CN115435698A - System and method for detecting thickness abrasion of high-temperature discharging spiral blade of rotary hearth furnace - Google Patents
System and method for detecting thickness abrasion of high-temperature discharging spiral blade of rotary hearth furnace Download PDFInfo
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- CN115435698A CN115435698A CN202211127491.7A CN202211127491A CN115435698A CN 115435698 A CN115435698 A CN 115435698A CN 202211127491 A CN202211127491 A CN 202211127491A CN 115435698 A CN115435698 A CN 115435698A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
Abstract
The invention discloses a thickness abrasion detection system and method for a high-temperature discharging spiral blade of a rotary hearth furnace, which comprises the following steps: the imaging equipment translation execution unit is arranged right above the rotary hearth furnace; the 3D structured light imaging unit is arranged on the imaging equipment translation execution unit, acquires three-dimensional point cloud data and two-dimensional images of the upper surface area of the spiral conveyor of the rotary hearth furnace in real time, and completes three-dimensional detection scanning of the whole outer surface of the spiral conveyor by combining the rotation of the spiral conveyor; the three-dimensional reconstruction service unit is used for carrying out 3D modeling on the three-dimensional detection scanning of the 3D structured light imaging unit; the HMI interface is used for displaying the final detection result; and the system storage unit is used for storing the data and the detection result. The invention does not need to contact the surface of the blade manually, implements on-line detection under the condition of certain high temperature, can reduce the downtime, reduce the waste of materials and energy, improve the production operation rate, prevent accidents and achieve the purposes of saving energy and reducing consumption.
Description
Technical Field
The invention relates to a technology for recycling and controlling iron-containing solid wastes, in particular to a system and a method for detecting thickness abrasion of a high-temperature discharging helical blade of a rotary hearth furnace.
Background
The existing rotary hearth furnace process is mainly used for treating zinc-containing and iron-containing solid waste of iron and steel enterprises, separating zinc in raw materials and simultaneously obtaining metallized pellets. Various dust and sludge and binders in the proportioning bin are proportioned, mixed, pressed into balls, dried and then sent to a distributor of the rotary hearth furnace, and the materials are uniformly distributed on an annular hearth of the rotary hearth furnace. The drying balls entering the rotary hearth furnace generate reduction reaction by utilizing the high temperature of about 1250-1300 ℃ in the furnace and carbon in the pellets. Reducing most of the iron oxide into metallic iron within 20-30 min, and discharging the metallic iron to a cooler through a high-temperature discharge screw; meanwhile, zinc oxide is reduced to zinc, the zinc volatilizes into the flue gas and is oxidized again to zinc oxide powder to be settled and finally recovered.
In the actual production of the rotary hearth furnace, because the discharging spiral blade is directly in friction contact with the high-temperature iron-containing metal material in the furnace, the thickness of the blade is thinner and thinner when the discharging spiral blade is used for a certain period, and the blade needs to be replaced when the discharging spiral blade is worn to a certain degree.
Because the discharge screw is sealed in the hearth during production, the abrasion condition of the blade is detected, the rotary hearth furnace is required to stop production, the discharge screw is opened, the temperature is reduced for two days, the abrasion thickness of the blade is manually measured (an artificial steel tape measure) again, and then the blade is overhauled and replaced according to the detection result. The method is time-consuming, the whole treatment process needs 3 to 5 days, the continuous production is seriously influenced, the operation rate is greatly reduced, and the service life of the refractory material of the furnace is also influenced by frequent cooling.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a system and a method for detecting the thickness abrasion of a high-temperature discharging spiral blade of a rotary hearth furnace, which do not need to manually contact the surface of the blade, implement online detection under a certain high temperature condition, reduce the downtime, reduce the waste of materials and energy, improve the production operation rate, prevent accidents and achieve the purposes of saving energy and reducing consumption.
