CN211628072U - Torpedo car socket position detection and butt joint control system based on camera shooting method - Google Patents
Torpedo car socket position detection and butt joint control system based on camera shooting method Download PDFInfo
- Publication number
- CN211628072U CN211628072U CN202020545357.9U CN202020545357U CN211628072U CN 211628072 U CN211628072 U CN 211628072U CN 202020545357 U CN202020545357 U CN 202020545357U CN 211628072 U CN211628072 U CN 211628072U
- Authority
- CN
- China
- Prior art keywords
- axis
- driver
- axis stepping
- butt joint
- joint control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Studio Devices (AREA)
Abstract
The invention discloses a torpedo car socket position detection and butt joint control system based on a camera shooting method, which comprises characteristic marks with colors arranged on a torpedo car socket and an intelligent camera used for acquiring image information of the characteristic marks at the torpedo car socket on site, wherein the intelligent camera transmits acquired data information to a butt joint control unit; the system also comprises an X-axis servo driver, a Y-axis stepping driver and a Z-axis stepping driver, wherein the output end of the X-axis servo driver is connected with the X-axis servo motor, the output end of the Y-axis stepping driver is connected with the Y-axis stepping motor, and the output end of the Z-axis stepping driver is connected with the Z-axis stepping motor; the butt joint control unit transmits a control instruction to the X-axis servo driver, the Y-axis stepping driver and the Z-axis stepping driver, the Y-axis stepping motor and the Z-axis stepping motor drive the plug to run vertically and vertically for centering control, and the X-axis servo motor drives the plug to run horizontally for butt joint control.
Description
Technical Field
The invention relates to the field of power connection control of a torpedo hot metal mixer car in a steel mill, in particular to a torpedo hot metal mixer car socket position detection and butt joint control system based on a camera shooting method.
Background
The hot molten iron is transported to a working site by a steel mill by using the iron mixing truck, and the plug and the socket are butted by the power connection device, so that the iron mixing truck is electrically connected with the central control system, and the work tasks of controlling the iron mixing truck to pour the molten iron and the like are realized.
The traditional power receiving device is of a pure mechanical structure: the mechanical positioning is carried out on the respective positions of the plug and the socket through the mechanical arm, the guide post and the horn mouth, the compensation of the freedom degrees in other directions is realized through the vibrating motor during the butt joint, and the butt joint of the plug and the socket is realized through the pushing of the air cylinder.
However, the traditional pure mechanical automatic power connection device has low precision, low automation degree, long power connection time and low efficiency, and due to long-time production, the vehicle body is aged, deformed and sunk, the pure mechanical automatic power connection device is difficult to compensate in the vertical (Z-axis) direction, a specific person is required to modify and maintain the vehicle body, the workload of maintenance workers is huge, the maintenance cost is increased, and the normal production progress is influenced.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a system for detecting the position of a torpedo car socket and controlling butt joint based on a camera shooting method, which comprises the following steps:
the two characteristic marks are arranged on the socket of the torpedo hot metal mixer car and are provided with colors;
the intelligent camera is used for acquiring image information of the characteristic mark at the socket of the on-site mixer car and transmitting the acquired data information to the docking control unit;
the system also comprises an X-axis servo driver, a Y-axis stepping driver and a Z-axis stepping driver, wherein the output end of the X-axis servo driver is connected with the X-axis servo motor, the output end of the Y-axis stepping driver is connected with the Y-axis stepping motor, and the output end of the Z-axis stepping driver is connected with the Z-axis stepping motor; the butt joint control unit transmits a control instruction to the X-axis servo driver, the Y-axis stepping driver and the Z-axis stepping driver, the Y-axis stepping motor and the Z-axis stepping motor drive the plug to run vertically and vertically for centering control, and the X-axis servo motor drives the plug to run horizontally for butt joint control.
The butt joint control unit at least comprises a programmable controller, a signal transmission module, a communication module, a network switch, an Ethernet communication cable and a twisted pair communication cable, the programmable controller and the network switch are in data communication through the Ethernet communication cable, the network switch and the intelligent camera are in data communication through the Ethernet communication cable, and the communication module and the X-axis servo driver are in data communication through the twisted pair communication cable.
And the programmable controller is in data communication with the Y-axis stepping driver and the Z-axis stepping driver in a hard-wire connection mode.
