WO2022033195A1 - Machine vision-based slag extracting system - Google Patents

Machine vision-based slag extracting system Download PDF

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Publication number
WO2022033195A1
WO2022033195A1 PCT/CN2021/102318 CN2021102318W WO2022033195A1 WO 2022033195 A1 WO2022033195 A1 WO 2022033195A1 CN 2021102318 W CN2021102318 W CN 2021102318W WO 2022033195 A1 WO2022033195 A1 WO 2022033195A1
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WIPO (PCT)
Prior art keywords
slag
machine vision
control cabinet
camera
cooling
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PCT/CN2021/102318
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French (fr)
Chinese (zh)
Inventor
盛镝
宋文涛
邹立君
毕宏伟
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烟台盛利达工程技术有限公司
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Publication of WO2022033195A1 publication Critical patent/WO2022033195A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D43/00—Mechanical cleaning, e.g. skimming of molten metals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/284—Electromagnetic waves

Definitions

  • the utility model relates to a slag scavenging system, in particular to a slag scavenging system based on machine vision.
  • the slag fishing machine when the slag fishing machine is working, it is necessary to manually calibrate the position of the slag fishing, and then input the position data into the control system, which is time-consuming and labor-intensive.
  • the slag fishing machine can only carry out slag fishing according to the preset position and sequence of the program, and will not automatically carry out slag fishing for areas outside the calibration range.
  • the utility model proposes a slag fishing system based on machine vision, the purpose of which is to replace the traditional method of manually calibrating the slag fishing position, reduce labor intensity, and improve the slag fishing efficiency and flexibility.
  • a machine vision-based slag fishing system includes a slag fishing machine, a control cabinet, a camera, a height detection device and a first detection system;
  • the camera is used to photograph the liquid level of the steel/ladle, and is connected with the control cabinet;
  • the height detection system is used to detect the liquid level in the steel/ladle, and is connected with the control cabinet in communication;
  • the first detection system is used to detect the position and attitude of the slag rake at the end of the slag fishing machine, and is connected with the control cabinet;
  • the control cabinet is used to control the action of the slag fishing machine.
  • this system also includes a sealing cover and a cooling system;
  • the camera is installed in a sealed enclosure; the cooling system is used to cool the camera.
  • the cooling system includes a coil-type water-cooling circulation system
  • the coil-type water-cooling circulation system includes a coil arranged in a sealed cover.
  • the cooling system includes an air cooling system that blows cold air along the shooting direction of the camera.
  • this system also includes a filter set on the front side of the camera lens.
  • the slag fishing machine includes a vehicle body, a rotating body mounted on the vehicle body and rotating relative to the vehicle body, a robotic arm mounted on the rotating body, and a slag rake mounted at the end of the robotic arm. including an oil cylinder for controlling the lifting and lowering of the mechanical arm;
  • the first detection system includes a first displacement sensor for detecting the length of the oil cylinder, an angle sensor for detecting the angle of the rotating body relative to the vehicle body, and a second displacement sensor for detecting the position of the vehicle body.
  • this system also includes a walking cart and a second detection system;
  • the walking cart is used to hold steel/ladle
  • the second detection system is used to detect the position of the traveling vehicle relative to the camera, and is connected with the control cabinet.
  • the system includes a first limit sensor and a second limit sensor that are fixedly arranged relative to the ground, and also includes a sensing block arranged on the traveling vehicle.
  • the height detection device is a radar sensor arranged above the steel/ladle.
  • the system also includes a shielding tube that is vertically arranged and whose upper end is connected to the transmitting end of the radar sensor, and the lower end of the shielding tube is installed with a downward bell mouth device;
  • It also includes a cooling pipe for conveying compressed gas, the cooling pipe communicates with the upper part of the shielding pipe.
  • the utility model has the following beneficial effects: (1)
  • the machine vision is used to identify the slag fishing area, without manual calibration, the control system can automatically obtain the effective slag fishing area, and control the slag fishing machine to operate, which reduces the need for manual calibration.
