CN114237230A - Path planning method and system of temperature measurement sampling robot and readable storage medium - Google Patents
Path planning method and system of temperature measurement sampling robot and readable storage medium Download PDFInfo
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- CN114237230A CN114237230A CN202111433142.3A CN202111433142A CN114237230A CN 114237230 A CN114237230 A CN 114237230A CN 202111433142 A CN202111433142 A CN 202111433142A CN 114237230 A CN114237230 A CN 114237230A
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- 238000005070 sampling Methods 0.000 title claims abstract description 80
- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000003860 storage Methods 0.000 title claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 44
- 239000010959 steel Substances 0.000 claims abstract description 44
- 239000007788 liquid Substances 0.000 claims abstract description 27
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 238000004590 computer program Methods 0.000 claims abstract description 5
- 238000003780 insertion Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 6
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012886 linear function Methods 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 238000003723 Smelting Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009851 ferrous metallurgy Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
本发明提供一种测温取样机器人的路径规划方法、系统及可读存储介质，属于测量技术领域。测温取样机器人的路径规划方法，包括如下步骤：通过视觉采集装置获取钢包内钢水的液面高度，根据所述钢水的液面高度规划测温取样机器人的下枪路径。测温取样机器人的路径规划系统，用于上述的测温取样机器人的路径规划方法，包括测温取样机器人、视觉采集装置及控制模块。计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的测温取样机器人的路径规划方法。本发明能够检测钢包内钢水液面高度，并计算当前液面高度下机器人目标点坐标，从来引导机器人运动，以提高测温取样机器人测量钢水温度的成功率和精确性。
The invention provides a path planning method, system and readable storage medium for a temperature measurement and sampling robot, belonging to the technical field of measurement. A path planning method for a temperature measuring and sampling robot includes the following steps: obtaining the liquid level height of molten steel in a ladle through a visual acquisition device, and planning a lower gun path of the temperature measuring and sampling robot according to the liquid level height of the molten steel. A path planning system for a temperature measurement and sampling robot, which is used for the above-mentioned path planning method for a temperature measurement and sampling robot, includes a temperature measurement and sampling robot, a visual acquisition device and a control module. A computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the above-mentioned path planning method for a temperature measurement and sampling robot. The invention can detect the liquid level height of molten steel in the ladle, calculate the coordinates of the target point of the robot under the current liquid level height, and guide the robot to move, so as to improve the success rate and accuracy of the temperature measurement and sampling robot in measuring the molten steel temperature.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a path planning method and system of a temperature measurement sampling robot and a readable storage medium.
Background
In the field of ferrous metallurgy, the temperature measurement sampling robot is widely applied to a plurality of smelting links, and the robot is used for replacing manual work to perform temperature measurement sampling on molten metal. In the production process, the molten steel clearance height in different steel ladles is not constant, so that the robot is required to adapt to molten steel levels with different heights to carry out temperature measurement and sampling, and the success rate of temperature measurement and sampling is improved.
At present, the control mode of a robot temperature measurement sampling gun descending path mainly comprises the following modes: mode 1, a fixed trajectory, a fixed depth, and a robot repeat work are taught. In the mode 2, three liquid levels of high, middle and low are set according to experience summary, namely a plurality of paths are taught, and the robot motion path is manually selected according to the steel tapping amount to measure the temperature. Mode 3, the clearance height of the molten steel is measured by a sensor, for example, a laser sensor, the measured value is sent to a robot, and the robot adjusts the depth of the lower lance on line according to the depth of the liquid level of the molten steel.
The modes 1 and 2 both belong to a robot fixed path selection mode, and cannot be adjusted on line according to the actual molten steel liquid level height of each furnace, so that the success rate of temperature measurement is low. The laser sensor in the mode 3 has limitation in use, the steel ladle clearance height can be returned only when the laser is irradiated on the steel slag, and if the laser is directly irradiated on the steel liquid level, the height value cannot be obtained.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, an object of the present invention is to provide a method and a system for planning a path of a temperature measurement sampling robot, and a readable storage medium, which are used to solve the problems of low success rate of temperature measurement and limited use in the prior art.
In order to achieve the above and other related objects, the present invention provides a path planning method for a temperature measurement sampling robot, which provides a vision collecting device, comprising the steps of: the method comprises the steps of obtaining the liquid level height of molten steel in a ladle through a visual acquisition device, and planning a gun falling path of a temperature measurement sampling robot according to the liquid level height of the molten steel.
Optionally, the vision acquisition device is arranged at a working end of the temperature measurement sampling robot, and the temperature measurement sampling robot moves the vision acquisition device to enable the liquid level of the molten steel in the steel ladle to be within an acquisition range of the vision acquisition device.
Optionally, calibrating the vision acquisition device to obtain a transformation matrix of the coordinate system of the vision acquisition device relative to the base coordinate of the temperature measurement sampling robot.
