KR102028444B1 - Apparatus and method for removing dross in metal melt bath and apparatus and method for controlling dross loading - Google Patents

Abstract

The present application relates to a dross removal control device, a dross loading control device, a dross removal method and a dross loading method, the dross removal method according to an embodiment of the present invention, photographing the melt bath, Generating two-dimensional images and three-dimensional depth information about the bathtub; Distinguishing the molten bath into a plurality of preset work areas, and using the two-dimensional image and the three-dimensional depth information, respectively determining the amount of dross formed in the plurality of work areas; And setting any one of the working areas as a target area for removing the dross according to the determined amount of dross generated.

Description

Dross removal control device, dross loading control device, dross removal method and dross loading method {Apparatus and method for removing dross in metal melt bath and apparatus and method for controlling dross loading}

The present application is to remove the dross generated in the molten bath using a robot, dross removal controller, dross loading controller, dross removal method and dross loading that can load the removed dross in the dross box It is about a method.

In a molten zinc plating facility in a steel mill, zinc may be plated on a steel sheet by passing the annealed steel sheet into a bath containing a molten zinc plating liquid. In this case, since dross such as zinc oxide is generated on the hot dip galvanizing bath, if it is not properly removed, dross is buried in the steel sheet, which causes product defects.

Conventionally, in order to remove such dross, a removal operation depending on the manual operation of an operator, that is, a method of directly collecting the dross on the hot-dip galvanizing bath by using a collecting means such as a shovel and a dross box.

Patent Registration No. 10-0732232

The present application is to provide a dross removal control device, a dross loading control device, a dross removal method and a dross loading method that can remove the dross generated in the melt bath using a robot.

The present application, when loading the dross in the dross box using a robot, dross removal control device, dross loading control device, dross removal method and dross loading that can set the position to load the dross, etc. To provide a method.

The present application is to set the loading area in the dross box by using a two-dimensional image and three-dimensional depth information, the dross removal control device, the dross loading control device to allow the robot to accurately load the dross in the loading area of the dross box A control device, a dross removal method and a dross loading method are provided.

The present application is to measure the three-dimensional depth information in the dross box using a two-dimensional image and three-dimensional depth information, dross removal control device, dross loading control device for the robot to efficiently load the dross in the dross box A control device, a dross removal method and a dross loading method are provided.

Dross removal method according to an embodiment of the present invention relates to a dross removal method using a three-dimensional measuring apparatus, by taking a molten bath, generating a two-dimensional image and three-dimensional depth information for the molten bath ; Distinguishing the molten bath into a plurality of preset work areas, and using the two-dimensional image and the three-dimensional depth information, respectively determining the amount of dross formed in the plurality of work areas; And setting any one of the working areas as a target area for removing the dross according to the determined amount of dross generated.

In the generating of the two-dimensional image and the three-dimensional depth information, the measurement light of the preset measurement pattern is output to the surface of the molten bath to receive the reflected light reflected from the surface, and the measurement pattern of the reflected light The 3D depth information of the molten bath may be generated using the distortion rate.

In the determining of the amount of the dross generated, when the intensity of the reflected light is greater than or equal to a predetermined total reflection value within the working area, the working area may be determined as a small amount of dross generation.

The determining of the generation amount of the dross may include, in the working area, when the intensity of the reflected light is less than the total reflection value or more than a preset diffuse reflection value, and the deviation of the surface height values of the melt bath is less than a preset limit deviation. The work area may be determined by generating a small amount of dross.

The determining of the generation amount of the dross may include removing the working area in the working area when the intensity of the reflected light is less than the diffuse reflection value or the deviation of the surface height values of the molten bath is greater than or equal to the limit deviation. This can be determined by large loss generation.

The setting of the target area may include setting a priority of the plurality of work areas according to the generation amount of the dross and setting the target area according to the priority.

Here, the dross removal method according to an embodiment of the present invention may further include controlling the dross removal robot to remove the dross by transmitting the target area to the dross removal robot.

Here, the dross removal method according to an embodiment of the present invention, photographing the transferred dross box to generate a two-dimensional image and three-dimensional depth information of the dross box; Setting a loading area in the drop box using the two-dimensional image and three-dimensional depth information; Classifying the loading area into a predetermined number of detail areas, and calculating an average height of the dross loaded in each detail area by using the three-dimensional depth information; And setting one of the sub-areas as a target area in which the dross removal robot loads the dross according to the measured average height of the dross.

According to one embodiment of the invention, there may be a recording medium on which a program for executing the above-described methods is recorded.