  • the labor intensity of workers improves the slag removal efficiency and the flexibility and accuracy of operation;
  • the camera is equipped with a water cooling system, which can reduce the ambient temperature of the camera, ensure its normal operation, and improve its service life; (3)
  • the camera is equipped with a water cooling system.
  • the control cabinet can obtain the position of the ladle and the slag machine in real time through various sensors.
  • the pose combined with visual data, can realize automatic control of slag fishing.
  • Figure 1 is a schematic structural diagram of the utility model.
  • a machine vision-based slag fishing system includes a slag fishing machine 9, a control cabinet 13, a camera 2, a height detection device, a traveling vehicle 5, a first detection system and a second detection system.
  • the camera 2 is used for photographing the liquid level of the steel/ladle 4 , and is connected to the control cabinet 13 to send the photographed signal to the control cabinet 13 .
  • the steel/ladle 4 refers to: the corresponding ladle may be a ladle or a ladle.
  • the camera 2 is installed in a metal sealing cover 1 , and a cooling system is provided at the sealing cover 1 for cooling the camera 2 .
  • the cooling system includes a coil type water-cooling circulation system, and the coil type water-cooling circulation system includes a coil arranged in the sealing cover 1, and the cooling medium in the coil is circulating, after absorbing the heat in the sealing cover 1, it passes through The cooling system dissipates the heat, and then returns to the coil to continue to absorb the heat.
  • the cooling system also includes an air cooling system that blows cold air along the shooting direction of the camera 2 to form an air curtain between the camera 2 and the ladle (the opening of the cold air duct is set at the bottom of the sealing seat 1), which can prevent dust Adsorption can further isolate high temperature radiation.
  • An optical filter 14 is also installed at the opening at the bottom of the sealing cover 1 to filter out image elements irrelevant to the recognition and improve the accuracy and speed of the recognition.
  • the control cabinet 13 After acquiring the picture captured by the camera 2, the control cabinet 13 identifies the position of the scum on the liquid surface according to the image information, and obtains the target slag fishing area.
  • the identification method is: performing grayscale processing on the image information, comparing the grayscale of each part with the pre-saved dregs grayscale data, and identifying whether there is dregs everywhere.
  • the height detection system is used to detect the liquid level in the ladle 4 and is connected with the control cabinet 13 .
  • the height detection device is a radar sensor 3 arranged above the ladle 4 .
  • it also includes a shielding tube that is vertically arranged and whose upper end is connected to the transmitting end of the radar sensor 3 .
  • the lower end of the shielding tube is installed with a downward bell mouth device.
  • a cooling pipe for conveying compressed gas is also included, the cooling pipe communicates with the upper part of the shielding pipe, and cold air is blown downward along the shielding pipe to prevent the high-temperature gas of the ladle 4 from approaching the radar sensor 3 .
  • the slag fishing machine 9 includes a vehicle body, a rotating body mounted on the vehicle body and rotating relative to the vehicle body, a mechanical arm mounted on the rotating body, and a slag rake mounted on the end of the Cylinders for the lifting and lowering of the robotic arm.
  • the first detection system is used to detect the position and posture of the slag rake at the end of the slag fishing machine 9, and is connected to the control cabinet 13, which specifically includes a first displacement sensor 10 for detecting the length of the oil cylinder, for An angle sensor 11 for detecting the angle of the rotating body with respect to the vehicle body, and a second displacement sensor 12 for detecting the position of the vehicle body.
  • the displacement sensor preferably adopts a magneto-induced displacement sensor, and the angle sensor 11 adopts an encoder.
  • the walking cart 5 is used to hold the steel/ladle 4 and travel along the guide rails on the ground.
  • the second detection system is used to detect the position of the traveling vehicle 5 relative to the camera, and is connected to the control cabinet 13 , and specifically includes a first limit sensor 6 and a second limit sensor 7 that are fixed relative to the ground. , and also includes an induction block 8 arranged on the traveling vehicle 5 .
  • the control cabinet 13 is an industrial computer, which is processed according to the collected data, and controls the action of the slag machine 9 according to the processing result.
