CN115026010B - Automatic scrap steel identification and classification system - Google Patents
Automatic scrap steel identification and classification system Download PDFInfo
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- CN115026010B CN115026010B CN202210560539.7A CN202210560539A CN115026010B CN 115026010 B CN115026010 B CN 115026010B CN 202210560539 A CN202210560539 A CN 202210560539A CN 115026010 B CN115026010 B CN 115026010B
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- folding arm
- scrap steel
- electric folding
- camera
- identification
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 53
- 239000010959 steel Substances 0.000 title claims abstract description 53
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 2
- 238000011179 visual inspection Methods 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000013527 convolutional neural network Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- Manipulator (AREA)
Abstract
The invention discloses an automatic scrap steel identification and classification system which comprises a truss track, an electric folding arm, a six-axis robot, a 3D visual detection system and an electric control system. Truss track links to each other with electric folding arm, and electric folding arm passes through mechanical turntable and realizes stretching and folding, and six robots are installed in electric folding arm's one end, and 3D visual inspection system comprises industrial grade 3D camera and relevant software, and industrial grade 3D camera is installed on six terminal ring flanges of robots, can adjust shooting gesture along with the motion of mechanical arm, and electrical system includes discernment switch board and robot switch board, and the operation of the whole mechanical device of control and through the display screen display output. When the system operates, multi-angle and comprehensive three-dimensional scanning reconstruction of the whole scrap steel can be realized, and accurate scrap steel point cloud data can be obtained. And moreover, the automatic identification and grading of the scrap steel can be realized by processing and analyzing the scrap steel data through related programs on the host machine.
Description
Technical Field
The invention relates to an automatic scrap steel identification and classification system, in particular to an automatic scrap steel identification and classification system in the technical fields of automation and metal body identification.
Background
The scrap steel is used as an important raw material of a steel enterprise, the most traditional manual climbing visual inspection method and sampling caliper measurement method are still adopted in the existing scrap steel grade judging link, the grading result is greatly influenced by subjectivity of grading personnel, and each scrap steel cannot be judged, so that the grading result error is larger; each climbing sampling inspection needs to interrupt the unloading process, so that the unloading efficiency is influenced, and the production efficiency is further influenced; the sampling process also has no evidence of photographs remaining, thereby causing disputes with suppliers about settlement; the field operation environment is dangerous and complex, and the potential safety hazard exists in the inspection of the grading personnel by climbing the vehicle.
In the automatic scrap steel identification and classification system, chinese patent application number is searched: 202110866985.6, application publication date: 2021, 12, 24, entitled: metal body thickness identification method, system, storage medium and electronic equipment, the following system is disclosed: firstly, utilizing a plurality of imaging units on an electric control displacement platform to scan scrap steel in a reciprocating manner to obtain a first image and a second image of a section of a metal body; then, determining the depth of the metal section and the thickness of the pixel by using the obtained image; finally, the thickness of the scrap steel is estimated by utilizing the depth of the section, the thickness of the pixel and the internal parameters of the imaging unit. The estimation accuracy of the system does not reach the actual production requirement at present, and the hardware layout is troublesome, which is not beneficial to large-scale application.
Most of intelligent scrap steel recognition technologies in the market adopt RGB images as input data, and the input data is trained by using the technology of convolutional neural networks, so that the aim of automatic recognition is fulfilled. However, the technical process is complicated, the model generalization performance is poor, the recognition accuracy rate cannot meet the requirement that the error rate is less than 5% in actual production at present, and the degree exceeding the human level cannot be achieved, so that an intelligent scrap steel recognition system is urgently required to be built through a more advanced technology, and obvious economic benefits are really generated for enterprises.
The depth camera can obtain the color information of the detected object, and can also obtain the space three-dimensional information of the object, and the application of three-dimensional modeling and the like of the object can be completed through further deepening treatment. Compared with the traditional optical camera, the depth camera is used for detecting geometric characteristics such as the shape, the size and the like of the scrap steel, and the method has an inherent advantage.
Disclosure of Invention
The invention aims to provide a more accurate, more efficient and more practical automatic scrap steel identification and classification system, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a system for automatically identifying and grading scrap steel comprises a truss track, an electric folding arm, a six-axis robot, an industrial grade 3D camera and an electric control system. Install the overhead traveling crane on the truss track, electronic folding arm one end is fixed on the overhead traveling crane of truss track through mechanical carousel, six robots are fixed one side of electronic folding arm other end, the industrial grade 3D camera is fixed in six robots's ring flange can follow the rotation of robot and adjust shooting angle, electronic control system controls whole mechanical device and moves according to prescribed procedure, and the control area sets up truss track below.
Further, the truss track is formed by 300 x 10 large-scale structure square tube welding, and the length and the height of the track are determined according to the length and the height of the on-site truck. The total length of the track is about 16000mm, the height is about 3500mm, and the effective travel is about 15000mm.
Further, a mechanical rotary table is arranged at one end, close to the truss track, of the electric folding arm, and the mechanical rotary table rotates to drive the electric folding arm to rotate, so that the folding arm is unfolded during work, and is folded at the end of work.
Furthermore, a plurality of travel switches are additionally arranged on the crown block of the truss track, the travel displacement of the crown block can be detected by the switches and fed back to the master control PLC, and interlocking signals are formed among the folding arm, the robot and the crown block system, so that mutual collision is avoided.
Furthermore, each joint of the six-axis robot can realize-360 DEG to +360 DEG rotation, and the six-axis robot is provided with 6 rotation shafts, and the robot can drive an industrial grade 3D camera with a fixed flange plate to realize multi-angle shooting of scrap steel data.
Furthermore, the 3D camera can acquire high-quality depth images of 0.8m to 2.0m, and the depth images can obtain corresponding point cloud data through the processing of a point cloud data acquisition program.
Further, the electric control system consists of a main control cabinet, a robot control box, a robot demonstrator, a PLC (programmable logic controller), an HMI (human machine interface) field operator terminal, an industrial personal computer, a display, a field bus assembly, a control interface assembly, a high-low voltage electric appliance and the like. An identification control cabinet and a robot control cabinet are arranged in a control area below the truss track, the two control cabinets can be directly operated by workers, and an operation button and a display interface are arranged on the control cabinet.
Compared with the prior art, the invention has the beneficial effects that: on the one hand, when the scrap steel automatic identification and classification system detects the scrap steel data of the whole vehicle, the industrial grade 3D camera is used for acquiring the scrap steel data with more abundant information, and the scrap steel automatic identification and classification system has an inherent advantage in estimating the geometric characteristics of the scrap steel. And then the truss track, the electric folding arm and the six-axis robot are matched, so that the whole car steel scrap data can be shot in an omnibearing and multi-angle mode, and more complete three-dimensional steel scrap data can be obtained. Therefore, the precision of scrap steel identification and classification is greatly improved. On the other hand, the arrangement of the electric control system realizes the automation of the whole system, an operator can control the operation of the whole system through the control cabinet only by standing in a control area below the truss track, and the identification grading result and the operation parameters of the whole system can be observed in real time. Therefore, the working efficiency of scrap steel identification and classification is improved, and the safety coefficient of scrap steel recovery sites is greatly improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automatic scrap steel identification and classification system;
fig. 2 is a flow chart of a scrap automatic identification and classification system for identifying and classifying scrap.