Dross removal control apparatus according to an embodiment of the present invention, the three-dimensional molten bath measuring device for photographing the molten bath, generating a two-dimensional image and three-dimensional depth information for the molten bath; The generation amount of each dross formed in the plurality of working areas set in the molten bath is determined using the two-dimensional image and the three-dimensional depth information, and any one of the working areas is determined according to the determined generation amount of the dross. It may include a target setting control unit for setting a to a target area for removing the dross.

The dross loading method according to an embodiment of the present invention relates to a dross stacking method using a three-dimensional measuring apparatus, and photographs the transferred dross box to obtain a two-dimensional image and a three-dimensional depth of the dross box. Generating information; Setting a loading area in the drop box using the two-dimensional image and three-dimensional depth information; And measuring a height of the dross loaded in the loading area, and setting a target area for loading the dross in the loading area according to the measured height of the dross.

The setting of the loading area may include setting an outline of the drop box on the two-dimensional image by using the three-dimensional depth information; And setting the inner region of the outline as the loading region.

In the setting of the target area, the loading area may be divided into a plurality of sections, and each section may be set as a detail area.

The setting of the target area may include calculating an average height of the dross located within a preset target radius based on the center point of the detail area and setting the calculated average height as an average height of the detail area. Can be.

The setting of the target area may include setting a detailed area having the lowest average height as the target area among the average heights of the respective detailed areas.

Here, the dross loading method according to an embodiment of the present invention may further include requesting replacement of the dross box if the maximum height of the dross loaded in the loading area is greater than or equal to a preset limit height. have.

According to one embodiment of the invention, there may be a recording medium on which a program for executing the above-described methods is recorded.

Dross loading control apparatus according to an embodiment of the present invention, three-dimensional dross box measuring device for photographing the transferred dross box to generate a two-dimensional image and three-dimensional depth information of the dross box; An image processor configured to set a loading area in the dross box using the 2D image and the 3D depth information; And a loading setting controller configured to calculate a height of the dross loaded in the loading area using the three-dimensional depth information, and to set a target area for loading the dross in the loading area according to the height of the dross. can do.

In addition, the solution of the said subject does not enumerate all the characteristics of this invention. Various features of the present invention and the advantages and effects thereof may be understood in more detail with reference to the following specific embodiments.

According to the dross removal control device, the dross loading control device, the dross removal method, and the dross loading method according to an embodiment of the present invention, the dross generated in the molten bath can be removed using a robot. At this time, it is possible to automatically detect the amount of dross generated in the molten bath, and to automatically set the work area to perform dross removal according to the detected amount of dross.

According to the dross removal control device, the dross loading control device, the dross removal method, and the dross loading method according to an embodiment of the present invention, it is possible to automatically set the position at which the dross is loaded in the dross box. .

According to the dross removal control device, the dross loading control device, the dross removal method, and the dross loading method according to an embodiment of the present invention, since the three-dimensional measuring device of the surface light source is used, three-dimensional depth information in the dross box It is possible to measure quickly and accurately. That is, the target area where the robot loads the dross can be set efficiently.

According to the dross removal control device, the dross loading control device, the dross removal method, and the dross loading method according to an embodiment of the present invention, the loading area of the dross box is accurately determined using a 3D measuring device and image processing. Can be set. Through this, the robot can be guided to accurately load the dross in the loading area.

1 is a schematic diagram showing a dross management system according to an embodiment of the present invention.
Figure 2 is a schematic diagram showing a melt bath measurement of the three-dimensional melt bath measuring apparatus according to an embodiment of the present invention.
Figure 3 is a schematic diagram showing the drop box measurement of the three-dimensional measuring device according to an embodiment of the present invention.
4 is a schematic diagram illustrating image processing for a dross box according to an embodiment of the present invention.
5 is a schematic diagram showing an average height measurement of a dross box according to an embodiment of the present invention.
6 to 7 is a flow chart showing a dross removal method according to an embodiment of the present invention.
8 is a flowchart illustrating a dross loading method according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. However, in describing the preferred embodiment of the present invention in detail, if it is determined that the detailed description of the related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. In addition, the same reference numerals are used throughout the drawings for parts having similar functions and functions.

In addition, throughout the specification, when a part is 'connected' to another part, it is not only 'directly connected' but also 'indirectly connected' with another element in between. Include. In addition, the term 'comprising' of an element means that the element may further include other elements, not to exclude other elements unless specifically stated otherwise. In addition, the terms "~ unit", "module", etc. described in the specification mean a unit for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software.