Due to the adoption of the technical scheme, the invention particularly relates to a torpedo car socket position detection and butt joint control system based on a camera shooting method, wherein the system can be applied to the power connection process of a torpedo car in a steel mill, the camera shooting method is adopted to carry out non-contact detection and calculation on the position and the centering distance of a socket for power connection of the torpedo car, and a PLC sends an instruction to a motor driver to control a motor to operate so as to drive a plug to run and accurately center and butt joint the plug and the torpedo car socket, so that the system improves the butt joint accuracy of the plug and the torpedo car socket, improves the automation degree of detection equipment and an automatic power connection device, improves the butt joint working efficiency and reduces the manual later maintenance and maintenance cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the architecture of the system of the present invention;
FIG. 2 is a network topology diagram of the system of the present invention;
FIG. 3 is a schematic diagram of the Y-axis stepper drive control process in the system of the present invention;
FIG. 4 is a schematic diagram of a Z-axis step drive control process in the system of the present invention;
FIG. 5 is a diagram of servo drive control wiring in the system of the present invention;
FIG. 6 is a flow chart of a method of the system of the present invention;
FIG. 7 is a flowchart illustrating the detection of the socket center point of the hot metal mixer car in the system of the present invention
In the figure: 1.1 a torpedo car socket, 1.2 plugs, 1.3 intelligent cameras, 10 a butt joint control unit, 1.4Y-axis stepping motors, 1.5Z-axis stepping motors, 1.6X-axis servo motors, 1.7 drag chain cables, 1.8 and characteristic marks; 2.1, a programmable controller, 2.2, a signal transmission module, 2.3, a communication module, 2.4, a network switch, 2.7, an Ethernet communication cable and 2.8 twisted-pair communication cables; 3.1, a Y-axis stepping driver, 4.1, a Z-axis stepping driver, 5.1, an X-axis servo driver, 10 and a butt joint control unit.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
a torpedo car socket position detection and docking control system based on a camera method as shown in fig. 1 and 2, which uses a smart camera 1.3 to perform image acquisition on a field torpedo car socket 1.1; and the intelligent camera 1.3 transmits the traveling distances of the Y-axis stepping driver 3.1 and the Z-axis stepping driver 4.1, which need to be on the Y axis and the Z axis, to the programmable controller 2.1 through an Ethernet communication cable 2.7.
Further, as shown in fig. 2 to 5, the feature mark 1.8 is obtained by a method that we first need to determine the center point of the target torpedo car socket, and since the field environment is bad, the common feature mark is easily affected and not easily locked, we determine the mark to be red circle for locking by a camera shooting method, and lock the center point of the torpedo car socket by the relative position between the center point of the red circle mark and the center point of the torpedo car socket. Because the central point of the red circular mark, namely the characteristic mark 1.8, and the central point of the torpedo car socket 1.1 are not overlapped and have deviation in the X-axis direction due to the fact that the socket 1.2 rotates on the horizontal plane, the characteristic mark 1.8 is formed by two red circular marks, and the central point of the torpedo car socket is determined through half of the sum of the distances between the centers of the two red circular marks.
Further, the connection control unit 10 includes a programmable controller 2.1, a signal transmission module 2.2, a communication module 2.3, a network switch 2.4, an ethernet communication cable 2.7, and a twisted pair communication cable 2.8, where the programmable controller 2.1 and the network switch 2.4 communicate data via the ethernet communication cable 2.7, the network switch 2.4 and the smart camera 1.3 communicate data via the ethernet communication cable 2.7, and the communication module 2.3 and the X-axis servo driver 5.1 communicate data via the twisted pair communication cable 2.8.
Further, the programmable controller 2.1 may be a siemens S7-1214 type PLC, in which the programmable controller 2.1 performs data communication with the Y-axis step driver 3.1 and the Z-axis step driver 4.1 by a hard-wire connection, and performs data communication with the X-axis servo driver 5.1 by using a twisted pair cable 2.8 through the communication module 2.3, and the programmable controller 2.1 sends an instruction to the X-axis servo driver 5.1, the Y-axis step driver 3.1, and the Z-axis step driver 4.1 to control the traveling of the X-axis servo motor 1.6, the Y-axis step motor 1.4, and the Z-axis step motor 1.5, respectively, where: the Y-axis stepping motor and the Z-axis stepping motor are controlled to drive the plug to travel in the vertical direction and the vertical direction, so that the accurate centering function is realized; the X-axis servo motor 1.6 is controlled to drive the plug 1.2 to transversely travel, and the function of accurate butt joint is realized.