As shown in the figure: 1. truss track, 2, electronic folding arm, 3, six robots, 4, 3D cameras, 5, discernment switch board, 6, robot switch board, 7, overhead traveling crane.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the present invention provides a technical solution: automatic scrap steel identification and classification system comprises a truss track 1, an electric folding arm 2, a six-axis robot 3, an industrial grade 3D camera 4 and two control cabinets of an electric control system: a recognition control cabinet 5 and a robot control cabinet 6. Install crown block 7 on the truss track 1, crown block 7 can bear electronic folding arm 2, six robots 3 and industrial grade 3D camera 4 and slide around on the track, electronic folding arm 2 one end passes through mechanical carousel to be fixed on crown block 7 of truss track 1, six robots 3 are fixed one side of electronic folding arm 2 other end, industrial grade 3D camera 4 is fixed in the ring flange of six robots 3, six robots 3 have six pivots, and every pivot department can all do-360 to +360 free rotation to drive 3D camera 4 on the ring flange and do the shooting of multi-angle. In fig. 1, the identification control cabinet 5 and the robot control cabinet 6 of the electric control system are arranged in a control area below the truss track 1, after a worker is trained, the worker can directly operate the device above the truss track 1 through the control cabinet, and the detection result information of the scrap steel and the parameter information of the whole equipment in operation can be obtained through a display on the control cabinet.
Further, the truss track 1 is formed by 300×300×10 large-scale structure square flux welding, and the length and the height of the track are determined according to the length and the height of the on-site truck. The total track length is about 16000mm, the height is about 3500mm, and the effective travel is about 15000m.
Further, one end of the electric folding arm 2, which is close to the truss track 1, is fixed on the crown block 7 of the truss track 1 through a mechanical rotary disc 8, and the rotation of the mechanical rotary disc 8 drives the electric folding arm 2 to rotate, so that the electric folding arm 2 is unfolded when starting to work, and is folded after finishing the work.
Furthermore, a plurality of travel switches are additionally arranged on the crown block 7 of the truss track, the travel displacement of the crown block can be detected by the switches and fed back to the master control PLC, and interlocking signals are formed among the folding arm, the robot and the crown block system, so that mutual collision is avoided.
The working flow of the embodiment of the invention is shown in fig. 2:
in step S301, a detection area is defined beside the truss track, and after the operation is started, the truck is stopped in the designated area.
In step S302, after the vehicle is stationary, the folding arm is extended to a position directly above the boxcar to scan the surface of the whole scrap steel. Because the truck is longer, the crown block on the track can slide back and forth to drive the folding arm to scan at different positions, so that longitudinal data acquisition is realized. At each scanning position, the six-axis robot on the folding arm can rotate to drive the 3D camera on the flange plate to shoot at different angles, and each position is provided with three-angle shooting, so that transverse data acquisition is realized.
In step S303, after the complete vehicle data is scanned, the folding arm is retracted, and the electronic sucker grips a portion of the scrap steel on the truck.
In step S304, after each time the scrap is grabbed, the folding arm moves to the position where the scrap is grabbed to start working, and the 3D phase scans the newly exposed scrap once.
In step S305, after the scanning is completed, the folding arm is retracted. And preprocessing the data transmitted into the host, including operations such as generating point cloud data, point cloud registration and the like.
In step S306, after the data processing, the specific program module may analyze the data, so as to obtain the result of automatic identification and classification of the scrap steel. The results of the hierarchy may be displayed to different producers and managers through different ports.
While there has been shown and described what is at present considered to be the fundamental principles and the main features of the invention and the advantages thereof, it will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, but is described in the foregoing description merely illustrates the principles of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a steel scrap automatic identification grading system, includes truss track (1), electronic folding arm (2), six robots (3), 3D camera (4) and electrical system's two switch boards: identification control cabinet (5) and robotics control cabinet (6), its characterized in that: the device is characterized in that a crown block (7) is arranged on the truss track (1), the crown block (7) can bear an electric folding arm (2), a six-axis robot (3) and an industrial-grade 3D camera (4) to slide forwards and backwards on the track, one end of the electric folding arm (2) is fixed on the crown block (7) of the truss track (1) through a mechanical turntable, the six-axis robot (3) is fixed on one side of the other end of the electric folding arm (2), the 3D camera (4) is fixed in a flange plate of the six-axis robot (3), the six-axis robot (3) is provided with six rotating shafts, and each rotating shaft can freely rotate by-360 degrees to +360 degrees, so that the 3D camera (4) on the flange plate is driven to shoot at multiple angles;
the working flow of the automatic scrap steel identification and classification system is as follows: step S301, a detection area is defined beside the truss track (1), and a truck is stopped in a designated area after the operation is started;
step S302, after the vehicle is stopped, the electric folding arm (2) can extend to the position right above the wagon carriage to scan the surface of the whole vehicle scrap steel, and as the wagon is longer, the crown block (7) on the track can slide back and forth to drive the electric folding arm (2) to scan at different positions, so that longitudinal data acquisition is realized, and at each scanning position, the six-axis robot (3) on the electric folding arm (2) can rotate to drive the 3D camera (4) on the flange plate to shoot at different angles, and three angles are set at each position to shoot, so that transverse data acquisition is realized;
step S303, after the complete vehicle data are scanned, the electric folding arm (2) can be retracted, and the electronic sucker can grasp a part of scrap steel on the truck;
step S304, after each time of grabbing the scrap steel, the electric folding arm (2) moves to the position where the scrap steel is grabbed to start working, and the 3D camera (4) scans the newly exposed scrap steel once;
step S305, after scanning is finished, the electric folding arm (2) transmits data into a host for preprocessing, wherein the preprocessing comprises the steps of generating point cloud data and carrying out point cloud registration operation;
in step S306, after the data processing, the specific program module may analyze the data to obtain the automatic identification and classification result of the scrap steel, and the classification result may be displayed to different producers and managers through different ports.
2. An automatic scrap steel identification and classification system in accordance with claim 1 wherein: the truss track (1) is formed by 300 x 10 large-scale structure square flux welding, the total length is about 16000mm, the height is about 3500mm, the effective stroke is about 15000mm, the full carriage data acquisition is realized through a robot on a movable track, and the longitudinal carriage data acquisition can be realized according to track translation.
3. An automatic scrap steel identification and classification system in accordance with claim 1 wherein: one end of the electric folding arm (2) is connected with the crown block (7) on the truss track (1) through a mechanical rotary table, so that the electric folding arm (2) can slide back and forth on the truss track (1), the mechanical rotary table can drive the electric folding arm (2) to enable the electric folding arm to be unfolded and folded, and the other end of the electric folding arm (2) is connected with the six-axis robot (3) through a base.
4. An automatic scrap steel identification and classification system in accordance with claim 1 wherein: each joint of the six-axis robot (3) can realize-360 DEG to +360 DEG rotation and has 6 rotation shafts, and the robot can drive a 3D camera (4) with a fixed flange plate to realize multi-angle shooting of scrap steel data.
5. An automatic scrap steel identification and classification system in accordance with claim 1 wherein: the 3D camera (4) can acquire high-quality depth images of 0.8m to 2.0m, and the depth images can obtain corresponding point cloud data through the processing of a point cloud data acquisition program.
6. An automatic scrap steel identification and classification system in accordance with claim 1 wherein: the truss track (1) below still is equipped with the electrical system switch board of control this system, and the electrical system switch board is by master control cabinet, robot control box, robot demonstrator, PLC controller, HMI field operator terminal, industrial computer, display, field bus subassembly, control interface subassembly, high-low voltage electrical apparatus etc. and part by the staff operation includes discernment switch board (5) and robot switch board (6) under truss track (1), can control the coasting of overhead travelling crane (7) on truss track (1) through the operation, and the expansion of electronic folding arm (2) is packed up and six multi-angle shooting of robot (3), 3D camera (4), simultaneously, the result of relevant operating parameter and steel scrap discernment classification also can be shown through the display of switch board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210560539.7A CN115026010B (en) | 2022-05-23 | 2022-05-23 | Automatic scrap steel identification and classification system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210560539.7A CN115026010B (en) | 2022-05-23 | 2022-05-23 | Automatic scrap steel identification and classification system |
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| CN115026010A CN115026010A (en) | 2022-09-09 |
| CN115026010B true CN115026010B (en) | 2024-01-12 |
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| CN115026010A (en) | 2022-09-09 |
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