CN113932605B - Detection method, device and system for trolley breast board of sintering machine - Google Patents
Detection method, device and system for trolley breast board of sintering machine Download PDFInfo
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- CN113932605B CN113932605B CN202111338927.2A CN202111338927A CN113932605B CN 113932605 B CN113932605 B CN 113932605B CN 202111338927 A CN202111338927 A CN 202111338927A CN 113932605 B CN113932605 B CN 113932605B
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- 210000000481 breast Anatomy 0.000 title claims abstract description 157
- 238000005245 sintering Methods 0.000 title claims abstract description 67
- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 46
- 230000008569 process Effects 0.000 claims abstract description 15
- 230000015654 memory Effects 0.000 claims description 18
- 238000005070 sampling Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 description 10
- 238000007689 inspection Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 238000012216 screening Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
- 235000011941 Tilia x europaea Nutrition 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000004571 lime Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000002994 raw material Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B9/00—Furnaces through which the charge is moved mechanically, e.g. of tunnel type; Similar furnaces in which the charge moves by gravity
- F27B9/30—Details, accessories, or equipment peculiar to furnaces of these types
- F27B9/40—Arrangements of controlling or monitoring devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27M—INDEXING SCHEME RELATING TO ASPECTS OF THE CHARGES OR FURNACES, KILNS, OVENS OR RETORTS
- F27M2003/00—Type of treatment of the charge
- F27M2003/04—Sintering
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a detection method of a trolley breast board of a sintering machine, which comprises the following steps: receiving point cloud data acquired by a 2D laser scanning device in the trolley driving process; constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley; the contour data of the wheels of each section of trolley and the contour data of the breast board are segmented by the side integral contour data set; acquiring front image information of the wheels according to the contour data of the wheels, and dividing the positions of the trolleys of each section according to the distance between the wheels according to the front image information of the wheels and corresponding to the numbers of the trolleys; judging whether the breast board breaks down or not based on the contour data of the breast board, and determining the trolley number corresponding to the fault according to the position of the trolley. The invention also discloses a corresponding detection device and system for the trolley breast board of the sintering machine. By applying the detection method, the detection device and the detection system for the breast board of the sintering machine trolley, the breast board of the sintering machine trolley can be timely and effectively detected, and the time for fault operation of the trolley belt is reduced.
Description
Technical Field
The invention relates to the technical field of sintering machine trolleys, in particular to a detection method, a detection device and a detection system for a sintering machine trolley breast board.
Background
Sintering is a very important link in the steel production process. The sintering is to mix iron ore powder, lime powder and coal powder in certain proportion and calcine to reach sufficient strength and granularity. The calcined mixed mineral aggregate is sinter which is mainly used for blast furnace ironmaking, and can improve the utilization coefficient of the blast furnace, reduce the coke ratio and improve the permeability of the blast furnace. The sintering production process flow mainly comprises the steps of raw material receiving, screening and crushing, solvent fuel crushing and screening, material mixing, material distribution, air draft sintering, air draft cooling, crushing and screening, dust removal and the like. The trolley of the sintering machine and the circular cooler is an important movement mechanism in the sintering process, and the baffle plate on the trolley is a baffle plate for loading materials and is an important component on the trolley of the sintering machine.
In the sintering process, the barrier of the trolley can influence normal loading due to abnormal conditions such as inclination, unfilled corner and the like caused by severe environment, so that normal work of the sintering machine is not facilitated, production accidents can be caused in severe cases, and therefore abnormal detection of the barrier of the trolley of the sintering machine plays an important role.
At present, the abnormal condition detection of the trolley breast board of the sintering machine in the steel plant is mainly carried out by manual inspection or by a central control monitoring personnel through industrial television inspection. However, after the abnormal condition occurs in the manual detection, the normal production of sintering is easily affected due to the untimely inspection or monitoring.
In summary, how to effectively solve the problems of time and effort waste, lower accuracy and the like in the manual detection of the abnormal condition of the trolley baffle of the sintering machine is a problem to be solved by the current technicians in the field.