Further, as shown in fig. 6 and 7, a control method of a torpedo car socket position detection and docking control system based on a camera method includes the following steps:
when the torpedo car reaches the working position, the programmable controller 2.1 carries out self-checking, initializes the position of the X/Y/Z three axes, and places the three axes on the working position for standby, at the moment, the programmable controller 2.1 sends a shooting instruction to the intelligent camera 1.3 to carry out first position detection on the central point of the socket of the torpedo car;
first position detection: calibrating a camera, performing Gaussian filtering processing on an image of a target area, performing RGB color model separation on the image, segmenting the image to extract red components, extracting the edge of a feature target by using a Fourier edge extraction function, determining the position of the center point of the feature target, calculating the distance deviation of the center point in the Y-axis and Z-axis directions, and transmitting the numerical value to a programmable controller 2.1 in an Ethernet communication mode.
Carrying out first centering: the programmable controller 2.1 sends an instruction to the Y-axis stepping driver 3.1 to control the Y-axis stepping motor 1.4 to run for a corresponding distance in the vertical direction, and the programmable controller 2.1 sends an instruction to the Z-axis stepping driver 4.1 to control the Z-axis stepping motor 1.5 to run for a corresponding distance in the vertical direction.
The programmable controller 2.1 sends an instruction to the X-axis servo driver 5.1 to control the X-axis servo motor 1.6 to run for a corresponding distance in the transverse direction, and when the control instruction of the programmable controller 2 comes, secondary shooting is performed (wherein the secondary shooting forms a closed loop, increasing the reliability of the system).
And (3) second centering: the programmable controller 2.1 sends an instruction to the Y-axis stepping driver 3.1 to control the Y-axis stepping motor 1.4 to run for a corresponding distance in the vertical direction, and the programmable controller 2.1 sends an instruction to the Z-axis stepping driver 4.1 to control the Z-axis stepping motor 1.5 to run for a corresponding distance in the vertical direction.
Accurate butt joint process: the programmable controller 2.1 sends an instruction to the X-axis servo driver 5.1, controls the X-axis servo motor 1.6 to drive the plug to be accurately butted with the socket of the torpedo car in the transverse direction, and realizes the power connection function.
The system disclosed by the invention uses the intelligent camera 1.3 as a main detection device, processes images by using computer vision recognition and image processing technology to determine the socket center point position of the mixer car, and takes factors such as image distortion, dust, vibration and the like into consideration by an algorithm. The accuracy, degree of automation, work efficiency of equipment have been promoted, artifical later stage maintenance and maintenance cost have been reduced. The camera shooting method is non-contact, has no interference to the production process, is not easily influenced by factors such as vehicle models and vehicle body sinking and the like unlike other traditional contact type power connection equipment, and has unique advantages. The invention discloses a system and a method for detecting the position of a torpedo car socket and controlling butt joint based on a camera shooting method, which are used for detecting the position of a torpedo car power socket by the camera shooting method, and a PLC (programmable logic controller) is used for controlling a motor to drive a plug to run, so that the functions of accurately centering and butt joint the torpedo car socket are realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. The utility model provides a torpedo car socket position detection and butt joint control system based on camera method which characterized in that includes:
the characteristic marks (1.8) with colors are arranged on the torpedo car socket (1.1), and the number of the characteristic marks (1.8) is two;
the intelligent camera (1.3) is used for acquiring image information of the characteristic mark (1.8) at the socket (1.1) of the on-site mixer car, and the intelligent camera (1.3) transmits acquired data information to the docking control unit (10);
the system further comprises an X-axis servo driver (5.1), a Y-axis stepping driver (3.1) and a Z-axis stepping driver (4.1), wherein the output end of the X-axis servo driver (5.1) is connected with an X-axis servo motor (1.6), the output end of the Y-axis stepping driver (3.1) is connected with a Y-axis stepping motor (1.4), and the output end of the Z-axis stepping driver (4.1) is connected with a Z-axis stepping motor (1.5); the butt joint control unit (10) transmits a control instruction to the X-axis servo driver (5.1), the Y-axis stepping driver (3.1) and the Z-axis stepping driver (4.1), the Y-axis stepping motor (1.4) and the Z-axis stepping motor (1.5) drive the plug to run vertically and vertically for centering control, and the X-axis servo motor (1.6) drives the plug (1.2) to run horizontally for butt joint control.