  • the working method of the system is as follows: the steel/hot metal liquid level is divided into N regions in advance, and the coordinates of each region relative to the steel/hot metal ladle 4 are recorded in the controller of the control cabinet 13 .
  • the ladle 4 follows the traveling cart 5 into the station, the second limit sensor 7 is triggered first, and the radar sensor 3 starts to measure the liquid level.
  • the first limit sensor 6 is triggered, the liquid level detection ends, and the traveling Car 5 stops.
  • the camera 2 After the position of the ladle 4 is fixed, the camera 2 starts to photograph the liquid level, and then identifies the location of the slag according to the grayscale information of the image, and determines the target slag fishing area.
  • the control cabinet 13 calculates the attitude of the slag scavenger 9 (corresponding to the position that the first displacement sensor 10 , the second displacement sensor 12 and the angle sensor 11 should reach) through the coordinates of the target slag scavenging area and the liquid level information, and controls
  • the slag fishing machine 9 starts the automatic slag fishing operation.
  • the image detection of the liquid level is continuously performed, the target slag fishing area is continuously analyzed and updated, and the slag fishing machine 9 is guided to adjust the action until the slag fishing ends.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Thermal Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Continuous Casting (AREA)
  • Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)

Abstract

Disclosed is a machine vision-based slag extracting system, comprising a slag extractor, and characterized by further comprising a control cabinet, a camera, a height detection device, and a first detection system. The camera is used for photographing the liquid level of a steel/iron ladle, and is connected to the control cabinet; the height detection system is used for detecting the height of the liquid level in the steel/iron ladle, and is connected to the control cabinet; the first detection system is used for detecting the position and posture of a slag rake at the tail end of the slag extractor, and is connected to the control cabinet; and the control cabinet is used for controlling the action of the slag extractor. According to the present utility model, a slag extracting region is recognized by means of machine vision, manual calibration is not needed, a control system can automatically obtain an effective slag extracting region, the slag extractor is controlled to operate, the labor intensity of workers is reduced, and the slag extracting efficiency and the flexibility and accuracy of operation are improved.

Description

基于机器视觉的捞渣系统Machine vision-based slag fishing system 技术领域technical field
本实用新型涉及一种捞渣系统，尤其是一种基于机器视觉的捞渣系统。The utility model relates to a slag scavenging system, in particular to a slag scavenging system based on machine vision.
背景技术Background technique
目前，捞渣机工作时，需要人工标定捞渣位置，然后将位置数据输入到控制系统中，既费时又费力。并且，捞渣机只能按程序内定位置和顺序进行捞渣，对于标定范围之外的区域不会自动进行捞渣，同时对已设定的无渣区域依然进行捞渣操作，灵活性差。At present, when the slag fishing machine is working, it is necessary to manually calibrate the position of the slag fishing, and then input the position data into the control system, which is time-consuming and labor-intensive. In addition, the slag fishing machine can only carry out slag fishing according to the preset position and sequence of the program, and will not automatically carry out slag fishing for areas outside the calibration range.
技术问题technical problem
本实用新型提出了一种基于机器视觉的捞渣系统，其目的是：代替传统人工标定捞渣位置的方式，降低劳动强度，提高捞渣效率和灵活性。The utility model proposes a slag fishing system based on machine vision, the purpose of which is to replace the traditional method of manually calibrating the slag fishing position, reduce labor intensity, and improve the slag fishing efficiency and flexibility.
技术解决方案technical solutions
本实用新型技术方案如下：The technical scheme of the present utility model is as follows:
一种基于机器视觉的捞渣系统，包括捞渣机，还包括控制柜、摄像机、高度检测装置以及第一检测系统；A machine vision-based slag fishing system includes a slag fishing machine, a control cabinet, a camera, a height detection device and a first detection system;
所述摄像机用于拍摄钢/铁水包的液面，并与所述控制柜相连接；The camera is used to photograph the liquid level of the steel/ladle, and is connected with the control cabinet;
所述高度检测系统用于检测钢/铁水包中液面高度，并与所述控制柜通讯连接；The height detection system is used to detect the liquid level in the steel/ladle, and is connected with the control cabinet in communication;
所述第一检测系统用于检测捞渣机末端渣耙的位置姿态，并与所述控制柜相连接；The first detection system is used to detect the position and attitude of the slag rake at the end of the slag fishing machine, and is connected with the control cabinet;
所述控制柜用于控制捞渣机动作。The control cabinet is used to control the action of the slag fishing machine.
作为本系统的进一步改进：还包括密封罩和冷却系统；As a further improvement of this system: it also includes a sealing cover and a cooling system;
所述摄像机安装在密封罩内；所述冷却系统用于为摄像机降温。The camera is installed in a sealed enclosure; the cooling system is used to cool the camera.
作为本系统的进一步改进：所述冷却系统包括盘管式水冷循环系统，所述盘管式水冷循环系统包括设置在密封罩内的盘管。As a further improvement of the system: the cooling system includes a coil-type water-cooling circulation system, and the coil-type water-cooling circulation system includes a coil arranged in a sealed cover.
作为本系统的进一步改进：所述冷却系统包括沿摄像机的拍摄方向吹送冷风的风冷系统。As a further improvement of the system: the cooling system includes an air cooling system that blows cold air along the shooting direction of the camera.
作为本系统的进一步改进：还包括设置在摄像机镜头前侧的滤光片。As a further improvement of this system: it also includes a filter set on the front side of the camera lens.
作为本系统的进一步改进：所述捞渣机包括车体、安装在车体上且相对于车体转动的转动体、安装在转动体上的机械臂以及安装在机械臂末端的渣耙，还包括用于控制所述机械臂起落的油缸；As a further improvement of the system: the slag fishing machine includes a vehicle body, a rotating body mounted on the vehicle body and rotating relative to the vehicle body, a robotic arm mounted on the rotating body, and a slag rake mounted at the end of the robotic arm. including an oil cylinder for controlling the lifting and lowering of the mechanical arm;
所述第一检测系统包括用于检测所述油缸长度的第一位移传感器、用于检测转动体相对于车体角度的角度传感器以及用于检测车体位置的第二位移传感器。The first detection system includes a first displacement sensor for detecting the length of the oil cylinder, an angle sensor for detecting the angle of the rotating body relative to the vehicle body, and a second displacement sensor for detecting the position of the vehicle body.
作为本系统的进一步改进：还包括行走车和第二检测系统；As a further improvement of this system: it also includes a walking cart and a second detection system;
所述行走车用于盛放钢/铁水包；The walking cart is used to hold steel/ladle;
所述第二检测系统用于检测行走车相对于摄像头的位置，并与所述控制柜相连接。The second detection system is used to detect the position of the traveling vehicle relative to the camera, and is connected with the control cabinet.
作为本系统的进一步改进：包括设置相对于地面固定设置的第一限位传感器和第二限位传感器，还包括设置在行走车上的感应块。As a further improvement of the system, it includes a first limit sensor and a second limit sensor that are fixedly arranged relative to the ground, and also includes a sensing block arranged on the traveling vehicle.
作为本系统的进一步改进：所述高度检测装置为设置在钢/铁水包上方的雷达传感器。As a further improvement of the system: the height detection device is a radar sensor arranged above the steel/ladle.
作为本系统的进一步改进：还包括竖直设置且上端与雷达传感器的发射端相接的屏蔽管，所述屏蔽管下端安装有朝向下方的喇叭口装置；As a further improvement of the system: it also includes a shielding tube that is vertically arranged and whose upper end is connected to the transmitting end of the radar sensor, and the lower end of the shielding tube is installed with a downward bell mouth device;
还包括用于输送压缩气体的冷却管，所述冷却管与所述屏蔽管的上部相连通。It also includes a cooling pipe for conveying compressed gas, the cooling pipe communicates with the upper part of the shielding pipe.
有益效果beneficial effect
相对于现有技术，本实用新型具有以下有益效果：（1）使用机器视觉识别出捞渣区域，无需人工标定，控制系统可以自动获取有效的捞渣区域，控制捞渣机进行操作，降低了工人的劳动强度，提高了捞渣效率和操作的灵活性及准确性；（2）摄像机处设有水冷系统，可以降低摄像机的环境温度，保证其正常工作，提高使用寿命；（3）摄像机处还设有风冷系统，在摄像机与铁水包之间形成风幕，既可以防止粉尘吸附，还可以进一步隔绝高温辐射；（4）控制柜通过各传感器可以实时获取铁水包的位置以及捞渣机的位姿，结合视觉数据，可以实现捞渣的全自动控制。Compared with the prior art, the utility model has the following beneficial effects: (1) The machine vision is used to identify the slag fishing area, without manual calibration, the control system can automatically obtain the effective slag fishing area, and control the slag fishing machine to operate, which reduces the need for manual calibration. The labor intensity of workers improves the slag removal efficiency and the flexibility and accuracy of operation; (2) The camera is equipped with a water cooling system, which can reduce the ambient temperature of the camera, ensure its normal operation, and improve its service life; (3) The camera is equipped with a water cooling system. There is also an air cooling system, which forms an air curtain between the camera and the ladle, which can not only prevent dust adsorption, but also further isolate high temperature radiation; (4) The control cabinet can obtain the position of the ladle and the slag machine in real time through various sensors. The pose, combined with visual data, can realize automatic control of slag fishing.
附图说明Description of drawings
图1为本实用新型的结构示意图。Figure 1 is a schematic structural diagram of the utility model.
本发明的实施方式Embodiments of the present invention
下面结合附图详细说明本实用新型的技术方案：Describe the technical scheme of the present utility model in detail below in conjunction with accompanying drawing:
如图1，一种基于机器视觉的捞渣系统，包括捞渣机9，还包括控制柜13、摄像机2、高度检测装置、行走车5、第一检测系统和第二检测系统。As shown in Figure 1, a machine vision-based slag fishing system includes a slag fishing machine 9, a control cabinet 13, a camera 2, a height detection device, a traveling vehicle 5, a first detection system and a second detection system.
所述摄像机2用于拍摄钢/铁水包4的液面，并与所述控制柜13相连接，将所拍摄到的信号发送给控制柜13。所述钢/铁水包4是指：所对应的可以是钢水包，也可以是铁水包。The camera 2 is used for photographing the liquid level of the steel/ladle 4 , and is connected to the control cabinet 13 to send the photographed signal to the control cabinet 13 . The steel/ladle 4 refers to: the corresponding ladle may be a ladle or a ladle.
具体的，所述摄像机2安装在金属材质的密封罩1内，密封罩1处设有冷却系统用于为摄像机2降温。Specifically, the camera 2 is installed in a metal sealing cover 1 , and a cooling system is provided at the sealing cover 1 for cooling the camera 2 .
所述冷却系统包括盘管式水冷循环系统，所述盘管式水冷循环系统包括设置在密封罩1内的盘管，盘管内为循环流动的冷却介质，吸收密封罩1内的热量后，经过制冷系统将热量散发，然后回到盘管内继续吸收热量。The cooling system includes a coil type water-cooling circulation system, and the coil type water-cooling circulation system includes a coil arranged in the sealing cover 1, and the cooling medium in the coil is circulating, after absorbing the heat in the sealing cover 1, it passes through The cooling system dissipates the heat, and then returns to the coil to continue to absorb the heat.
所述冷却系统还包括沿摄像机2的拍摄方向吹送冷风的风冷系统，用于在摄像机2与铁水包之间形成风幕（冷风管的开口设置在密封座1的底部），既可以防止粉尘吸附，还可以进一步隔绝高温辐射。The cooling system also includes an air cooling system that blows cold air along the shooting direction of the camera 2 to form an air curtain between the camera 2 and the ladle (the opening of the cold air duct is set at the bottom of the sealing seat 1), which can prevent dust Adsorption can further isolate high temperature radiation.
所述密封罩1底部的开口处还安装有滤光片14，滤去与识别无关的图像元素，提高识别的准确性和速度。An optical filter 14 is also installed at the opening at the bottom of the sealing cover 1 to filter out image elements irrelevant to the recognition and improve the accuracy and speed of the recognition.
控制柜13获取到摄像机2拍摄到的画面后，根据图像信息识别液面上渣滓所处于的位置，获取目标捞渣区域。识别的方法为：对图像信息进行灰度处理，将各部位的灰度与预先保存的渣滓灰度数据比对，识别出各处是否有渣滓。After acquiring the picture captured by the camera 2, the control cabinet 13 identifies the position of the scum on the liquid surface according to the image information, and obtains the target slag fishing area. The identification method is: performing grayscale processing on the image information, comparing the grayscale of each part with the pre-saved dregs grayscale data, and identifying whether there is dregs everywhere.
所述高度检测系统用于检测钢/铁水包4中液面高度，并与所述控制柜13相连接。The height detection system is used to detect the liquid level in the ladle 4 and is connected with the control cabinet 13 .
本实施例中，所述高度检测装置为设置在钢/铁水包4上方的雷达传感器3。同时还包括竖直设置且上端与雷达传感器3的发射端相接的屏蔽管，所述屏蔽管下端安装有朝向下方的喇叭口装置。进一步的，还包括用于输送压缩气体的冷却管，所述冷却管与所述屏蔽管的上部相连通，沿屏蔽管向下吹送冷风，防止钢/铁水包4的高温气体靠近雷达传感器3。In this embodiment, the height detection device is a radar sensor 3 arranged above the ladle 4 . At the same time, it also includes a shielding tube that is vertically arranged and whose upper end is connected to the transmitting end of the radar sensor 3 . The lower end of the shielding tube is installed with a downward bell mouth device. Further, a cooling pipe for conveying compressed gas is also included, the cooling pipe communicates with the upper part of the shielding pipe, and cold air is blown downward along the shielding pipe to prevent the high-temperature gas of the ladle 4 from approaching the radar sensor 3 .
所述捞渣机9包括车体、安装在车体上且相对于车体转动的转动体、安装在转动体上的机械臂以及安装在机械臂末端的渣耙，还包括用于控制所述机械臂起落的油缸。The slag fishing machine 9 includes a vehicle body, a rotating body mounted on the vehicle body and rotating relative to the vehicle body, a mechanical arm mounted on the rotating body, and a slag rake mounted on the end of the Cylinders for the lifting and lowering of the robotic arm.
所述第一检测系统用于检测捞渣机9末端渣耙的位置、姿态，并与所述控制柜13相连接，其具体包括用于检测所述油缸长度的第一位移传感器10、用于检测转动体相对于车体角度的角度传感器11以及用于检测车体位置的第二位移传感器12。所述位移传感器优选采用磁致位移传感器，角度传感器11采用编码器。The first detection system is used to detect the position and posture of the slag rake at the end of the slag fishing machine 9, and is connected to the control cabinet 13, which specifically includes a first displacement sensor 10 for detecting the length of the oil cylinder, for An angle sensor 11 for detecting the angle of the rotating body with respect to the vehicle body, and a second displacement sensor 12 for detecting the position of the vehicle body. The displacement sensor preferably adopts a magneto-induced displacement sensor, and the angle sensor 11 adopts an encoder.
所述行走车5用于盛放钢/铁水包4，并沿地面的导轨行走。所述第二检测系统用于检测行走车5相对于摄像头的位置，并与所述控制柜13相连接，具体包括设置相对于地面固定设置的第一限位传感器6和第二限位传感器7，还包括设置在行走车5上的感应块8。The walking cart 5 is used to hold the steel/ladle 4 and travel along the guide rails on the ground. The second detection system is used to detect the position of the traveling vehicle 5 relative to the camera, and is connected to the control cabinet 13 , and specifically includes a first limit sensor 6 and a second limit sensor 7 that are fixed relative to the ground. , and also includes an induction block 8 arranged on the traveling vehicle 5 .
所述控制柜13为工业计算机，根据所收集的数据，经过处理，根据处理结果控制捞渣机9动作。The control cabinet 13 is an industrial computer, which is processed according to the collected data, and controls the action of the slag machine 9 according to the processing result.
本系统的工作方法为：预先将钢/铁水液面分成N个区域，将各区域相对于钢/铁水包4的坐标记录到控制柜13的控制器中。当钢/铁水包4跟随行走车5进站时，第二限位传感器7先被触发，此时雷达传感器3开始测量液位，当第一限位传感器6被触发，液位检测结束，行走车5停止。钢/铁水包4位置固定后，摄像机2开始拍摄液面，然后根据图像灰度信息识别出渣滓所处位置，确定目标捞渣区域。然后，控制柜13通过目标捞渣区域的坐标以及液面高度信息，计算出捞渣机9的姿态（对应第一位移传感器10、第二位移传感器12及角度传感器11应到达的位置），控制捞渣机9开始自动捞渣作业。捞渣作业时，持续对液面进行图像检测，不断分析、更新目标捞渣区域，指导捞渣机9调整动作，直到捞渣结束。The working method of the system is as follows: the steel/hot metal liquid level is divided into N regions in advance, and the coordinates of each region relative to the steel/hot metal ladle 4 are recorded in the controller of the control cabinet 13 . When the ladle 4 follows the traveling cart 5 into the station, the second limit sensor 7 is triggered first, and the radar sensor 3 starts to measure the liquid level. When the first limit sensor 6 is triggered, the liquid level detection ends, and the traveling Car 5 stops. After the position of the ladle 4 is fixed, the camera 2 starts to photograph the liquid level, and then identifies the location of the slag according to the grayscale information of the image, and determines the target slag fishing area. Then, the control cabinet 13 calculates the attitude of the slag scavenger 9 (corresponding to the position that the first displacement sensor 10 , the second displacement sensor 12 and the angle sensor 11 should reach) through the coordinates of the target slag scavenging area and the liquid level information, and controls The slag fishing machine 9 starts the automatic slag fishing operation. During the slag fishing operation, the image detection of the liquid level is continuously performed, the target slag fishing area is continuously analyzed and updated, and the slag fishing machine 9 is guided to adjust the action until the slag fishing ends.

Claims (10)

  1. 一种基于机器视觉的捞渣系统，包括捞渣机（9），其特征在于：还包括控制柜（13）、摄像机（2）、高度检测装置以及第一检测系统；A slag scavenging system based on machine vision, comprising a slag scavenger (9), characterized in that it further comprises a control cabinet (13), a camera (2), a height detection device and a first detection system;
    所述摄像机（2）用于拍摄钢/铁水包（4）的液面，并与所述控制柜（13）相连接；The camera (2) is used to photograph the liquid level of the steel/ladle (4), and is connected to the control cabinet (13);
    所述高度检测系统用于检测钢/铁水包（4）中液面高度，并与所述控制柜（13）通讯连接；The height detection system is used to detect the liquid level height in the steel/ladle (4), and is connected in communication with the control cabinet (13);
    所述第一检测系统用于检测捞渣机（9）末端渣耙的位置姿态，并与所述控制柜（13）相连接；The first detection system is used to detect the position and attitude of the slag rake at the end of the slag fishing machine (9), and is connected to the control cabinet (13);
    所述控制柜（13）用于控制捞渣机（9）动作。The control cabinet (13) is used to control the action of the slag fishing machine (9).
  2. 如权利要求1所述的基于机器视觉的捞渣系统，其特征在于：还包括密封罩（1）和冷却系统；The machine vision-based slag removal system according to claim 1, characterized in that: it further comprises a sealing cover (1) and a cooling system;
    所述摄像机（2）安装在密封罩（1）内；所述冷却系统用于为摄像机（2）降温。The camera (2) is installed in the sealing cover (1); the cooling system is used for cooling the camera (2).
  3. 如权利要求2所述的基于机器视觉的捞渣系统，其特征在于：所述冷却系统包括盘管式水冷循环系统，所述盘管式水冷循环系统包括设置在密封罩（1）内的盘管。The machine vision-based slag fishing system according to claim 2, characterized in that: the cooling system comprises a coil type water-cooling circulation system, and the coil type water-cooling circulation system comprises a disk arranged in the sealing cover (1). Tube.
  4. 如权利要求2所述的基于机器视觉的捞渣系统，其特征在于：所述冷却系统包括沿摄像机（2）的拍摄方向吹送冷风的风冷系统。The machine vision-based slag fishing system according to claim 2, characterized in that: the cooling system comprises an air cooling system that blows cold air along the shooting direction of the camera (2).
  5. 如权利要求1所述的基于机器视觉的捞渣系统，其特征在于：还包括设置在摄像机（2）镜头前侧的滤光片（14）。The machine vision-based slag removal system according to claim 1, further comprising a filter (14) arranged on the front side of the lens of the camera (2).
  6. 如权利要求1所述的基于机器视觉的捞渣系统，其特征在于：所述捞渣机（9）包括车体、安装在车体上且相对于车体转动的转动体、安装在转动体上的机械臂以及安装在机械臂末端的渣耙，还包括用于控制所述机械臂起落的油缸；The machine vision-based slag fishing system according to claim 1, characterized in that: the slag fishing machine (9) comprises a vehicle body, a rotating body mounted on the vehicle body and rotating relative to the vehicle body, and a rotating body installed on the rotating body. The robot arm on the robot arm and the slag rake installed at the end of the robot arm also include an oil cylinder for controlling the lifting and falling of the robot arm;
    所述第一检测系统包括用于检测所述油缸长度的第一位移传感器（10）、用于检测转动体相对于车体角度的角度传感器（11）以及用于检测车体位置的第二位移传感器（12）。The first detection system includes a first displacement sensor (10) for detecting the length of the oil cylinder, an angle sensor (11) for detecting the angle of the rotating body relative to the vehicle body, and a second displacement for detecting the position of the vehicle body sensor (12).
  7. 如权利要求1所述的基于机器视觉的捞渣系统，其特征在于：还包括行走车（5）和第二检测系统；The machine vision-based slag fishing system according to claim 1, characterized in that: further comprising a traveling vehicle (5) and a second detection system;
    所述行走车（5）用于盛放钢/铁水包（4）；The walking cart (5) is used to hold the steel/ladle (4);
    所述第二检测系统用于检测行走车（5）相对于摄像头的位置，并与所述控制柜（13）相连接。The second detection system is used for detecting the position of the traveling vehicle (5) relative to the camera, and is connected with the control cabinet (13).
  8. 如权利要求7所述的基于机器视觉的捞渣系统，其特征在于：包括设置相对于地面固定设置的第一限位传感器（6）和第二限位传感器（7），还包括设置在行走车（5）上的感应块（8）。The machine vision-based slag scavenging system according to claim 7, characterized in that it comprises a first limit sensor (6) and a second limit sensor (7) that are fixedly arranged relative to the ground, and further comprises a first limit sensor (6) and a second limit sensor (7) that are arranged on the walking Induction block (8) on cart (5).
  9. 如权利要求1至8任一所述的基于机器视觉的捞渣系统，其特征在于：所述高度检测装置为设置在钢/铁水包（4）上方的雷达传感器（3）。The machine vision-based slag removal system according to any one of claims 1 to 8, wherein the height detection device is a radar sensor (3) arranged above the steel/ladle (4).
  10. 如权利要求9所述的基于机器视觉的捞渣系统，其特征在于：还包括竖直设置且上端与雷达传感器（3）的发射端相接的屏蔽管，所述屏蔽管下端安装有朝向下方的喇叭口装置；The slag fishing system based on machine vision according to claim 9, characterized in that it further comprises a shielding pipe vertically arranged and whose upper end is connected to the transmitting end of the radar sensor (3), the lower end of the shielding pipe is installed with a downward facing shielding pipe. bell mouth device;
    还包括用于输送压缩气体的冷却管，所述冷却管与所述屏蔽管的上部相连通。It also includes a cooling pipe for conveying compressed gas, the cooling pipe communicates with the upper part of the shielding pipe.
PCT/CN2021/102318 2020-08-12 2021-06-25 Machine vision-based slag extracting system WO2022033195A1 (en)

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