Disclosure of Invention
Therefore, the invention aims to provide a detection method, a detection device and a detection system for a trolley breast board of a sintering machine, and the detection method can effectively solve the problems of time and labor waste and lower accuracy in manual detection of abnormal conditions of the trolley breast board of the sintering machine.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a detection method of a trolley breast board of a sintering machine comprises the following steps:
receiving point cloud data acquired by a 2D laser scanning device in the trolley driving process;
constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley;
dividing contour data of wheels of each section of the trolley and contour data of a breast board by the side integral contour data set;
acquiring front image information of the wheels according to the contour data of the wheels, and dividing the positions of the trolleys according to the intervals of the wheels according to the front image information of the wheels and corresponding to the numbers of the trolleys;
judging whether the breast board breaks down or not based on the contour data of the breast board, and determining the trolley number corresponding to the fault according to the position of the trolley.
Preferably, in the above method for detecting a breast board of a sintering machine trolley, determining whether the breast board has a fault based on contour data of the breast board specifically includes:
selecting corresponding data from the contour data of the breast board at equal intervals along the longitudinal direction and fitting a straight line;
judging whether the breast board inclines or not according to the normal vector of the fitting straight line.
Preferably, in the above method for detecting a breast board of a sintering machine trolley, judging whether the breast board is inclined according to a normal vector of the fitting straight line, specifically including:
counting the average value of absolute values of slopes of the fitting straight lines;
and if the average value is larger than the preset inclination, judging that the breast board is inclined.
Preferably, in the above method for detecting a trolley fence of a sintering machine, the preset inclination is in a range of 0.1-0.3.
Preferably, in the above method for detecting a trolley breast board of a sintering machine, the method for receiving point cloud data collected by a 2D laser scanning device during a trolley traveling process specifically includes:
receiving data of a plurality of measurement points obtained by scanning in a scanning area every other sampling period of a 2D laser scanning device;
constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley, wherein the side overall profile data set specifically comprises the following steps:
and converting the data of a plurality of measuring points into a world coordinate system according to the sampling period of the 2D laser scanning device and the running speed of the trolley, and generating a side overall profile data set of the trolley.
Preferably, the method for detecting a trolley fence of a sintering machine further includes:
acquiring front image information of the breast board from the contour data of the breast board;
and judging whether the breast board is unfilled or not based on the front image information of the breast board.
Preferably, in the above method for detecting a breast board of a sintering machine trolley, judging whether a breast board is unfilled based on front image information of the breast board, specifically includes:
marking a data-free area according to the front image information of the breast board;
selecting continuous non-data areas in marked non-data areas;
counting the area of continuous non-data areas;
and if the area of the continuous non-data area is larger than the preset threshold value, judging that the corner of the breast board exists.
Preferably, the method for detecting a trolley fence of a sintering machine further includes:
and reading codes on labels mounted on the wheels, wherein the codes store the serial numbers of the trolley and the wheels.
By applying the detection method, the detection device and the detection system for the trolley breast board of the sintering machine, provided by the invention, single side profile data of the trolley of the sintering machine are scanned through the 2D laser scanning device, and along with the operation of the trolley, a complete trolley side model is scanned, namely, a side overall profile data set of the trolley is constructed. The wheel area and the breast board area are divided according to the whole outline data set of the side surface of the trolley, and the position of the trolley is divided by the outline data of the wheel and corresponds to the number of the trolley. And judging whether the present situation of the breast board has abnormal conditions such as inclination, unfilled corner and the like according to the outline data of the breast board. When the breast board is found to be faulty, the corresponding relation between the position of the trolley and the trolley number is combined, and the trolley number corresponding to the fault is determined, so that the fault type and the corresponding trolley number can be timely reported back, the time of the trolley with the fault operation is reduced, the work inspection workload of workers is reduced, and the normal operation of the sintering machine is ensured. The equipment is simple to install, low in maintenance cost, less in matched equipment, stable and reliable.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for inspecting a pallet fence of a sintering machine according to an embodiment of the present invention;
FIG. 2 is a schematic view of an installation cross section of a 2D laser scanning device;
FIG. 3 is a schematic illustration of the separation of the wheels from the rail plate;
FIG. 4 is a front view of a wheel;
FIG. 5 is a schematic illustration of a segmentation of a trolley;
FIG. 6 is a front image of a breast board;
fig. 7 is a schematic structural view of a detection device for a trolley fence of a sintering machine according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention discloses a method, a device and a system for detecting a breast board of a sintering machine trolley, which can effectively detect the breast board of the sintering machine trolley in time.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flow chart of a method for detecting a trolley fence of a sintering machine according to an embodiment of the invention.
In a specific embodiment, the method for detecting the trolley breast board of the sintering machine provided by the invention comprises the following steps:
s1: and receiving point cloud data acquired by the 2D laser scanning device in the trolley driving process.
The laser ranging utilizes the principle of Time of flight (Time of flight), when a laser emitter emits laser pulse, an internal timer starts to calculate Time (t 1), when the laser wave hits part of the object energy to return, and when the laser receiver receives the returned laser wave, the internal timer stops (t 2), because the light speed V is known, the distance information d= (t 2-t 1) V/2 of the measured object can be precisely measured.
The 2D laser scanning device can continuously emit laser pulses, and emits the laser pulses to all directions in a scanning angle at a certain angle interval (angle resolution) through an optical mechanism carried by the device, so as to form a two-dimensional scanning surface with radial coordinates as a reference. The position information of the measured object is given by the distance from the scanner to the object and corresponding angle data. That is, the 2D laser scanning device can rapidly measure distance data on a section. The 2D laser scanner device has the advantages of wide measuring range, high measuring speed, high measuring precision, stable performance, small influence by dust emission and haze and the like, and can be well applied to the field of industrial detection.
The 2D laser scanning device is arranged on two side surfaces of the sintering machine trolley, and each side surface is provided with one device for scanning and detecting abnormal states of wheels on the corresponding side surface. Of course, the 2D laser scanning device should be fixedly installed, i.e. not run with the trolley, such as being fixed to the ground on both sides of the trolley track of the sintering machine. Then the overall data of the trolley is obtained as the sintering pallet is operated.
The following will take the left side as an example, the other side is symmetrically installed, and the same treatment is performed. The 2D laser scanning device is specifically arranged at a waist line position close to the breast board, is 1m-3m away from the outer side of the breast board, and the scanning plane is perpendicular to the ground and perpendicular to the movement direction of the trolley. And selecting a position without shielding in the scanning interval for installation, wherein the specific installation position is determined according to the field environment and the sintering process requirement.
As shown in fig. 2, a schematic view of an installation cross section of the 2D laser scanning device is shown. The 2D laser scanning device 1 is fixed through the mounting bracket 2, and the 2D laser scanning device 1 takes the self optical center as a circle center O and is used for detecting the distance from the circle center O point to the measured object point in the OXY plane. Accordingly, a scanning coordinate system is established, the optical center of the 2D laser scanning device is used as a circle center O, the 0-degree position is used as the negative direction of the X axis, the laser rotates anticlockwise, and the direction vertical to the trolley is used as the positive direction of the Y axis. In fig. 1, H1 is the height of the 2D laser scanning apparatus 1 from the stage; h2 is the height of the wheel; l1 is the distance between the 2D laser scanning device and the outer side of the trolley in the horizontal direction; AB is the current scanning section of sintering machine platform truck side, and the A point is platform truck breast board summit, B wheel track minimum.
The 2D laser scanning device returns distance information from the measured object to the laser transmitter at intervals of a certain rotation angle in the laser scanning plane, and the rotation angle is adjustable from 0.01 DEG to 10 deg. The 2D laser scanning device can measure n points at a time and is marked as p 1 、p 2 、p 3 、…p i 、…p n The distance information of the ith point is D i The angle information is theta i The coordinates of the i-th point are:
p i (x)＝-D i *cos(θ i )
p i (y)＝D i *sin(θ i )
wherein p is i (x) X coordinate, p, for the ith position point i (Y) is the Y coordinate of the ith position point.