In order to achieve the purpose, the invention adopts the following technical scheme:
on the one hand, a high temperature ejection of compact helical blade thickness wearing and tearing detecting system of rotary hearth furnace includes:
the imaging equipment translation execution unit is arranged right above the rotary hearth furnace;
the 3D structured light imaging unit is arranged on the imaging equipment translation execution unit, collects three-dimensional point cloud data and two-dimensional images of the upper surface area of the spiral conveyor of the rotary hearth furnace in real time, and completes three-dimensional detection scanning of the whole outer surface of the spiral conveyor by combining the rotation of the spiral conveyor;
the three-dimensional reconstruction service unit is used for carrying out 3D modeling on the three-dimensional detection scanning of the 3D structured light imaging unit;
the HMI interface is used for displaying the final detection result;
and the system storage unit is used for storing the image data and various detection results.
Preferably, the imaging device translation execution unit comprises a frame and a servo motor arranged on the frame;
the servo motor drives the 3D structured light imaging unit to translate on the frame.
Preferably, the height of the frame is 2000mm +/-5 mm, and the distance between the 3D structured light imaging unit and the screw conveyor of the rotary hearth furnace is 980mm +/-5 mm.
Preferably, the 3D structured light imaging unit includes:
the laser projector is used for projecting a light plane which is intersected with the surface of the object to be measured to form a characteristic light bar;
a camera for collecting characteristic points on the characteristic light bar;
and the image processor is used for extracting the characteristic points.
The high temperature ejection of compact helical blade thickness wearing and tearing detecting system still includes:
and the external communication interface unit is used for carrying out data interaction with an external system.
On the other hand, the thickness abrasion detection method of the high-temperature discharging spiral blade of the rotary hearth furnace adopts the thickness abrasion detection system of the high-temperature discharging spiral blade of the rotary hearth furnace to execute the following steps:
s1, triggering a detection process through a button of the HMI interface;
s2, the imaging device translation execution unit drives the 3D structured light imaging unit to translate to a detection position for three-dimensional detection scanning;
s3, the 3D structured light imaging unit collects three-dimensional point cloud data and two-dimensional images of the upper surface area of the spiral conveyor of the rotary hearth furnace in real time, then three-dimensional detection scanning of the whole outer surface of the spiral conveyor is completed by combining rotation of the spiral conveyor, and 3D reconstruction is carried out through the three-dimensional reconstruction service unit to restore the three-dimensional appearance of the circumferential surface of the spiral conveyor;
s4, calculating the surface height of the screw conveyor, comparing the height value with a system set threshold value, and judging whether an abrasion overproof blade exists or not;
and S5, if the worn blade exceeds the standard, identifying a worn blade area in the HMI interface, and simultaneously sending out a voice alarm to remind manual intervention processing.
Preferably, the real-time acquisition of the 3D structured light imaging unit in step S3 is as follows:
the light plane projected by the laser projector is intersected with the surface of the object to be measured to form a characteristic light bar, and the spatial expression of any characteristic point P on the characteristic light bar can be expressed by means of a ray OcP and the light plane;
image coordinates of the feature points on the feature light bars on an image plane of the camera can be obtained by image processing;
according to the calibration model of the camera, one ray OcP which passes through the optical center of the camera and uniquely corresponds to the image coordinate of the feature point in the space can be obtained, namely an equation of the ray in the three-dimensional camera coordinate is obtained:
and then the equation of the light plane under the camera coordinate system can be obtained through the calibration of the light plane:
a w X w +b w Y w +c w Z w +d w ＝0
the simultaneous ray equation and the light plane equation can uniquely determine the three-dimensional coordinate of the feature point P on the light bar under the camera coordinate system;
the image processor can extract all the characteristic points on the light bars, and then the three-dimensional space position coordinates of the light bars can be calculated.
Preferably, the 3D reconstruction process performed by the three-dimensional reconstruction service unit in step S3 is as follows:
1) Point cloud data preprocessing;
2) Dividing;
3) Triangular networking;
4) And (5) grid rendering.
The system and the method for detecting the thickness abrasion of the high-temperature discharge helical blade of the rotary hearth furnace have the following beneficial effects:
1) The three-dimensional structure of the circumferential surface of the high-temperature spiral discharging machine of the rotary hearth furnace is effectively detected, wherein the detection precision in the height direction is less than or equal to +/-1 mm;
2) Effectively detecting the three-dimensional structure of the circumferential surface of the high-temperature spiral discharging machine of the rotary hearth furnace, wherein the detection precision in the width direction is less than or equal to +/-1 mm;
3) Detection is completed in the cover opening and cooling process of the rotary hearth furnace, so that additional maintenance operation time is not occupied;
4) The system runs stably, the annual fault time is less than 8 hours, and the effective running rate of the system is not lower than 99 percent;
5) Historical data is automatically stored for inquiry, and the continuous storage time of the data can be 2 years generally.
Drawings
FIG. 1 is a schematic diagram of a frame structure of a high temperature discharge helical blade thickness wear detection system of the present invention;
FIG. 2 is a schematic diagram of step S3 in the method for detecting the thickness wear of the high-temperature discharging helical blade according to the invention.
Detailed Description
In order to better understand the technical solutions of the present invention, the following further describes the technical solutions of the present invention with reference to the accompanying drawings and examples.
Referring to fig. 1, the present invention provides a system for detecting wear of a high-temperature discharge helical blade of a rotary hearth furnace, including:
the imaging device translation execution unit 100 is arranged right above the rotary hearth furnace;
the 3D structured light imaging unit 200 is arranged on the imaging device translation execution unit 100, collects three-dimensional point cloud data and two-dimensional images of the upper surface area of the spiral conveyor of the rotary hearth furnace in real time, and completes three-dimensional detection scanning of the whole outer surface of the spiral conveyor by combining the rotation of the spiral conveyor;
a three-dimensional reconstruction service unit 300 for performing 3D modeling on the three-dimensional detection scan of the 3D structured light imaging unit 200;
the HMI interface 400 is an important display window for the final detection result of the high-temperature discharging spiral blade thickness abrasion detection system, and meanwhile, the HMI interface 400 is used for carrying out logic judgment and processing on the detection result by combining data of the production system and carrying out corresponding result output processing according to the logic judgment result, so that the requirements of managers and final users are met more efficiently, more friendly, more accurate and more flexibly. The HMI interface 400 will be custom developed based on the unit situation and the on-site user requirements. The HMI interface 400 monitors and displays the working state of the system equipment in real time, and if the system equipment has a fault, a voice alarm is sent out to remind a worker to intervene in the treatment in time;
the system storage unit 500 is used for storing data such as image data and various detection results, and the data is stored for more than two years.
The high-temperature discharging helical blade thickness abrasion detection system also comprises:
the external communication interface unit 600 is used for performing data interaction (detection result, alarm signal, etc.) with an external system, so as to achieve the goal of multi-system cooperative work. When the interface is opened, measures such as interactive instruction encryption transmission, IP address and port number white list configuration and the like are adopted to ensure the safety of the communication interface. Such as:
1) Communicating with a field L1/L2 system through an Ethernet;
2) And the system communicates with the field L1 system through an independent I/O module.
The imaging device translation execution unit 100 comprises a frame and a servo motor arranged on the frame.
The servo motor drives the 3D structured light imaging unit 200 to move horizontally on a guide rail of the frame, and the guide rail is positioned right above the rotary hearth furnace.
The whole height of the frame is 2000mm +/-5 mm, the height of the guide rail is 1500mm +/-5 mm, and the distance between the 3D structured light imaging unit 200 and the upper surface of the screw conveyor of the rotary hearth furnace is 980mm +/-5 mm.
In order to avoid the interference of the vibration of the imaging device translation execution unit 100 in the moving process on scanning detection, the imaging device translation execution unit 100 is installed and fixed on the ground, translation movement is completed through an independent PLC and a servo motor, and the moving speed and the moving distance are automatically controlled by the high-temperature discharging spiral blade thickness abrasion detection system.
The workflow of the imaging apparatus translation execution unit 100 is as follows:
1) When the screw conveyor of the rotary hearth furnace has the detection conditions, triggering a detection flow through a picture button in the HMI interface 400;
2) The high-temperature discharging helical blade thickness abrasion detection system controls the imaging equipment translation execution unit 100 to enter a working state;
3) The PLC receives a system control instruction and drives the 3D structured light imaging unit 200 to translate at a constant speed;
4) After the scanning detection is finished, the system sends an instruction to the PLC to control the 3D structured light imaging unit 200 to return to the standby position;
5) Waiting for the next detection.
As shown in fig. 2, the 3D structured light imaging unit 200 includes a line-structured light sensor 3, and the line-structured light sensor 3 specifically includes:
the laser projector 4, the laser plane 5 thrown out intersects the surface of the measured object 6 and forms the characteristic light strip;
a camera 1 for collecting characteristic points on a characteristic light bar;
the image processor is used for extracting the characteristic points.
When the 3D structured light imaging unit 200 enters a detection working state, the 3D structured light imaging unit 200 controls the camera 1 to collect three-dimensional point cloud data and two-dimensional images of the area of the upper surface of the screw conveyor below in real time in the translation process, and then the three-dimensional detection scanning of the whole outer surface of the screw conveyor is completed by combining the rotation of the screw conveyor, the three-dimensional shape of the circumferential surface of the screw conveyor is restored by the three-dimensional reconstruction service unit 300 in the system, on the basis, the real-time measurement is performed by the line structured light sensor, and the structured light three-dimensional vision measurement principle is as follows:
the laser plane 5 projected by the laser projector 4 intersects with the surface of the object to be measured 6 to form a characteristic light bar, and the spatial expression of any characteristic point P on the characteristic light bar can be expressed by means of a ray OcP and a light plane. The image coordinates of the feature points on the feature light bars on the image plane coordinate system 2 can be obtained by image processing. According to the camera 1 calibration model, one ray OcP which passes through the optical center of the camera and uniquely corresponds to the image coordinate of the feature point in the space can be obtained, and the equation of the ray in the three-dimensional camera coordinate can be obtained, as shown in the following formula:
and then the equation of the light plane under the camera coordinate system can be obtained through the calibration of the light plane:
a w X w +b w Y w +c w Z w +d w ＝0
the simultaneous ray equation and the light plane equation can uniquely determine the three-dimensional coordinates of the feature point P on the light bar in the camera coordinate system.
All the characteristic points on the light bars can be extracted by the image processor, and the three-dimensional space position coordinates (point cloud) of the light bars can be calculated.
And when the position with the height lower than the set threshold value of the system exists, judging that the abrasion of the blade exceeds the standard.
The workflow of the 3D structured light imaging unit 200 is as follows:
1) When the rotary hearth furnace has the detection conditions, triggering a detection flow through a picture button in the HMI interface 400;
2) The high-temperature discharging spiral blade thickness abrasion detection system drives the 3D structured light imaging unit 200 to translate at a constant speed right above the rotary hearth furnace through the imaging device translation execution unit 100;
3) The high-temperature discharge helical blade thickness abrasion detection system controls an upper linear structured light sensor 3 to detect and scan three-dimensional point cloud data and a two-dimensional luminance image of the area of the upper surface of a helical conveyor in real time;
4) Continuously scanning and detecting until the complete circumferential surface scanning and detecting of the spiral conveyor are completed;
5) After the high-temperature discharging spiral blade thickness abrasion detection system receives point cloud data, a three-dimensional reconstruction service unit 300 is used for reconstructing an algorithm to redraw the 3D appearance of the circumferential surface area of the spiral conveyor;
6) Calculating the surface height of the screw conveyor through data, comparing the height value with a system set threshold value, and judging whether an abrasion overproof blade exists or not;
7) If the worn blade exceeds the standard, the system marks a worn blade area on the HMI picture, and simultaneously sends out a voice alarm to remind manual intervention processing.
The invention also provides a thickness abrasion detection method for the high-temperature discharge helical blade of the rotary hearth furnace, and the high-temperature discharge helical blade thickness abrasion detection system of the rotary hearth furnace executes the following steps:
s1, triggering a detection process through a button of an HMI interface 400;
s2, the imaging device translation execution unit 100 drives the 3D structured light imaging unit 200 to translate to a detection position for three-dimensional detection scanning;
s3, the 3D structured light imaging unit 200 collects three-dimensional point cloud data and two-dimensional images of the upper surface area of the spiral conveyor of the rotary hearth furnace in real time, then three-dimensional detection scanning of the whole outer surface of the spiral conveyor is completed by combining rotation of the spiral conveyor, and 3D reconstruction is carried out through the three-dimensional reconstruction service unit 300 to restore the three-dimensional appearance of the circumferential surface of the spiral conveyor;
s4, calculating to obtain the surface height of the screw conveyor, comparing the height value with a system set threshold value, and judging whether the vane which is worn out and exceeds the standard exists or not;
and S5, if the worn blade exceeds the standard, identifying a worn blade area in the HMI interface 400, and simultaneously sending out a voice alarm to remind a human to intervene for processing.
The real-time acquisition of the 3D structured light imaging unit 200 in step S3 is specifically as follows:
the laser plane 5 projected by the laser projector 4 intersects with the surface of the object 6 to be measured to form a characteristic light bar, and the spatial expression of any characteristic point P on the characteristic light bar can be expressed by means of a ray OcP and a light plane. The image coordinates of the feature points on the feature light bars on the image plane coordinate system 2 can be obtained by image processing. According to the camera 1 calibration model, one ray OcP which passes through the optical center of the camera and uniquely corresponds to the image coordinate of the feature point in the space can be obtained, and the equation of the ray in the three-dimensional camera coordinate can be obtained, as shown in the following formula:
and then the equation of the light plane under the camera coordinate system can be obtained through the calibration of the light plane:
a w X w +b w Y w +c w Z w +d w ＝0
the simultaneous ray equation and the light plane equation can uniquely determine the three-dimensional coordinates of the feature point P on the light bar in the camera coordinate system.
All the characteristic points on the light bars can be extracted by the image processor, and the three-dimensional space position coordinates (point cloud) of the light bars can be calculated.
And when the position with the height lower than the set threshold value of the system exists, judging that the abrasion of the blade exceeds the standard.
The 3D reconstruction process performed by the three-dimensional reconstruction service unit 300 in step S3 is specifically as follows:
1) Point cloud data preprocessing: because the data obtained by laser scanning is often accompanied by miscellaneous points or noise, which affects subsequent processing, certain preprocessing is required to be performed on the point cloud data in order to obtain a complete model, and common methods include filtering and denoising, data simplification, data interpolation and the like;
2) And (3) dividing: the method is characterized in that the whole point cloud is clustered into a plurality of point clouds, and each point cloud corresponds to an independent object. The segmentation algorithm mainly comprises the steps of firstly selecting a point, calculating a ball taking the point as a center by using a kd tree, wherein all points in the ball belong to the object, the radius of the ball is set as a threshold value, and then traversing other points of the object to carry out processing, and finally segmenting the point cloud into one object;
3) Triangular networking: in order to facilitate subsequent mesh rendering, the point cloud needs to be triangulated in advance, and the adopted algorithm is usually a convex hull or concave hull algorithm;
4) Grid rendering: the spatial topological structure of the point cloud is basically obtained through the steps of 1 to 3, and grid rendering is also needed to obtain a vivid object. The grid rendering is mainly texture mapping, namely, pasting an image in a digital camera onto a grid.
The three-dimensional detection scanning of the whole outer surface is completed by acquiring three-dimensional point cloud data and two-dimensional images of the whole blade surface area of the rotary hearth furnace discharging spiral in real time through the 3D structured light camera and combining the rotation of a discharging spiral device, the three-dimensional appearance of the circumferential surface of the rotary hearth furnace discharging spiral is restored through a 3D reconstruction technology in a control system, the height information of the blade is obtained through mathematical calculation on the basis, and when the detected height is lower than the position of a set threshold value of the system, the abrasion of the blade is judged to be out of standard, and a maintainer is guided to replace and process.
Through the high-temperature discharge spiral blade thickness abrasion detection system, manual contact with the surface of the blade is not needed, online detection is implemented under the condition of certain high temperature, the downtime can be reduced, the waste of materials and energy is reduced, the production operation rate is improved, accidents are prevented, and the purposes of energy conservation and consumption reduction are achieved.
The invention can be widely applied to the rotary hearth furnace, is used for monitoring the abrasion condition of the blade of the high-temperature discharge spiral equipment, guiding the repair plan of the furnace, reducing the unplanned downtime of the rotary hearth furnace, reducing the waste of materials and energy, improving the production operation rate, preventing accidents and achieving the purposes of saving energy and reducing consumption.
Example 1
The three-dimensional point cloud data acquired by the 3D structured light imaging unit 200 in this embodiment 1 is shown in the following table 1:
TABLE 1
The data after algorithm processing are shown in the following table 2:
TABLE 2
The resulting blade height measurements are shown in table 3 below:
TABLE 3
| Vane numbering | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
| Height mm | 460 | 458 | 455 | 461 | 462 | 450 | 456 | 450 | 465 | 453 |
| Setting a threshold value | 280 | 280 | 280 | 280 | 280 | 280 | 280 | 280 | 280 | 280 |
| Whether it is normal or not | Is normal | Is normal | Is normal | Is normal | Is normal | Is normal | Is normal | Is normal | Is normal | Is normal |
Example 2
The three-dimensional point cloud data acquired by the 3D structured light imaging unit 200 in this embodiment 2 is shown in the following table 4:
TABLE 4
The data after algorithm processing are shown in the following table 5:
TABLE 5
The final blade thickness measurements are shown in table 6 below:
TABLE 6
| Vane numbering | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
| Thickness mm | 40 | 39 | 41 | 38 | 40 | 37 | 42 | 36 | 38 | 36 |
| Setting a threshold value | 23 | 23 | 23 | 23 | 23 | 23 | 23 | 23 | 23 | 23 |
| Whether it is normal or not | Is normal | Is normal | Is normal | Is normal and normal | Is normal | Is normal | Is normal | Is normal | Is normal | Is normal |
Through the measurement, the wear state of the blade can be rapidly detected in real time, the maintenance plan is guided, the equipment failure rate is reduced, and the unplanned shutdown time is shortened.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (8)
1. The utility model provides a high temperature ejection of compact helical blade thickness wearing and tearing detecting system of rotary hearth furnace which characterized in that includes:
the imaging equipment translation execution unit is arranged right above the rotary hearth furnace;
the 3D structured light imaging unit is arranged on the imaging equipment translation execution unit, collects three-dimensional point cloud data and two-dimensional images of the upper surface area of the spiral conveyor of the rotary hearth furnace in real time, and completes three-dimensional detection scanning of the whole outer surface of the spiral conveyor by combining the rotation of the spiral conveyor;
the three-dimensional reconstruction service unit is used for carrying out 3D modeling on the three-dimensional detection scanning of the 3D structured light imaging unit;
the HMI interface is used for displaying the final detection result;
and the system storage unit is used for storing the image data and various detection results.
2. The high-temperature discharge spiral blade thickness wear detection system of the rotary hearth furnace according to claim 1, characterized in that: the imaging device translation execution unit comprises a frame and a servo motor arranged on the frame;
the servo motor drives the 3D structured light imaging unit to translate on the frame.
3. The high-temperature discharge spiral blade thickness wear detection system of the rotary hearth furnace according to claim 2, characterized in that: the height of the frame is 2000mm +/-5 mm, and the distance between the 3D structured light imaging unit and the screw conveyor of the rotary hearth furnace is 980mm +/-5 mm.
4. The high temperature discharge spiral vane thickness wear detection system of a rotary hearth furnace of claim 1, wherein the 3D structured light imaging unit comprises:
the laser projector is used for projecting a light plane which is intersected with the surface of the object to be measured to form a characteristic light bar;
a camera for collecting characteristic points on the characteristic light bar;
and the image processor is used for extracting the characteristic points.
5. The high temperature discharge spiral vane thickness wear detection system of a rotary hearth furnace of claim 1, further comprising:
and the external communication interface unit is used for carrying out data interaction with an external system.
6. A method for detecting thickness abrasion of a high-temperature discharging spiral blade of a rotary hearth furnace, characterized in that the following steps are performed by using the high-temperature discharging spiral blade thickness abrasion detecting system of the rotary hearth furnace according to any one of claims 1 to 5:
s1, triggering a detection process through a button of the HMI interface;
s2, the imaging device translation execution unit drives the 3D structured light imaging unit to translate to a detection position for three-dimensional detection scanning;
s3, the 3D structured light imaging unit collects three-dimensional point cloud data and two-dimensional images of the upper surface area of the spiral conveyor of the rotary hearth furnace in real time, then three-dimensional detection scanning of the whole outer surface of the spiral conveyor is completed by combining rotation of the spiral conveyor, and 3D reconstruction is carried out through the three-dimensional reconstruction service unit to restore the three-dimensional appearance of the circumferential surface of the spiral conveyor;
s4, calculating the surface height of the screw conveyor, comparing the height value with a system set threshold value, and judging whether an abrasion overproof blade exists or not;
and S5, if the worn blade exceeds the standard, identifying a worn blade area in the HMI interface, and simultaneously sending out a voice alarm to remind manual intervention processing.
7. The method for detecting the thickness abrasion of the high-temperature discharging spiral blade of the rotary hearth furnace according to claim 6, wherein the 3D structured light imaging unit in the step S3 collects the data in real time as follows:
the light plane projected by the laser projector is intersected with the surface of the object to be measured to form a characteristic light bar, and the spatial expression of any characteristic point P on the characteristic light bar can be expressed by means of a ray OcP and the light plane;
image coordinates of the feature points on the feature light bars on an image plane of the camera can be obtained by image processing;
according to the calibration model of the camera, one ray OcP which passes through the optical center of the camera and uniquely corresponds to the image coordinate of the feature point in the space can be obtained, namely an equation of the ray in the three-dimensional camera coordinate is obtained:
and then the equation of the light plane under the camera coordinate system can be obtained through the calibration of the light plane:
a w X w +b w Y w +c w Z w +d w ＝0
the simultaneous ray equation and the light plane equation can uniquely determine the three-dimensional coordinate of the feature point P on the light bar under the camera coordinate system;
the image processor can extract all the characteristic points on the light bars, and then the three-dimensional space position coordinates of the light bars can be calculated.
8. The method for detecting the thickness abrasion of the high-temperature discharging spiral blade of the rotary hearth furnace according to claim 6, wherein the 3D reconstruction process of the three-dimensional reconstruction service unit in the step S3 is specifically as follows:
1) Point cloud data preprocessing;
2) Dividing;
3) Triangular networking;
4) And (5) grid rendering.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117309898A (en) * | 2023-11-30 | 2023-12-29 | 云翔赛博(山东)数字技术有限公司 | Belt abrasion degree detection device and detection method based on synchronous single-line laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117309898A (en) * | 2023-11-30 | 2023-12-29 | 云翔赛博(山东)数字技术有限公司 | Belt abrasion degree detection device and detection method based on synchronous single-line laser radar |
| CN117309898B (en) * | 2023-11-30 | 2024-03-26 | 云翔赛博(山东)数字技术有限公司 | Belt abrasion degree detection device and detection method based on synchronous single-line laser radar |
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