Optionally, in the gun descending process, the posture of the temperature measurement sampling robot is kept unchanged, the gun descending direction of the temperature measurement sampling robot is obtained according to the field environment, a function of the gun descending direction relative to the height direction is established, and the temperature measurement point p is obtained according to the liquid level height of the molten steel in the ladle and the function of the gun descending directionTemperature measurementThe coordinates of (a).
Optionally, the lowest point of the temperature measurement sampling robot in the ladle gun is obtained according to a site environment or a process layout drawing, and the gun falling direction of the temperature measurement sampling robot is obtained according to the site environment and the lowest point.
Optionally, the starting insertion point p is preset1(x1,y1,z1,q1,q2,q3,q4) Presetting an end insertion point p2(x2,y2,z2,q1,q2,q3,q4) The start insertion point and the end insertion point are both in the down-gun direction,
wherein the coordinate system of the temperature measuring and sampling robot is (x, y, z), z is the direction of the liquid level height of the molten steel, and x is1,y1,z1Is p1Coordinate under coordinate system of temperature measuring and sampling robot, x2,y2,z2Is p2Coordinates in the coordinate System of the thermometric sampling robot, q1,q2,q3,q4Is a robot posture quaternion.
According to p1And p2Obtaining x ═ fx(z)，y＝fy(z) according to the height z of the liquid level of the molten steel in the ladle obtained by the vision acquisition deviceAt presentAnd x ═ fx(z)，y＝fy(z) obtaining a temperature measurement point pTemperature measurementCoordinate of (a), p1To pTemperature measurementThe connecting line between the two is the gun-discharging path of the temperature-measuring sampling robot.
The invention also provides a path planning system of the temperature measurement sampling robot, which is used for implementing the path planning method of the temperature measurement sampling robot, and the path planning system comprises the following steps: the temperature measurement sampling robot is provided with a measuring gun; the vision acquisition device is arranged on the measuring gun and can move along with the measuring gun; and the control module is connected with the temperature measurement sampling robot and the vision acquisition device.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for path planning for a thermometric sampling robot as described in any one of the above.
As described above, the method, system and readable storage medium for planning the path of the temperature measurement sampling robot of the present invention have the following advantages: the visual acquisition device is used for detecting the liquid level height of the molten steel in the ladle, the height is transmitted to the robot, the current liquid level height is used for obtaining the target point coordinate of the robot, the robot is guided to move, and the success rate and the accuracy of the temperature measurement sampling robot for measuring the temperature of the molten steel are improved.
Drawings
Fig. 1 is a flow chart of a path planning method of a temperature measurement sampling robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a path planning system of a temperature measurement sampling robot according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated. The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the art, and any structural modifications, changes in proportions, or adjustments in size, which do not affect the efficacy and attainment of the same are intended to fall within the scope of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Referring to fig. 1, the present embodiment provides a method for planning a path of a temperature measurement sampling robot, including the following steps:
s1: and a vision acquisition device is carried on a tail end flange of the temperature measurement sampling robot, and then the robot is moved right above the steel ladle, so that the liquid level of the molten steel in the steel ladle is in the detection range of the vision acquisition device.
In some embodiments, the vision acquisition device needs to be calibrated first before it can be operated. And calibrating a conversion matrix between the coordinate system of the vision acquisition device and the tool coordinate system of the flange at the tail end of the temperature measurement sampling robot, and then obtaining the conversion matrix between the coordinate system of the vision acquisition device and the base coordinate of the temperature measurement sampling robot, so that the coordinates of a target point measured by the vision acquisition device can be converted to be under the base coordinate of the temperature measurement sampling robot.
S2: visual collection device is to ladleAnd measuring the liquid level of the internal molten steel, and sending the measurement result to the robot. The result of the measurement by the vision collecting device is zAt presentAnd converting the coordinate into a coordinate under a base coordinate of the temperature measurement sampling robot.
S3: temperature measurement sampling robot according to zAt presentAnd planning a gun discharging path so as to carry out temperature measurement sampling operation.
In some implementations, the specific method for planning the gun dropping path is as follows:
s31: the maximum value of the depth of the robot in the gun in the constraint space is obtained by simulation through measuring the field environment or arranging a drawing, namely the measuring gun can reach the lowest point in the ladle.
S32: the robot can contact steel slag and molten steel in the gun-off process, and the posture of the robot is required to be kept unchanged when the gun is off, so that the phenomenon that the measuring gun is slidingly swept in the molten steel due to the change of the posture of the measuring gun in the measuring process to cause the deformation of the measuring gun or the overload alarm of the robot is avoided. Meanwhile, due to the limitation of space and environment, the robot is difficult to ideally insert the measuring gun into the molten steel in a posture vertical to the molten steel level in the gun discharging process.
Therefore, the lower gun direction of the measuring gun is set according to space and environmental limitations and the lowest point of the measuring gun in the ladle.
Then, according to the gun-down direction, the starting insertion point p is set1(x1,y1,z1,q1,q2,q3,q4) And ending insertion point p2(x2,y2,z2,q1,q2,q3,q4) Wherein p is1And p2The pose of the robot of the points remains the same, i.e. p1.rot＝p2Rot, wherein p1And p2Are coordinates relative to the robot base coordinate system (x, y, z).
S33: due to p1Point sum p2The point postures are consistent, and p is established1Point sum p2The points x, y are linear functions with respect to z, i.e. x ═ fx(z),y＝fy(z) a molten steel level height z transmitted visually when receiving the visual signalAt presentWhen it is trueTime-calculating the current temperature measuring point pTemperature measurement(fx(zAt present),fy(zAt present),zAt present,q1,q2,q3,q4) I.e. the path of the robot descending the gun is in a straight line from p1To pTemperature measurement。
Referring to fig. 2, the present invention provides a temperature measurement sampling robot path planning system, which includes a temperature measurement sampling robot 1, a measuring gun 2 disposed on the temperature measurement sampling robot 1, a vision collecting device 3, and a control module 4. The measuring gun 2 is arranged on a flange at the tail end of the temperature measuring and sampling robot 1.
The control module 4 is used for controlling the movement path of the flange at the tail end of the temperature measurement sampling robot 1. In this embodiment, the vision collecting device 3 is a binocular camera, when the binocular camera collects the liquid level height of molten steel, the liquid level height is sent to the control module 4, the control module 4 calculates the path of the molten steel falling from the gun, and the temperature measuring and sampling robot 1 moves according to the calculation result to realize temperature measuring and sampling.
The present embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for planning a path of a thermometric sampling robot as described in any one of the above embodiments is implemented.
In summary, in the embodiment, the visual acquisition device is used for detecting the liquid level height of the molten steel in the ladle, so that the height is transmitted to the robot; the linear function is used for calculating the coordinates of the target point of the robot at the current height, the robot is guided to move, the successful temperature measurement sampling operation is achieved, and the success rate and the accuracy of the temperature measurement sampling robot for measuring the temperature of the molten steel are improved.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A path planning method of a temperature measurement sampling robot is characterized in that a vision acquisition device is provided, and the method comprises the following steps: the method comprises the steps of obtaining the liquid level height of molten steel in a ladle through a visual acquisition device, and planning a gun falling path of a temperature measurement sampling robot according to the liquid level height of the molten steel.
2. The path planning method for the thermometric sampling robot according to claim 1, wherein: the visual acquisition device is arranged at the working end of the temperature measurement sampling robot, and the temperature measurement sampling robot moves the visual acquisition device to enable the liquid level of the molten steel in the steel ladle to be within the acquisition range of the visual acquisition device.
3. The path planning method for the thermometric sampling robot according to claim 1, wherein: and calibrating the vision acquisition device to obtain a transformation matrix of the coordinate system of the vision acquisition device relative to the base coordinate of the temperature measurement sampling robot.
4. The path planning method for the thermometric sampling robot according to claim 1, wherein: in the gun falling process, the posture of the temperature measurement sampling robot is kept unchanged, the gun falling direction of the temperature measurement sampling robot is obtained according to the field environment, a function of the gun falling direction relative to the height direction is established, and the temperature measurement point p is obtained according to the liquid level height of the molten steel in the ladle and the function of the gun falling directionTemperature measurementThe coordinates of (a).
5. The path planning method for the thermometric sampling robot according to claim 4, wherein: and obtaining the lowest point of the temperature measuring and sampling robot for putting the gun into the ladle according to the site environment or the process layout drawing, and obtaining the gun putting direction of the temperature measuring and sampling robot according to the site environment and the lowest point.
6. The path planning method for the thermometric sampling robot according to claim 4, wherein: the preset starting insertion point isp1(x1，y1，z1，q1，q2，q3，q4) And ending insertion point p2(x2，y2，z2，q1，q2，q3，q4) The starting insertion point and the ending insertion point are both in the gun descending direction;
wherein the coordinate system of the temperature measuring and sampling robot is (x, y, z), z is the direction of the liquid level height of the molten steel, and x is1，y1，z1Is p1Coordinate under coordinate system of temperature measuring and sampling robot, x2，y2，z2Is p2Coordinates in the coordinate System of the thermometric sampling robot, q1，q2，q3，q4Is a quaternion of the robot posture,
according to p1And p2Obtaining x ═ fx(z)，y＝fy(z) according to the height z of the liquid level of the molten steel in the ladle obtained by the vision acquisition deviceAt presentAnd x ═ fx(z)，y＝fy(z) obtaining a temperature measurement point pTemperature measurementCoordinate of (a), p1To pTemperature measurementThe connecting line between the two is the gun-discharging path of the temperature-measuring sampling robot.
7. A path planning system of a temperature measurement sampling robot is used for implementing the path planning method of the temperature measurement sampling robot as claimed in any one of claims 1-6, and comprises the following steps:
the temperature measurement sampling robot is provided with a measuring gun;
the vision acquisition device is arranged on the measuring gun and can move along with the measuring gun;
and the control module is connected with the temperature measurement sampling robot and the vision acquisition device.
8. A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements a method for path planning for a thermometric sampling robot according to any one of claims 1 to 6.
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