2. The camera-based hybrid electric vehicle socket position detection and docking control system according to claim 1, further characterized in that: the butt joint control unit (10) at least comprises a programmable controller (2.1), a signal transmission module (2.2), a communication module (2.3), a network switch (2.4), an Ethernet communication cable (2.7) and a twisted pair communication cable (2.8), wherein the programmable controller (2.1) is in data communication with the network switch (2.4) through the Ethernet communication cable (2.7), the network switch (2.4) is in data communication with the intelligent camera (1.3) through the Ethernet communication cable (2.7), and the communication module (2.3) is in data communication with the X-axis servo driver (5.1) through the twisted pair communication cable (2.8).
3. The camera-based hybrid electric vehicle socket position detection and docking control system according to claim 2, further characterized in that: and the programmable controller (2.1) is in data communication with the Y-axis stepping driver (3.1) and the Z-axis stepping driver (4.1) in a hard-wire connection mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020545357.9U CN211628072U (en) | 2020-04-14 | 2020-04-14 | Torpedo car socket position detection and butt joint control system based on camera shooting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020545357.9U CN211628072U (en) | 2020-04-14 | 2020-04-14 | Torpedo car socket position detection and butt joint control system based on camera shooting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211628072U true CN211628072U (en) | 2020-10-02 |
Family
ID=72622076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020545357.9U Active CN211628072U (en) | 2020-04-14 | 2020-04-14 | Torpedo car socket position detection and butt joint control system based on camera shooting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211628072U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975929A (en) * | 2021-03-05 | 2021-06-18 | 深圳市华艺鑫电子有限公司 | Passenger plane charging socket identification positioning docking system and method based on multi-feature fusion |
-
2020
- 2020-04-14 CN CN202020545357.9U patent/CN211628072U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975929A (en) * | 2021-03-05 | 2021-06-18 | 深圳市华艺鑫电子有限公司 | Passenger plane charging socket identification positioning docking system and method based on multi-feature fusion |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110900575B (en) | Parallel intelligent robot with automatic guiding function and guiding method thereof | |
| CN112009714B (en) | Automatic sensing system and method for omni-directional mobile rodless traction type mobile robot | |
| CN211628072U (en) | Torpedo car socket position detection and butt joint control system based on camera shooting method | |
| CN111624994A (en) | Robot inspection method based on 5G communication | |
| CN112643207B (en) | Laser automatic derusting system and method based on computer vision | |
| CN111702763B (en) | Transformer substation inspection robot repositioning system and method based on Beidou system | |
| CN113319859B (en) | Robot teaching method, system and device and electronic equipment | |
| CN211590103U (en) | Parallel intelligent robot with automatic guiding function | |
| CN111036863A (en) | Device for positioning ladle drainage port by adopting machine vision and using method thereof | |
| CN111413928B (en) | System and method for detecting and butting control of position of socket of iron mixing vehicle based on camera shooting method | |
| CN114299039B (en) | Robot and collision detection device and method thereof | |
| CN103878774A (en) | Vision calibration method based on robot | |
| CN110920450A (en) | Full-automatic charging system of electric automobile | |
| CN112379605B (en) | Bridge crane semi-physical simulation control experiment system and method based on visual servo | |
| CN117359625A (en) | Robot special-shaped motion track automatic planning method based on point cloud data guiding technology | |
| CN115314996B (en) | Method for rapidly acquiring WIFI wireless signal coverage based on track inspection robot | |
| CN107177912A (en) | A kind of automatic doffer control system with vision | |
| CN109866634A (en) | A kind of electric car charging interface positioning system of view-based access control model positioning | |
| CN110908368A (en) | Park unmanned vehicle path control method and system | |
| CN118218767B (en) | Battery module welding vibrating mirror positioning system and positioning method | |
| CN114918659B (en) | Flexible high-precision control method for assembling joint assembly | |
| CN118093706B (en) | Distribution network live working robot, system and working method | |
| CN113495533B (en) | Automatic process tracing method and system for cast tube production line | |
| CN114200946B (en) | AGV trolley control method for intelligent manufacturing machining production line | |
| CN112346466B (en) | Multi-sensor fusion AGV redundancy control system and method based on 5G |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |