CN209174849U - Using the ladle positioning device of laser scanning - Google Patents
Using the ladle positioning device of laser scanning Download PDFInfo
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- CN209174849U CN209174849U CN201821593537.3U CN201821593537U CN209174849U CN 209174849 U CN209174849 U CN 209174849U CN 201821593537 U CN201821593537 U CN 201821593537U CN 209174849 U CN209174849 U CN 209174849U
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- laser
- ladle
- laser scanner
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- robot
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Abstract
The utility model relates to sequence controlled machine hand field, specially a kind of ladle positioning device using laser scanning.A kind of ladle positioning device using laser scanning, including robot (1), it is characterized in that: further including laser scanner (2) and controller (3), laser scanner (2) is set on the working arm of robot (1), the area to be targeted of the laser emitter face ladle (4) of laser scanner (2), the electrical signal of laser scanner (2) charge coupled cell connects controller (3) by signal wire, the working arm that the control signal output of controller (3) passes through signal wire connection robot (1).The utility model environmental suitability is strong, and positioning accuracy is high, easy to operate, securely and reliably.
Description
Technical field
The utility model relates to sequence controlled machine hand field, specially a kind of ladle using laser scanning positions dress
It sets.
Background technique
As robot application is more and more wider, also there are more and more robots to bear at continuous casting scene heavy
Production work.Some robots can be also arranged around ladle turret, such as by packet position, related work is wrapped greatly in the completions such as casting position
The robot of work.
Modern conticaster is to realize continuous production, the shifting for mostly using the modes such as revolving platform or transverse-moving trolley greatly, but wrapping greatly
Dynamic that the position wrapped greatly every time is caused to be not quite similar, this can cause many obstacles to the operation wrapped greatly for robot, because of robot
The mode of unrenewable fixed position operates robot.
Utility model content
In order to overcome the drawbacks of the prior art, provide that a kind of environmental suitability is strong, positioning accuracy is high, easy to operate, safe
Reliable mechanical handling equipment, the utility model discloses a kind of ladle positioning devices using laser scanning.
The utility model reaches goal of the invention by following technical solution:
A kind of ladle positioning device using laser scanning, including robot, it is characterized in that: further include laser scanner and
Controller, laser scanner be set to robot working arm on, the laser emitter face ladle of laser scanner it is undetermined
The electrical signal in position region, laser scanner charge coupled cell connects controller, the control of controller by signal wire
Signal output end connects the working arm of robot by signal wire.
The ladle positioning device using laser scanning swashs it is characterized in that: the quantity of laser scanner is 1~3
Area to be targeted 0.5m~1m of the laser emitter of photoscanner apart from ladle, controller select industrial personal computer or PLC technology
Device.
The application method of the ladle positioning device using laser scanning, it is characterized in that: successively real as follows
It applies:
1. scanning: make the area to be targeted of the laser emitter face ladle of laser scanner and emits scanning laser beam,
The working arm of robot is set to drive laser scanner mobile, so that the laser emitter of laser scanner is from ladle area to be positioned
The side in domain is gradually scanned to the other side, until ladle area to be targeted is all scanned, during the scanning process, laser is swept
The charge coupled cell for retouching instrument, which is synchronized, is converted into electric signal and input controller for the reflected light signal received；
2. calculating: after controller receives electric signal, forming the 3-D image of ladle area to be targeted, calculate simultaneously
The location parameter of point to be determined in ladle area to be targeted；
3. correction: controller is according to the location parameter of point to be determined in ladle area to be targeted, to the work hand of robot
Arm exports control instruction, and control or the working arm for correcting robot are moved to correct position, to realize hand eye coordination.
The application method of the ladle positioning device using laser scanning, it is characterized in that:
Step 1. when, select laser triangulation or flight measurement method to implement scanning；
The scanning speed v of laser scanner is determined as follows:
If: scan frequency, detection range and the required precision of laser scanner be respectively H, R and a, then laser scanner
Scanning time-consuming T=, wherein μ is the constant in [5,15] section, v==μaH；
Step 2. when, the location parameter of point to be determined selects Descartes to sit in the calculated ladle area to be targeted of controller
Space coordinate in mark system.
The utility model is severe in view of ladle site environment, and space is limited, it is difficult to increase light source, therefore use laser scanning
Method positioning ladle and its peripheral equipment.Laser scanning is the principle using laser ranging, by recording testee surface
The information such as a large amount of intensive three-dimensional coordinate, reflectivity and texture of point, quickly rebuild out measured target threedimensional model and line,
The various graph data such as face, body, so that the position of ladle and auxiliary device is rebuild, to complete guided robot and its relevant device
The function of operation.
The utility model can be used for detecting collector nozzle of ladle, oil cylinder position, the position that can interface with the equipment such as head, material storage rack
It sets, to complete the function of ladle region robot and its associated device operations, makes Robot Hand-eye cooperating in phase.
The beneficial effects of the utility model are: environmental suitability is strong, positioning accuracy is high, easy to operate, securely and reliably.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the schematic diagram of laser triangulation when the utility model is used.
Specific embodiment
The utility model is further illustrated below by way of specific embodiment.
Embodiment 1
A kind of ladle positioning device using laser scanning, including robot 1, laser scanner 2 and controller 3, such as Fig. 1
Shown, specific structure is: laser scanner 2 is set on the working arm of robot 1, and the laser emitter of laser scanner 2 is just
To the area to be targeted of ladle 4, the electrical signal of 2 charge coupled cell of laser scanner connects controller by signal wire
3, the control signal output of controller 3 connects the working arm of robot 1 by signal wire.
According to specific works environment, the quantity of laser scanner 2 is 1~3, the laser emitter of laser scanner 2 away from
Area to be targeted 0.5m~1m from ladle 4, controller 3 select industrial personal computer or programmable controller.
When the present embodiment uses: successively implement as follows:
1. scanning: selecting laser triangulation or flight measurement method to implement scanning, make the Laser emission of laser scanner 2
The area to be targeted of device face ladle 4 simultaneously emits scanning laser beam, makes the working arm of robot 1 that laser scanner 2 be driven to move
It is dynamic, so that the laser emitter of laser scanner 2 is gradually scanned from the side of 4 area to be targeted of ladle to the other side, until will
4 area to be targeted of ladle is all scanned,
The scanning speed v of laser scanner 2 is determined as follows:
If: scan frequency, detection range and the required precision of laser scanner 2 are respectively H, R and a, then laser scanner 2
Scanning time-consuming T=, wherein μ is the constant in [5,15] section, the present embodiment take 10, v==μ aH,
During the scanning process, the reflected light signal received is converted by the charge coupled cell synchronization of laser scanner 2
Electric signal and input controller 3；
2. calculating: after controller 3 receives electric signal, forming the 3-D image of 4 area to be targeted of ladle, calculate simultaneously
Out in 4 area to be targeted of ladle point to be determined location parameter, the location parameter selects the space in cartesian coordinate system
Coordinate；
3. correction: controller 3 is according to the location parameter of point to be determined in 4 area to be targeted of ladle, to the work of robot 1
Make arm output control instruction, control or the working arm for correcting robot 1 are moved to correct position, to realize that trick is assisted
It adjusts.
The present embodiment is severe in view of ladle site environment, and space is limited, it is difficult to increase light source, therefore use laser scanning
Method positions ladle and its peripheral equipment.The working principle of laser scanning is as shown in Figure 2: being the principle using laser ranging, leads to
The information such as overwriting testee surface a large amount of intensive three-dimensional coordinate, reflectivity and the texture of point, quickly rebuild out and are tested
The various graph data such as the threedimensional model and line of target, face, body, so that the position of ladle and auxiliary device is rebuild, to complete to draw
Lead the function of robot and its associated device operations.Specifically, laser scanning is realized according to laser triangulation, such as Fig. 2
Shown: laser scanner 2 includes that screen 23 is imaged in laser emitter 21, condenser lens 22 and CCD, what laser emitter 21 emitted
Laser, point A and point B back reflection in each anchor point such as Fig. 2 for being irradiated to testee 5, reflected light line focus lens
It is imaged on after 22 convergences on CCD imaging screen 23, according to optical imaging path, the anchor point of different distance is imaged on CCD imaging
Different location on screen 23, point A image in the point A' of CCD imaging screen 23, and point B images in the point B' of CCD imaging screen 23,
Point O is the central point of condenser lens 22, and point N is the transmitting terminal of laser emitter 21, and point N' is that the primary optical axis of condenser lens 22 exists
The orthographic projection on screen 23 is imaged in CCD, if the point A of AN, that is, testee 5 is z, NN', that is, laser away from the distance of laser emitter 21
The distance between both transmitter 21 and condenser lens 22 primary optical axis is b, and A'N' is the imaging point and condenser lens 22 of point A
The distance between primary optical axis is x, according to the corresponding sides relationship of optical imaging concept and similar triangles, has z=bf/x, b and the f to be
The intrinsic parameter of laser scanner 2, the pixel that screen 23 can be imaged in x by reading CCD obtains, so as to calculate z, Jin Erji
Calculate the distance of each anchor point on testee 5.
Claims (2)
1. a kind of ladle positioning device using laser scanning, including robot (1), it is characterized in that: further including laser scanner
(2) it is set on the working arm of robot (1) with controller (3), laser scanner (2), the Laser emission of laser scanner (2)
The electrical signal of the area to be targeted of device face ladle (4), laser scanner (2) charge coupled cell is connected by signal wire
It connects controller (3), the working arm that the control signal output of controller (3) passes through signal wire connection robot (1).
2. the ladle positioning device of laser scanning is used as described in claim 1, it is characterized in that: the number of laser scanner (2)
Amount is 1~3, area to be targeted 0.5m~1m of the laser emitter of laser scanner (2) apart from ladle (4), controller (3)
Select industrial personal computer or programmable controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821593537.3U CN209174849U (en) | 2018-09-28 | 2018-09-28 | Using the ladle positioning device of laser scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821593537.3U CN209174849U (en) | 2018-09-28 | 2018-09-28 | Using the ladle positioning device of laser scanning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209174849U true CN209174849U (en) | 2019-07-30 |
Family
ID=67359006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821593537.3U Active CN209174849U (en) | 2018-09-28 | 2018-09-28 | Using the ladle positioning device of laser scanning |
Country Status (1)
| Country | Link |
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| CN (1) | CN209174849U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110961583A (en) * | 2018-09-28 | 2020-04-07 | 宝钢工程技术集团有限公司 | Steel ladle positioning device adopting laser scanning and using method thereof |
| CN110976839A (en) * | 2019-12-24 | 2020-04-10 | 中冶南方工程技术有限公司 | Upper structure of continuous casting machine and automatic loading and unloading method of long nozzle |
-
2018
- 2018-09-28 CN CN201821593537.3U patent/CN209174849U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110961583A (en) * | 2018-09-28 | 2020-04-07 | 宝钢工程技术集团有限公司 | Steel ladle positioning device adopting laser scanning and using method thereof |
| CN110961583B (en) * | 2018-09-28 | 2024-10-11 | 宝钢工程技术集团有限公司 | Ladle positioning device adopting laser scanning and using method thereof |
| CN110976839A (en) * | 2019-12-24 | 2020-04-10 | 中冶南方工程技术有限公司 | Upper structure of continuous casting machine and automatic loading and unloading method of long nozzle |
| CN110976839B (en) * | 2019-12-24 | 2021-06-11 | 中冶南方工程技术有限公司 | Upper structure of continuous casting machine and automatic loading and unloading method of long nozzle |
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