S2: and constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley.
The 2D laser scanning device can measure distance data on a section, so that in the running process of the trolley, the data are collected once every other sampling period t, all the data are unified into the same coordinate system, a side surface integral profile data set of the trolley can be constructed, and the state of each wheel on the side surface of the sintering trolley can be intuitively fed back through the side surface integral profile data.
Specifically, the step S1 includes:
s11: the method comprises the steps of receiving data of a plurality of measurement points acquired by a 2D laser scanning device in a scanning area every other sampling period.
Step S2 comprises:
s21: and converting the data of a plurality of measuring points into a world coordinate system according to the sampling period of the 2D laser scanning device and the running speed of the trolley, and generating a side overall profile data set of the trolley.
To build complete bed data, a world seat needs to be definedThe standard system is that the motion direction of the trolley is the Z axis and the X, Y axis is unchanged. The point p in the two-dimensional coordinate system will be i Conversion to world coordinate system expressed as point P i ，P i Is a three-dimensional coordinate data, each line represents X, Y, Z coordinate value from top to bottom, then point P i The method comprises the following steps:
every other cycle of the 2D laser scanning device, a plurality of measuring points are obtained by scanning in a scanning area, and the section data detected at the kth time is recorded as Pc (k):
the running speed of the trolley is v, data are collected once every other sampling period t, and after the kth detection, all the data are recorded as Pa (k):
Pa(1)＝Pc(1)
through the conversion, the side section data of the trolley are unified into a world coordinate system, and the whole data set of the side profile of the trolley is constructed along with the continuous movement of the trolley.
S3: the contour data of the wheels of each section of trolley and the contour data of the breast board are segmented by the side overall contour data set.
Based on the collected data set Pa, that is, the point cloud of the side profile of the trolley, and the position of the coordinate system, the point cloud Pl of the trolley breast board part, that is, the data point in which the y-axis coordinate value in the point cloud Pa is greater than L and the x-direction height is higher than the wheel, can be segmented. As shown in fig. 3, a schematic diagram of the division of the contour data is shown, wherein the solid line represents the contour point and the broken line represents the division line. The constraint conditions of the data segmentation plane of the breast board part are as follows:
wherein L is the distance from the scanner to the wheel,for the fixed offset, the specific value is set according to the dividing positions of the wheels and the breast board, H1 is the installation height of the 2D laser scanning device, and H2 is the height of the upper edge of the wheels.
Likewise, the contour data of the wheels can be segmented according to corresponding constraint conditions, and the preset conditions of the specific wheels are as follows:
s4: the front image information of the wheel is obtained from the contour data of the wheel.
The contour data of the wheel is projected to the XOZ plane to obtain a front image of the wheel, the value of a pixel point in the image is the Y-axis coordinate value of the projection point, the data of the independent wheel can be directly segmented from the front image of the wheel, and the data of each trolley can be calculated and segmented according to the distance information of the wheel. As shown in fig. 4, the hatched portion represents the projection area of the wheel divided by the above-described dividing method, and the other portions are blank values.
S5: the positions of the trolleys are divided according to the distance between the wheels by the front image information of the wheels, and the positions correspond to the numbers of the trolleys.
The number of wheels on the side surface of each section of trolley is determined, the distance between the wheels is fixed, the distance between adjacent wheels between the trolley and the trolley is determined, and the length of the trolley is determined, so that the positions of the trolley can be separated based on the front image information of the wheels. Taking fig. 5 as an example, two wheels are arranged on one side of each trolley, the distance L1 between the wheels is fixed, the distance L2 between the adjacent wheels of the trolley and the trolley is equal, and the length L3 of the trolley is constant. The front image information of the wheels is divided, and the number of the trolley can be in one-to-one correspondence with the divided trolley according to the corresponding relation between the trolley position and the trolley number.
The number of the trolley can be specifically obtained by installing an RFID tag on each wheel and installing a code reading device at the 2D laser scanning device, namely, the codes on the tags installed on the wheels are read, and the number information of the trolley and the wheels is stored in the codes. Specifically, when the wheels run to the code reader, the codes of the labels are detected, so that the numbers of the wheels and the trolley on the codes are obtained.
S6: judging whether the breast board breaks down or not based on the contour data of the breast board, and determining the trolley number corresponding to the fault according to the position of the trolley.
According to the outline data of the breast board, whether the breast board is inclined, unfilled corner and other faults can be judged through calculation, and according to the corresponding relation between the number of the determined trolley and the divided trolley, the trolley number corresponding to the fault breast board is determined, so that fault reminding such as alarm can be conveniently output, if the alarm is sent, on-site personnel can be reminded of the fault reminding, and corresponding measures can be timely taken. In practical applications of the embodiments of the present invention, if the contour data of the breast board indicates that the inclination of the breast board exceeds the preset inclination through calculation, the breast board is generally considered to be inclined. If the outline data of the breast board show that the corners of the breast board have no data through operation, the breast board is considered to be unfilled. If the inclination and unfilled angle data of the breast board are not abnormal, the wheels are considered to normally run on the track, and no fault occurs. The fault type of the breast board can be judged according to the contour data of the breast board, and corresponding data processing can be carried out according to the requirements, and processing means are described in the following embodiment. Of course, it should not be limited to what is described herein.
Optionally, in the foregoing embodiment, step S6 specifically includes: selecting corresponding data from contour data of the breast board at equal intervals along the longitudinal direction and fitting a straight line; judging whether the breast board inclines according to the normal vector of the fitting straight line. Specifically, judging whether the breast board inclines according to the normal vector of the fitting straight line, specifically comprising: counting the average value of absolute values of slopes of all the fitting straight lines; if the average value is larger than the preset inclination, judging that the breast board is inclined.
The fence plates can incline outwards due to high-load work in severe environment for a long time, gaps among the fence plates are increased, and the fence plates can be broken when severe. And selecting a longitudinal line from the data of the breast board at equal intervals, fitting a straight line, judging the inclination of the breast board through judging the normal vector of the straight line, and indicating that the higher the inclination of the breast board is, the larger the absolute value of the normal vector is.
On the breast board data of the section trolley, equidistant sampling is carried out, the sampling number is n, and then the sampling interval s is:
s＝L3/(n+1)
wherein L3 is the length of a trolley.
Then the Z coordinate values of all points of the selected ith longitudinal data satisfy: z=s×i.
Since the line is theoretically vertically downward, the following linear equation is established:
x＝k i *y+t i
wherein k is i Represents the slope, t i Representing the offset coefficient.
Calculating the absolute average value k of the calculated slopes according to the inclination conditions of all the selected straight lines:
normally, the k value is small, and when the absolute value of the k value is larger than a certain threshold value, the breast board can be judged to be inclined. If the inclination k of the breast board is more than 0.2, judging that the breast board is inclined, and timely maintenance is needed. That is, the preset inclination may be selected to be 0.2, and of course, may be set to other values as needed.
Optionally, in the above embodiment, the method further includes:
s7: acquiring front image information of the breast board from the contour data of the breast board;
s8: and judging whether the breast board is unfilled or not based on the front image information of the breast board.
The corner on the breast board is likely to cause the corner unfilled at the upper edge of the breast board due to the impact and long-time work at high temperature, thereby influencing normal loading. The outline data of the breast board is projected on the XoZ plane, so that a front image of the breast board can be obtained, and the unfilled corner position has no data, so that unfilled corner information can be detected from the projected image. And judging whether the breast board is unfilled or not based on the front image information of the breast board. The front image of the breast board is shown in fig. 6, the shaded portion represents the projection area using the breast board, and the other portions are null values.
Specifically, the method comprises the following steps:
s81: marking a data-free area according to the front image information of the breast board;
if there is a data area set to 1 and there is no data area set to 0.
S82: a succession of non-data areas of the marked non-data areas is selected.
Specifically, the non-data continuous area can be selected by searching the outline of the selected area.
S83: the area of the continuous non-data area was counted.
The area S of the continuous non-data area is counted, specifically, the number of pixels of the continuous non-data area can be counted, and then the actual area represented by each pixel is multiplied by the number of pixels to obtain the area S of the continuous non-data area.
S84: and if the area of the continuous non-data area is larger than the preset threshold value, judging that the corner of the breast board exists.
The specific preset threshold value may be set as required, and is not specifically limited herein. By the method, the fault state of the trolley breast board can be detected, the fault state comprises inclination and unfilled corner, the number information of the trolley is combined, the detected result is fed back to maintenance personnel, the maintenance personnel is reminded of timely maintenance and treatment, and the shutdown fault of the sintering machine is reduced.
Referring to fig. 7, the present invention further provides a device for detecting a trolley fence of a sintering machine, comprising:
the data receiving module 110 is configured to receive point cloud data collected by the 2D laser scanning device during the trolley driving process;
a first data processing module 120, configured to construct a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley; the contour data of the wheels of each section of trolley and the contour data of the breast board are segmented by the side integral contour data set; acquiring front image information of the wheels according to the contour data of the wheels, and dividing the positions of the trolleys of each section according to the distance between the wheels according to the front image information of the wheels and corresponding to the numbers of the trolleys;
the first determining module 130 is configured to determine whether the breast board has a fault based on the contour data of the breast board, and determine a trolley number corresponding to the fault according to the position of the trolley.
Therefore, the single side profile data of the sintering machine trolley and the profile data of the breast board are scanned through the 2D laser scanning device, a complete trolley side model is scanned along with the operation of the trolley, namely, a side overall profile data set of the trolley is constructed, and whether the breast board has abnormal conditions such as inclination, unfilled corner and the like is judged based on the side overall profile data set. When the breast board is found to be faulty, the corresponding relation between the position of the trolley and the trolley number is combined, and the trolley number corresponding to the fault is determined, so that the fault type and the corresponding trolley number can be timely alarmed and fed back, the time of the trolley with the fault operation is reduced, the work inspection workload of workers is reduced, and the normal operation of the sintering machine is ensured.
Optionally, the first determining module 130 specifically includes:
the data selecting and fitting unit is used for selecting corresponding data from contour data of the breast board at equal intervals along the longitudinal direction and fitting a straight line; the method comprises the steps of carrying out a first treatment on the surface of the
And the inclination judging unit is used for judging whether the breast board is inclined or not according to the normal vector of the fitting straight line.
Further, the inclination determination unit is specifically configured to count an average value of absolute values of slopes of the fitting straight lines; if the average value is larger than the preset inclination, judging that the breast board is inclined.
Further, the predetermined inclination is in the range of 0.1 to 0.3.
In the above embodiments, the data receiving module 110 is specifically configured to receive data of a plurality of measurement points obtained by scanning in a scanning area every other sampling period of the 2D laser scanning device;
correspondingly, the first data processing module 120 is specifically configured to convert the data of the plurality of measurement points into a world coordinate system according to the sampling period of the 2D laser scanning device and the running speed of the trolley, and generate a side overall profile data set of the trolley.
On the basis of the above embodiments, the method further comprises:
the second data processing module is used for obtaining front image information of the breast board from the contour data of the breast board;
and the second judging module is used for judging whether the breast board is subjected to unfilled corner or not based on the front image information of the breast board.
Further, the second determination module specifically includes:
the marking unit is used for marking the data-free area according to the front image information of the breast board;
a selection unit for selecting consecutive ones of the marked non-data areas;
the statistics unit is used for counting the area of the continuous non-data area;
and the unfilled corner judging unit is used for judging that the breast board is unfilled when the area of the continuous non-data area is larger than a preset threshold value.
The invention also provides a detection system of the trolley breast board of the sintering machine, which comprises the 2D laser scanning devices fixedly arranged on two sides of the trolley of the sintering machine and processing equipment connected with the 2D laser scanning devices.
The specific setting manner of the 2D laser scanning device may refer to the related representation of the setting of the 2D laser scanning device in the above-mentioned detection method of the sintering machine trolley breast board, and will not be repeated here.
The processing apparatus includes: communication interface, memory and processor. Wherein the memory is used for storing a program for realizing the detection method of the trolley breast board of the sintering machine in any of the above embodiments; the processor is used for loading and executing the programs stored in the memory. In the embodiment of the invention, the number of the communication interfaces, the memories and the processors can be at least one, and the communication interfaces, the memories and the processors can be communicated with each other through a communication bus; optionally, the communication interface may be an interface of a communication module, such as an interface of a GSM module, an interface of a WIFI module, or the like, but is not limited thereto, and the type of the communication interface may be determined by determining the communication module used according to a communication mode (such as a wireless communication mode and/or a wired communication mode) adopted by the detection system.
The memory may comprise high speed RAM memory and may also include non-volatile memory (nonvolatile memory), such as at least one disk memory. In the embodiment of the invention, the memory stores a program for realizing the method for detecting the wheels of the sintering pallet, and the processor can realize the method for detecting the wheels of the sintering pallet by calling the program stored in the memory.
The memory can also be used for storing data acquired by the 2D laser scanning device and the like, and the content stored in the memory is not limited and can be determined according to actual needs.
The processor may be a Central Processing Unit (CPU), or a specific integrated circuit (asic) ASIC (ApplicationSpecific Integrated Circuit), or one or more ics configured to implement embodiments of the invention.
In an embodiment of the present invention, a processor loads and executes a program stored in a memory, including:
receiving point cloud data acquired by a 2D laser scanning device in the trolley driving process;
constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley;
the contour data of the wheels of each section of trolley and the contour data of the breast board are segmented by the side integral contour data set;
acquiring front image information of the wheels according to the contour data of the wheels, and dividing the positions of the trolleys of each section according to the distance between the wheels according to the front image information of the wheels and corresponding to the numbers of the trolleys;
judging whether the breast board breaks down or not based on the contour data of the breast board, and determining the trolley number corresponding to the fault according to the position of the trolley.
Optionally, in the above procedure, determining whether the breast board has a fault based on the contour data of the breast board specifically includes:
selecting corresponding data from contour data of the breast board at equal intervals along the longitudinal direction and fitting a straight line;
judging whether the breast board inclines according to the normal vector of the fitting straight line.
Further, judging whether the breast board inclines according to the normal vector of the fitting straight line, specifically comprising:
counting the average value of absolute values of slopes of all the fitting straight lines;
if the average value is larger than the preset inclination, judging that the breast board is inclined.
Specifically, the preset inclination is in the range of 0.1-0.3.
In the above embodiments, receiving the point cloud data collected by the 2D laser scanning device during the running process of the trolley specifically includes:
receiving data of a plurality of measurement points obtained by scanning in a scanning area every other sampling period of a 2D laser scanning device;
constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley, and specifically comprising the following steps:
according to the sampling period of the 2D laser scanning device and the running speed of the trolley, converting the data of a plurality of measuring points into a world coordinate system, and generating a side overall profile data set of the trolley.
Optionally, the program stored in the memory further includes:
acquiring front image information of the breast board from the contour data of the breast board;
and judging whether the breast board is unfilled or not based on the front image information of the breast board.
Further, based on the front image information of the breast board, judging whether the breast board is unfilled, specifically comprising:
marking a data-free area according to the front image information of the breast board;
selecting continuous non-data areas in marked non-data areas;
counting the area of continuous non-data areas;
and if the area of the continuous non-data area is larger than the preset threshold value, judging that the corner of the breast board exists.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The detection method of the trolley breast board of the sintering machine is characterized by comprising the following steps of:
receiving point cloud data acquired by a 2D laser scanning device in the trolley driving process;
constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley;
dividing contour data of wheels of each section of the trolley and contour data of a breast board by the side integral contour data set;
acquiring front image information of the wheels according to the contour data of the wheels, and dividing the positions of the trolleys according to the intervals of the wheels according to the front image information of the wheels and corresponding to the numbers of the trolleys;
judging whether the breast board breaks down or not based on the contour data of the breast board, and determining a trolley number corresponding to the fault according to the position of the trolley;
judging whether the breast board breaks down or not based on the contour data of the breast board, specifically comprising:
selecting corresponding data from the contour data of the breast board at equal intervals along the longitudinal direction and fitting a straight line;
judging whether the breast board inclines or not according to the normal vector of the fitting straight line.
2. The method for detecting a breast board of a sintering machine trolley according to claim 1, wherein judging whether the breast board is inclined or not according to the normal vector of the fitting straight line comprises the following steps:
counting the average value of absolute values of slopes of the fitting straight lines;
and if the average value is larger than the preset inclination, judging that the breast board is inclined.
3. The method for inspecting a pallet fence of a sintering machine according to claim 2, characterized in that the preset inclination is in the range of 0.1-0.3.
4. The method for detecting the trolley breast board of the sintering machine according to claim 1, wherein the method for receiving the point cloud data collected by the 2D laser scanning device in the trolley driving process specifically comprises the following steps:
receiving data of a plurality of measurement points obtained by scanning in a scanning area every other sampling period of a 2D laser scanning device;
constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley, wherein the side overall profile data set specifically comprises the following steps:
and converting the data of a plurality of measuring points into a world coordinate system according to the sampling period of the 2D laser scanning device and the running speed of the trolley, and generating a side overall profile data set of the trolley.
5. The method for detecting a sintering pallet rail according to any one of claims 1 to 4, further comprising:
acquiring front image information of the breast board from the contour data of the breast board;
and judging whether the breast board is unfilled or not based on the front image information of the breast board.
6. The method for detecting a breast board of a sintering machine trolley according to claim 5, wherein judging whether a breast board is unfilled based on front image information of the breast board comprises:
marking a data-free area according to the front image information of the breast board;
selecting continuous non-data areas in marked non-data areas;
counting the area of continuous non-data areas;
and if the area of the continuous non-data area is larger than the preset threshold value, judging that the corner of the breast board exists.
7. The method for detecting a sintering pallet rail according to any one of claims 1 to 4, further comprising:
and reading codes on labels mounted on the wheels, wherein the codes store the serial numbers of the trolley and the wheels.
8. The utility model provides a detection device of sintering machine platform truck breast board which characterized in that includes:
the data receiving module is used for receiving the point cloud data acquired by the 2D laser scanning device in the trolley driving process;
the first data processing module is used for constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley; dividing contour data of wheels of each section of the trolley and contour data of a breast board by the side integral contour data set; acquiring front image information of the wheels according to the contour data of the wheels, and dividing the positions of the trolleys according to the intervals of the wheels according to the front image information of the wheels and corresponding to the numbers of the trolleys;
the first judging module is used for judging whether the breast board breaks down or not based on the contour data of the breast board and determining a trolley number corresponding to the fault according to the position of the trolley;
the first judging module specifically includes:
the data selecting and fitting unit is used for selecting corresponding data from contour data of the breast board at equal intervals along the longitudinal direction and fitting a straight line;
and the inclination judging unit is used for judging whether the breast board is inclined or not according to the normal vector of the fitting straight line.
9. The detection system for the breast board of the sintering machine trolley is characterized by comprising 2D laser scanning devices fixedly arranged on two sides of the sintering machine trolley and processing equipment connected with the 2D laser scanning devices;
the processing apparatus includes:
a communication interface;
a memory for storing a program for realizing the method of detecting a pallet fence of a sintering machine according to any one of claims 1 to 7;
a processor for loading and executing the program stored in the memory, comprising:
receiving point cloud data acquired by a 2D laser scanning device in the trolley driving process;
constructing a side overall profile data set of the trolley according to the point cloud data and the running speed of the trolley;
dividing contour data of wheels of each section of the trolley and contour data of a breast board by the side integral contour data set;
acquiring front image information of the wheels according to the contour data of the wheels, and dividing the positions of the trolleys according to the intervals of the wheels according to the front image information of the wheels and corresponding to the numbers of the trolleys;
judging whether the breast board breaks down or not based on the contour data of the breast board, and determining the trolley number corresponding to the fault according to the position of the trolley.
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