1 is a schematic diagram showing a dross management system according to an embodiment of the present invention.

Referring to Figure 1, the dross management system according to an embodiment of the present invention is a molten bath (1), dross removal robot (2), dross box (3), dross removal control device 100 and dross It may include a load control device 200.

Hereinafter, a dross management system according to an exemplary embodiment of the present invention will be described with reference to FIG. 1.

The molten bath 1 may be loaded with molten metal such as zinc therein, and may be used as a plating bath for plating the steel sheet S in the zinc plating process according to an embodiment. In this case, the steel sheet S may be introduced into the molten bath 1 in which zinc is melted, and the surface may be plated with zinc, and then transferred to the outside of the molten bath 1 through a transfer roll or the like. At this time, the steel sheet (S) can pass between the air knife (A), by the high-speed air exiting through the long and narrow gap of the air knife (A), the thickness of the molten zinc attached to the steel sheet (S) is controlled Can be.

Here, zinc oxide may be generated by the reaction between the steel sheet (S) and the molten zinc, the reaction between the air blown from the air knife (A) and the molten zinc, the zinc oxide is on the hot water surface of the molten bath (1) Can float on. Such suspended matter such as zinc oxide corresponds to dross, and when the dross is buried in the steel sheet (S), the plating quality is deteriorated, so it is necessary to periodically remove the dross.

In the related art, a worker collects and removes dross generated on the hot water surface of the molten bath 1 by hand, but the working environment is high due to the high temperature around the molten bath 1 and the noise caused by the air knife A. Since it is poor, the dross removal robot 2 can be used to remove dross.

The dross removal robot 2 may be installed around the molten bath 1, and may perform a task of removing the dross formed in the molten bath 1. Here, the dross removal robot 2 may have a joint of two or three axes or more for the removal of the dross. Since the structure of the dross removal robot 2 of 2 or 3 axes or more is widely known, detailed description is abbreviate | omitted here.

The dross removal robot 2 collects the dross formed on the molten bath 1 in one place according to the operator's operation or the control command of the control device, and then the dross can be loaded and loaded into the dross box 3. have. However, when the dross removal robot 2 loads the dross in the dross box 3, the dross removal robot 2 may not load at the correct position or may load the dross box 3 in excess of its capacity. In the related art, the operator directly controls the dross removal robot 2 to load it in an appropriate position in the road box 3 or checks whether the capacity of the dross box 3 is filled. There was a problem such as a risk exists. In some cases, a method of measuring the upper surface of the dross using a touch sensor or a laser pointer of a point light source is used. However, in this case, the measurement efficiency is long and the work efficiency is reduced. There was a problem such as deterioration.

As shown in FIG. 1, the dross removal controller 100 may include a three-dimensional melt bath measuring unit 110 and a removal setting controller 120.

The 3D melt bath measuring unit 110 may photograph the melt bath 1 to generate a 2D image and 3D depth information of the melt bath 1. As shown in FIG. 1, the three-dimensional melt bath measuring unit 110 may be positioned above the melt bath 1, and may include a two-dimensional image of a hot water surface, such as a molten metal, in the upper portion of the melt bath 1. Three-dimensional depth information can be measured.

Specifically, as shown in FIG. 2, the 3D melt bath measuring unit 110 may generate a 2D image of the melt bath 1, and 3D depth of each point included in the 2D image. Information can be generated. The three-dimensional depth information may be information representing a distance from the installation position of the three-dimensional melt bath measuring unit 110 to each point in the melt bath 1 in numerical value. According to the embodiment, the surface height value at each point may be expressed numerically on the basis of the tap surface where dross does not occur.

Here, the 3D melt bath measuring unit 110 may measure 3D depth information using a surface light source, and simultaneously acquire a 2D image of a color image. In detail, the 3D melt bath measuring unit 110 may output the measurement light having a specific measurement pattern such as a lattice pattern to the object, and then receive the reflected light reflected from the object. In this case, the 3D melt bath measuring unit 110 may measure the distortion rate of the measurement pattern of the received reflected light and measure 3D depth information of the melt bath. In this case, three-dimensional depth information of the area to which the measurement light is irradiated may be measured at a time, and the measurement light used here may be infrared rays. The 3D melt bath detector 110 may include a visible camera, an IR camera, a time of flight (TOF) camera, a PMP system, and the like, but is not limited thereto. In addition, the 3D depth bath 110 may generate 3D depth information using a surface light source. Anything can be used.

The removal setting controller 120 may determine the generation amount of each dross formed in the plurality of working areas set in the molten bath 1 by using the 2D image and the 3D depth information. In addition, the target area for removing the dross may be set in any one of the working areas according to the determined generation amount of the dross, and the dross removal robot 2 transmits the target area to the dross removal robot 2. It is possible to perform dross removal on the target area.

The removal setting controller 120 may divide and set the hot water surface of the molten bath 1 into a plurality of working areas, and determine the amount of dross generated for each working area. According to the exemplary embodiment, the removal setting controller 120 may discriminate the amount of dross generation into three states of "dross amount of dross", "small amount of dross", and "dross mass of dross". At this time, the priority may be set in the order of "a large amount of dross", "a small amount of dross" and "a small amount of dross". Accordingly, the removal setting controller 120 may preferentially set a work area determined as “a large amount of drops” among the plurality of work areas as a target area.

Specifically, the removal setting controller 120 may receive the intensity of the reflected light reflected from the surface of the molten bath 1 from the three-dimensional melt bath measuring instrument 110. Here, when the intensity of the reflected light is greater than or equal to a predetermined total reflection value, the removal setting controller 120 may determine the work area as “dross trace amount generation”. In the case where dross hardly occurs, as shown in Fig. (A), since the hot water surface of the molten bath 1 is flat and the surface roughness is very low, the total reflection characteristic of most of the incident reflected light is reflected from the surface. Can be represented. Therefore, when the measured intensity of the reflected light is greater than or equal to the total total reflection value, the removal setting control unit 120 may determine that "a small amount of dross occurs" in which the dross is hardly generated in the work area. Here, the total reflection value may be set to a value corresponding to the intensity of the reflected light when total reflection occurs.

On the other hand, if the intensity of the reflected light received from the three-dimensional melt bath measuring instrument 110 is less than the preset diffuse reflection value, or if the deviation of the surface height values of the respective melt baths measured in the working area is more than the predetermined limit deviation, the operation The area can be determined as "dross mass occurrence". That is, as shown in FIG. 2B, when a large amount of dross occurs in the working area, the measurement light irradiated by the 3D melt bath meter 110 may be diffusely reflected from the surface, and in this case, the 3D melt bath meter 110. The intensity of reflected light received by) may be weakened. Therefore, when the measured reflected light intensity is less than the predetermined diffuse reflection value, it may be determined that diffuse reflection occurs on the surface. In this way, when diffused reflection occurs on the surface of the molten bath 1, it can be discriminated as "dross mass generation".

In addition, when a large amount of dross occurs in the molten bath 1, since the height of the hot water surface of the molten bath 1 becomes different according to dross, the surface height in the working area measured by the three-dimensional melt bath measuring device 110 is carried out. The values are not uniform and can vary. Therefore, when the deviation of the surface height values in the work area is greater than or equal to the preset limit deviation, the removal setting controller 120 may determine the work area as "a large amount of drops".

On the other hand, if the intensity of the reflected light received from the three-dimensional melt bath measuring instrument 110 is less than the total reflection value, more than the diffuse reflection value, and the deviation of each of the surface height values measured in the work area is less than the limit deviation value "a small amount of dross generated Can be determined. That is, when dross is being generated on the surface of the molten bath 1 or when dross is removed by the dross removal robot 2, total reflection does not occur but surface height values may be formed relatively uniformly. Therefore, when the intensity of the reflected light is smaller than the total reflection value, but larger than the diffuse reflection value, and at the same time the deviation of the surface height values is less than the preset limit value, the removal setting controller 120 may determine that the small amount of dross is generated.

In this case, three states of "Dross trace generation", "Dross generation of dross" and "Dross generation of dross" are set according to the amount of dross generation and set to one of three states for each work area. However, depending on the embodiment, it is also possible to add or exclude a plurality of types of each state.

Thereafter, the removal setting controller 120 may set a target area to perform the dross removal operation according to the dross generation amount determined for each work area. According to an exemplary embodiment, priority may be set for each work area according to a dross generation amount, and a work area having a priority of each priority may be set as a target area first. The removal setting controller 120 may preferentially set a work area determined as “a large amount of drops” as a target area, and then set priority in order of “a small amount of drops” and a small amount of dross ”. Here, when there are a plurality of working areas that are determined to be “a great deal of dross generation”, the target area may be set according to the order in which the intensity of the reflected light is low or the deviation of the surface height values is high. 120 may transmit the target area to the dross removal robot 2 to control the dross removal robot 2 to perform dross removal with respect to the target area.

As illustrated in FIG. 1, the dross loading control apparatus 200 may include a three-dimensional dross box measuring unit 210, an image processing unit 220, and a loading setting control unit 230.

The 3D dross box measuring unit 210 may photograph the transferred dross box 3 to generate a 2D image and 3D depth information of the dross box 3. As shown in Figures 1 and 2, the three-dimensional drop box measurer 120 may be located on top of the dross box (3). The dross box 3 may be transported to a preset fixed position for the dross removal robot 2 to load the dross, and the 3D dross box measuring device 210 may be positioned vertically above the fixed position. Can be. Therefore, the 3D dross box measurer 210 may measure the 2D image and the 3D depth information of the inside of the dross box 3.

As shown in FIG. 4 (a), the three-dimensional drop box measurer 210 may generate a two-dimensional image of the dross box 3, and three-dimensional for each point included in the two-dimensional image. Depth information can be generated. The three-dimensional depth information may be information representing a distance from the installation position of the three-dimensional drop box measurer 210 to each point of the dross box 3 by a numerical value. According to the embodiment, the height may be expressed numerically with respect to the bottom surface of the dross box 3.

Here, the 3D dross box measurer 210 may measure 3D depth information by using a surface light source, and simultaneously acquire a 2D image of a color image. That is, the 3D dross box measuring unit 210 may output the measurement light having a specific measurement pattern such as a lattice pattern to the object and receive the reflected light reflected from the object, and measure the distortion rate of the received reflected light measurement pattern. In this manner, three-dimensional depth information about the dross box 3 may be measured. However, since the 3D dross box measurer 210 is similar to the 3D melt bath measurer 110, a detailed description thereof will be omitted.

The image processor 220 may set a loading area in the dross box 3 using the 2D image and the 3D depth information. The dross box 3 may be transferred to a preset fixed position through a rail or the like, but may not be transferred to the same position every time. That is, since an error may exist at a fixed position of the dross box 3, the image processing unit 220 may be used to accurately determine a loading area that is an inner area of the dross box 3. Here, the loading area set through the image processor 220 may be transmitted to the dross removal robot 2, and the dross removal robot 2 recognizes the received loading area and loads the dross in the loading area. can do. That is, it is possible to prevent the dross removal robot 2 from incorrectly loading the dross in an area other than the dross box 3 by setting the loading area.

Specifically, as shown in FIG. 4 (a), the 3D drop box measurer 210 may generate a 2D image of the drop box 3, and the image processor 220 may generate a 2D image. You can perform an image process on. As a result, as shown in FIG. 4B, the dross box 3 included in the 2D image may be extracted and displayed. However, since the height of each area is not displayed in the 2D image, it may be difficult to distinguish the dross box 3 from the surrounding objects by using only the 2D image. Therefore, by applying three-dimensional height information to the two-dimensional image, it is possible to exclude the area less than the predetermined height. In this case, the shape of the dross box 3 can be accurately extracted as shown in FIG. Here, the outline of the dross box 3 may be set by distinguishing the edges of the dross box 3, and the inner region of the set outline may be set as the loading area L. FIG.

On the other hand, the image processor 220 may set the load area by dividing it into a predetermined number of detailed areas. For example, as shown in Fig. 5A, the loading area L can be divided into 12 divisions of 4x3, and each of the 12 divisions can be set as the detailed area sa. Here, any one of the detailed areas sa may be set as the target area so that the robot 2 may load the dross in the target area. However, the number, shape, and the like of the detail region sa may be variously set, and are not limited to the shape of FIG. 5.

The stack setting controller 230 may calculate an average height of the dross loaded in each detailed area by using the 3D depth information. Specifically, as shown in FIG. 5, the loading setting controller 230 calculates an average height of the dross located in the preset target radius based on the center point c1 of the detail area sa and calculates the average height. The average height may be set as the average height of the corresponding detailed area sa. Here, the average height of the dross may be calculated by extracting the height value of the dross located in the target radius from three-dimensional depth information and arithmetically averaging the height values. The height value can be derived by calculating the distance to the corresponding dross based on the bottom surface of the dross box 3. In addition, the target radius can be set to 1/3 of the distance to the center point c2 of the adjacent detail area sa, as shown in Fig. 5B. However, the target radius can be set in various ways other than 1/3 of the distance between the center points.

 Since the 3D depth information includes the height value of each point included in the loading area, the loading setting controller 330 may quickly calculate an average height of the plurality of detailed areas and output the result. Thereafter, the load setting controller 330 may set any one of the detailed areas as the target area according to the calculated average height of the dross. In detail, among the average heights of the respective detailed areas, the detailed area having the lowest average height may be set as the target area.

On the other hand, the stacking setting control unit 230 may determine that the dross box 3 is full when the maximum height of the dross loaded in the loading area is greater than or equal to the preset limit height. You can request a replacement.

In addition, FIG. 1 illustrates that the dross removal control device 100 and the dross loading control device 200 are separately configured in the dross management system, but according to the embodiment, the dross removal control device 100 ) And the dross loading control device 200 may be integrally implemented and may be functionally distinguished from each other.

Figure 6 is a flow chart showing a dross removal method according to an embodiment of the present invention.

Referring to Figure 6, the dross removal method according to an embodiment of the present invention, the melt bath measurement step (S110), dross production amount determination step (S120), target area setting step (S130) and dross removal step (S140) ) May be included.

Hereinafter, a dross stacking method according to an embodiment of the present invention will be described with reference to FIG. 6.

In the melt bath measurement step S110, the melt bath may be photographed to generate two-dimensional images and three-dimensional depth information about the melt bath. A three-dimensional melt bath measuring device may be positioned on the upper part of the melt bath, and a two-dimensional image and three-dimensional depth information of a molten metal such as molten metal in the melt bath may be measured using a three-dimensional melt bath measuring device. Here, the three-dimensional depth information may be information expressing the distance from the installation position of the three-dimensional melt bath measuring device to each point in the melt bath numerically. According to the embodiment, it is also possible to express numerically the surface height value at each point based on the hot water surface in which the dross in a molten bath did not generate | occur | produce.

In the melt bath measurement step S110, the measurement light of the preset measurement pattern may be output to the surface of the melt bath, and 3D depth information may be generated by receiving the reflected light reflected from the surface. That is, the 3D depth information of the molten bath may be generated by utilizing the distortion ratio of the measurement pattern and the like reflected on the reflected light. Since the three-dimensional melt bath measuring instrument has been described above, a detailed description thereof will be omitted.

In the dross generation amount determining step (S120), the molten bath may be divided into a plurality of preset work areas, and the amount of dross formed in the plurality of work areas is determined using a two-dimensional image and three-dimensional depth information. can do. As shown in FIG. 7, in the dross generation amount determining step (S120), the dross generation amount can be discriminated by distinguishing each of "dross generation of traces", "dross generation of dross" and "mass generation of dross", respectively. have.

In detail, when the intensity of the reflected light is greater than or equal to a predetermined total reflection value in the working area (S121), the working area may be determined as “dross trace generation” (S122). In the case where dross hardly occurs, since the hot water surface of the molten bath is flat and the surface roughness is very low, the incident reflection light may exhibit the total reflection characteristic of most reflected surfaces. Therefore, in this case, it is possible to determine the working area as "a small amount of dross" which hardly occurs dross.

On the other hand, if the intensity of the reflected light is less than the total reflection value (S121), but more than the predetermined diffuse reflection value, and at the same time the deviation of the surface height values of the molten bath is less than the predetermined limit deviation (S123), the working area is "a small amount of dross" Occurrence ”(S124). That is, when dross is being generated on the surface of the work area or when the dross is partially removed by the dross removing robot, total reflection does not occur, but surface height values may be formed relatively uniformly. In this case, since the dross is small but it can be determined that it has occurred, the work area can be set to "a small amount of dross generated".

On the other hand, if the intensity of the reflected light is less than the diffuse reflection value, or if the deviation of the surface height values of the respective melt baths measured in the work area is more than the predetermined limit deviation (S123), the work area is determined as "dross mass generation". It may be (S125). That is, when a large amount of dross occurs in the working area, the measurement light irradiated by the 3D melt bath meter may be diffusely reflected from the surface, and in this case, the intensity of the reflected light received by the 3D melt bath meter may be weakened. Therefore, when the measured reflected light intensity is less than the predetermined diffuse reflection value, it may be determined that diffuse reflection occurs on the surface, and when diffuse reflection occurs on the surface of the molten bath, it may be determined as “dross mass generation”.

In addition, when a large amount of dross occurs in the molten bath, the height of the hot water surface of the molten bath is different according to the dross, so that the surface height values in the working area measured by the three-dimensional melt bath measuring instrument are not uniform and appear variously. Can be. Therefore, when the deviation of the surface height values in the work area is greater than or equal to the preset limit deviation, the work area may be determined as “dross mass generation”.

In the target area setting step (S130), one of the working areas may be set as a target area for removing the dross according to the determined dross generation amount. Here, the plurality of work areas may be set to priorities according to the generation amount of the dross, and may be set to target areas according to the respective priorities. For example, priorities can be set in the order of "Droose mass generation", "Droose small quantity generation", and "Drosion small generation", and the target area can be set according to each priority.

In the dross removal step (S140), the target area may be transmitted to the dross removal robot so that the dross removal robot performs the dross removal on the target area. That is, the dross removal robot may be controlled to perform dross removal on the target area.

8 is a flowchart illustrating a dross loading method according to an embodiment of the present invention.

Referring to Figure 8, the dross loading method according to an embodiment of the present invention, dross box measuring step (S210), loading area setting step (S220), dross box replacement step (S230, S231), the average height calculation A step S240 and a target area setting step S250 may be included.

Hereinafter, a dross stacking method according to an embodiment of the present invention will be described with reference to FIG. 8.

In the dross box measuring step S210, the transferred dross box may be photographed to generate two-dimensional images and three-dimensional depth information of the dross box. The dross box may be transported to a preset fixed position so that the robot can load the dross, and a 3D measuring device may be positioned vertically above the fixed position. Therefore, the 2D image and the 3D depth information of the inside of the dross box may be measured using the 3D measuring instrument. The 3D depth information may be information representing a distance from the installation position of the 3D measuring device to each point of the dross box. According to the exemplary embodiment, the height may be expressed numerically based on the bottom surface of the dross box. Since the three-dimensional measuring device has been described above, a detailed description thereof will be omitted.

In the loading area setting step (S220), the loading area in the drop box may be set using the 2D image and the 3D depth information. The dross box may be transported to a preset fixed position through a rail or the like, but may not be transported to the same position every time. Therefore, it is possible to accurately set the loading area of the drop box through the loading area setting step (S220).

First, in the loading area setting step (S220), an image process may be performed on the 2D image of the drop box received from the 3D measuring device. Through this, the dross box included in the 2D image may be extracted and displayed. However, since the heights of the respective areas are not displayed in the 2D image, the 3D height information may be applied to the 2D image to exclude areas below the preset height.

In this case, the shape of the dross box can be accurately extracted, and from this, the edge of the dross box can be distinguished to set the outline of the dross box. Thereafter, the inner region of the outline of the dross box may be set as the loading region.

In the dross box replacement step (S230), it may be determined whether the maximum height of the dross loaded in the loading area is greater than or equal to the preset limit height. Here, when the maximum height in the loading area of the dross box is more than the limit height, it may correspond to the case where the dross box is full. Therefore, the replacement with an empty dross box may be requested (S231). According to an embodiment, a certain error range may be set at the limit height, and the dross box may be replaced even when the maximum height of the dross loaded in the dross box is within the error range.

In the average height calculation step S240, the loading area may be divided into a predetermined number of detail areas, and the average height of the dross loaded in each detail area may be calculated using three-dimensional depth information. According to an embodiment, after each load area is divided into 12 divisions of 4x3, each of the 12 divisions can be set as a detail region.

On the other hand, in the average height calculation step (S240), based on the center point of the detail region, it is possible to calculate the average height of the dross located within the predetermined target radius. Here, the calculated average height may be set as the average height of the corresponding detailed area. Specifically, the average height of the dross may be calculated by extracting a height value of the dross located in the target radius from the 3D depth information and then arithmetically averaging each height value. In addition, the target radius may be set to 1/3 of the distance to the center point of the adjacent subregion. Since the three-dimensional depth information includes the height value of each point included in the loading area, the average height of the plurality of detail areas can be quickly calculated and the result can be output.

In the target area setting step (S250), according to the measured average height of the dross, one of the detailed areas may be set as the target area for loading the dross. In detail, among the average heights of the respective detailed areas, the detailed area having the lowest average height may be set as the target area. Thereafter, the robot may load the dross with respect to the target area of the dross box.

On the other hand, according to the embodiment, it is also possible to include the dross loading method in the dross removing method. That is, after the dross removal step S140 is performed in the dross removal method, it is necessary to load the dross removed by the dross removal robot in the dross box. Therefore, after the dross removal step S140, the flow proceeds to the dross box measurement step S210 to allow the dross removal robot to load the removed dross into the dross box.

The present invention described above can be embodied as computer readable codes on a medium in which a program is recorded. The computer readable medium may be to continuously store a computer executable program or temporarily store the program for execution or download. In addition, the medium may be a variety of recording means or storage means in the form of a single or several hardware combined, not limited to a medium directly connected to any computer system, it may be distributed on the network. Examples of the medium include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, And ROM, RAM, flash memory, and the like, configured to store program instructions. In addition, examples of another medium may include a recording medium or a storage medium managed by an app store that distributes an application, a site that supplies or distributes various software, a server, or the like. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

The present invention is not limited by the above-described embodiment and the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be substituted, modified, and changed in accordance with the present invention without departing from the spirit of the present invention.

1: melt bath 2: robot
3: dross box 100: dross removal control unit
110: 3D melt bath measuring instrument 120: removal setting control unit
200: dross loading control device 210: three-dimensional dross box measuring instrument
220: image processing unit 230: stacking setting control unit

Claims (18)

As a method for removing dross using a three-dimensional measuring device,
Photographing the molten bath to generate a two-dimensional image and three-dimensional depth information of the molten bath;
Distinguishing the molten bath into a plurality of preset work areas, and using the two-dimensional image and the three-dimensional depth information, respectively determining the amount of dross formed in the plurality of work areas; And
Setting any one of the working areas as a target area for removing the dross according to the determined amount of dross generated;
Generating the two-dimensional image and three-dimensional depth information
Outputting the measurement light of the preset measurement pattern to the surface of the molten bath to receive the reflected light reflected from the surface, and generating three-dimensional depth information of the molten bath using the distortion ratio of the measurement pattern shown in the reflected light A dross removal method characterized by the above-mentioned.
delete The method of claim 1, wherein the determining of the amount of dross produced
The dross removal method of the working area, if the intensity of the reflected light is greater than a predetermined total reflection value, the working area is determined by the occurrence of a small amount of dross.
The method of claim 3, wherein the determining of the amount of dross produced
Within the working area, when the intensity of the reflected light is less than the total reflection value or more than a preset diffuse reflection value, and the deviation of the surface height values of the melt bath is less than a preset limit deviation, the working area is determined as a small amount of dross generation. Dross removal method characterized in that.
The method of claim 4, wherein the determining of the amount of dross produced
In the working area, if the intensity of the reflected light is less than the diffuse reflection value, or if the deviation of the surface height values of the molten bath is more than the threshold deviation, the dross is characterized in that the dross mass generation How to remove.
The method of claim 1, wherein the setting of the target area comprises:
And setting a priority of the plurality of working areas according to the generation amount of the dross and setting the target areas according to the priority.
The method of claim 1,
And transmitting the target region to a dross removal robot, thereby controlling the dross removal robot to remove the dross.
As a method for removing dross using a three-dimensional measuring device,
Photographing the molten bath to generate a two-dimensional image and three-dimensional depth information of the molten bath;
Distinguishing the molten bath into a plurality of preset work areas, and using the two-dimensional image and the three-dimensional depth information, respectively determining the amount of dross formed in the plurality of work areas;
Setting any one of the working areas as a target area for removing the dross according to the determined amount of dross generated;
Transmitting the target area to a dross removal robot to control the dross removal robot to remove the dross;
Photographing the dross box to generate two-dimensional images and three-dimensional depth information of the dross box when the dross box is transferred to a preset position for loading the dross removed by the dross removal robot;
Setting a loading area in the drop box using the two-dimensional image and three-dimensional depth information;
Classifying the loading area into a predetermined number of detail areas, and calculating an average height of the dross loaded in each detail area by using the three-dimensional depth information; And
Setting any one of the sub-areas as a target area in which the dross removal robot loads the dross according to the measured average height of the dross.
Generating the two-dimensional image and three-dimensional depth information
Outputting the measurement light of the preset measurement pattern to the surface of the molten bath to receive the reflected light reflected from the surface, and generating three-dimensional depth information of the molten bath using the distortion ratio of the measurement pattern shown in the reflected light A dross removal method characterized by the above-mentioned.
A recording medium on which a program for executing the method according to any one of claims 1 and 3 to 8 is recorded.
A three-dimensional melt bath measuring device for photographing the melt bath and generating two-dimensional images and three-dimensional depth information of the melt bath;
The generation amount of each dross formed in the plurality of working areas set in the molten bath is determined using the two-dimensional image and the three-dimensional depth information, and any one of the working areas is determined according to the generated amount of the dross. To include a target setting control unit for setting a target area for removing the dross,
The three-dimensional melt bath measuring device,
Outputting the measurement light of the preset measurement pattern to the surface of the molten bath to receive the reflected light reflected from the surface, and generating three-dimensional depth information of the molten bath using the distortion ratio of the measurement pattern shown in the reflected light Dross removal control device characterized in. delete delete delete delete delete delete delete delete

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