzles 31 in a base coordinate system P are formed through the two cameras 4, and the specific flow is as follows:
reading in a camera image → image segmentation → threshold segmentation → shape matching → recognizing circle center → determining the 3D coordinates of the circle center in the positioning plate → comparing with a calibration value to calculate the offset → off-line cold calibration → camera calibration → full-automatic long nozzle manipulator calibration;
the specific calculation method is as follows:
assuming that a camera coordinate system C, a base coordinate system P and a foot coordinate system M are determined, wherein the camera coordinate system C is obtained after calibration by a camera 4;
determining the homogeneous transformation matrix of the target plate coordinate system P' relative to the camera coordinate system C by the position of the positioning plate 7 in the field of view observed by the camera 4
；
Determining a homogeneous transformation matrix of the foot coordinate system M relative to the camera coordinate system C by movement of the robot 5 in the field of view of the camera
And simultaneously recording the coordinate Q of the point Q to be taught by the automatic manipulator 5 in the camera coordinate system CCIn the foot coordinate system M, coordinate QM；
Finding out the coordinate Q of the point Q under the base coordinate system PP=
×QC；
When the positioning plate 7 moves, the new target plate coordinate system P' is uniformly transformed with the camera coordinate system C
；
Q ' is at the position Q ' of the foot coordinate system M 'M=
×
×QP；
Moving the robot hand 5 to the foot coordinate system M position Q'MCompleting the repositioning;
introduction of homogeneous transformation matrix:
the FRAME data type is Euler angle representation: (X, Y, Z, a, b, c), wherein X, Y and Z are coordinate values and a, b and c are rotation angles. The coordinate system conversion process is as follows: the coordinate origin is translated to (X, Y, Z), followed by an angle a around the Z axis, followed by an angle b around the Y axis, and finally an angle c around the X axis.
The position and orientation change between coordinate systems is generally described by a homogeneous transformation matrix in three dimensions, which is equivalent to the FRAME data type (Euler angle representation) of a robot, and the homogeneous transformation matrix is mainly used for description and calculation in image processing software, and is shown as the following formula:
the homogeneous transformation matrix is used for solving the position P of a fixed point P in a moving coordinate system A in a fixed reference coordinate system BB=
×PA. For a given coordinate system { A }, { B }, { C }, the description of { B } versus { A } is known as
Description of { C } versus { B } is
Description of { C } versus { A }
=
×
。
Mounting: in the production process, the camera 4 shoots the change of the position of the water outlet of the steel ladle 3, the offset of the water outlet 31 of the steel ladle 3 in the base coordinate system P is calculated according to the calibrated coordinate of the water outlet 31 of the steel ladle 3 in the base coordinate system P, the offset of the water outlet 31 of the steel ladle 3 in the foot coordinate system M is calculated according to the transformation relation of the base coordinate system P and the foot coordinate system M, and the automatic manipulator 5 automatically installs the long water outlet 8 on the water outlet 31 of the steel ladle 3 by compensating the offset.
Claims (4)
1. The automatic manipulator guiding device for fixedly mounting the camera comprises a continuous casting platform (1), and is characterized in that: also comprises a rotary table (2), a ladle (3), a camera (4) and an automatic manipulator (5),
the rotary table (2) is rotatably arranged on the continuous casting platform (1), the ladle (3) is arranged on the rotary table (2), a water outlet (31) is arranged at the bottom of the ladle (3), a camera (4) and an automatic manipulator (5) are arranged on one side of the continuous casting platform (1),
the automatic manipulator (5) is provided with a foot coordinate system M, the foot coordinate system M comprises an original point O, an x axis determining the positive direction, a y axis determining the positive direction and a z axis determining the positive direction, the x axis, the y axis and the z axis are mutually vertical in pairs and are hung to the original point O, and the positive directions of the x axis, the y axis and the z axis accord with the right-hand rule;
the automatic manipulator (5) determines a base coordinate system P in a calibration plane, the base coordinate system P comprises an original point O ', an x' axis determining a positive direction, a y 'axis determining the positive direction and a z' axis determining the positive direction, a calibration device (6) is installed on the automatic manipulator (5), a fixed point on the calibration device (6) is used as a terminal point of the automatic manipulator (5) and is set as the original point O ', the x', y and z 'axes are perpendicular to each other in pairs, and the positive directions of the three axes are set as the original points O', x ', y and z' axes and accord with the right hand rule;
the base coordinate system P is obtained by translation and rotation transformation of the foot coordinate system M.
2. A camera-mounted robotic manipulator guide as claimed in claim 1, wherein: if the ladle (3) drain nozzle (31) is in the direct shooting range of the camera (4), the camera (4) shoots the position of the ladle (3) drain nozzle (31), so that the coordinate of the ladle (3) drain nozzle (31) in the base coordinate system P is calibrated; if the ladle (3) drain nozzle (31) is not in the direct shooting range of the camera (4), fixing a positioning plate (7) in the direct shooting range of the camera (4), keeping the position difference between the positioning plate (7) and the ladle (3) drain nozzle (31) fixed, shooting the position of the positioning plate (7) by the camera (4), and converting and calibrating the coordinate of the ladle (3) drain nozzle (31) in a base coordinate system P according to the position difference between the positioning plate (7) and the ladle (3) drain nozzle (31);
the calibration device (6) comprises a calibration ball (61) and a connecting rod (62), the calibration ball (61) is fixed on the automatic manipulator (5) through the connecting rod (62), and the center of the calibration ball (61) is used as a fixed point of the calibration device (6).
3. The use method of the robot guide of fixed mount camera according to claim 1 or 2, characterized by: the method is implemented in sequence according to the following steps:
firstly, a coordinate system is determined: the automatic manipulator (5) is provided with a foot coordinate system M, the foot coordinate system M comprises an original point O, an x axis determining the positive direction, a y axis determining the positive direction and a z axis determining the positive direction, the x axis, the y axis and the z axis are mutually vertical in pairs and are hung to the original point O, and the positive directions of the x axis, the y axis and the z axis accord with the right-hand rule;
the automatic manipulator (5) determines a base coordinate system P in a calibration plane, the base coordinate system P comprises an original point O ', an x' axis determining a positive direction, a y 'axis determining the positive direction and a z' axis determining the positive direction, a calibration device (6) is installed on the automatic manipulator (5), a fixed point on the calibration device (6) is used as a terminal point of the automatic manipulator (5) and is set as the original point O ', the x', y and z 'axes are perpendicular to each other in pairs, and the positive directions of the three axes are set as the original points O', x ', y and z' axes and accord with the right hand rule;
the base coordinate system P is obtained by translation and rotation transformation of a foot coordinate system M;
calibrating: fixing a camera (4) at one side of a ladle (3) drain nozzle (31) of a continuous casting platform (1), wherein the camera (4) is provided with a camera coordinate system C, manually operating an automatic manipulator (5) to the ladle (3) drain nozzle (31), and if the ladle (3) drain nozzle (31) is in the direct shooting range of the camera (4), shooting the position of the ladle (3) drain nozzle (31) by the camera (4) so as to calibrate the coordinate of the ladle (3) drain nozzle (31) in a basic coordinate system P; if the ladle (3) drain nozzle (31) is not in the direct shooting range of the camera (4), fixing a positioning plate (7) in the direct shooting range of the camera (4), keeping the position difference between the positioning plate (7) and the ladle (3) drain nozzle (31) fixed, shooting the position of the positioning plate (7) by the camera (4), and converting and calibrating the coordinate of the ladle (3) drain nozzle (31) in a base coordinate system P according to the position difference between the positioning plate (7) and the ladle (3) drain nozzle (31);
mounting: in the production process, a camera (4) shoots the change of the position of a water outlet of a steel ladle (3), the offset of the water outlet (31) of the steel ladle (3) in a base coordinate system P is calculated according to the calibrated coordinate of the water outlet (31) of the steel ladle (3) in the base coordinate system P, the offset of the water outlet (31) of the steel ladle (3) in a foot coordinate system M is calculated according to the transformation relation of the base coordinate system P and the foot coordinate system M, and an automatic manipulator (5) automatically installs a long water outlet (8) on the water outlet (31) of the steel ladle (3) by compensating the offset.
4. A method of using a camera mounted robotic manipulator guide as claimed in claim 3, wherein:
firstly, the calibration device (6) comprises a calibration ball (61) and a connecting rod (62), the calibration ball (61) is fixed on the automatic manipulator (5) through the connecting rod (62), and the center of the calibration ball (61) is used as a fixed point of the calibration device (6);
secondly, sequentially fixing two cameras (4) on one side of a ladle (3) drain port (31) of the continuous casting platform (1) by adopting a binocular vision method, and forming coordinates of the two ladle (3) drain ports (31) in a base coordinate system P by the two cameras (4), wherein the specific flow is as follows:
reading in a camera image → image segmentation → threshold segmentation → shape matching → recognizing circle center → determining the 3D coordinates of the circle center in the positioning plate → comparing with a calibration value to calculate the offset → off-line cold calibration → camera calibration → full-automatic long nozzle manipulator calibration;
the specific calculation method is as follows:
assuming that a camera coordinate system C, a base coordinate system P and a foot coordinate system M are determined, wherein the camera coordinate system C is obtained after calibration by a camera (4);
determining the homogeneous transformation matrix of the target plate coordinate system P' relative to the camera coordinate system C by the position of the positioning plate (7) in the observation field of view of the camera (4)
；
Determining a homogeneous transformation matrix of the foot coordinate system M relative to the camera coordinate system C by movement of the robot arm (5) in the camera field of view
Simultaneously recording automatic mechanical arm (5)) Coordinates Q of point Q to be taught in camera coordinate system CCIn the foot coordinate system M, coordinate QM；
Finding out the coordinate Q of the point Q under the base coordinate system PP=
×QC；
When the positioning plate (7) moves, a new target plate coordinate system P' is uniformly transformed with the camera coordinate system C
；
Q ' is at the position Q ' of the foot coordinate system M 'M=
×
×QP；
Moving the robot hand (5) to the position Q of the foot coordinate system M'MAnd the relocation is completed.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112620623A (en) * | 2020-12-14 | 2021-04-09 | 湖南镭目科技有限公司 | Disassembling and assembling equipment for ladle long nozzle, disassembling and assembling device, disassembling and assembling system and disassembling and assembling method thereof |
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