Binocular vision guiding method based on continuous casting equipment

Abstract

The invention belongs to the technical field of binocular vision, and particularly discloses a binocular vision guiding method based on continuous casting equipment, which comprises the following steps: shooting an upper nozzle through a binocular camera to obtain an upper nozzle image, and identifying feature points of the upper nozzle image; calculating position coordinates of the upper nozzle according to the feature points of the upper nozzle image; enabling the mechanical arm to acquire the position coordinate information of the upper nozzle, and performs sleeving action on the sleeve nozzle according to the position coordinate information of the upper nozzle; and after the sleeving action of the sleeve nozzle is completed, starting molten steel drainage, and after molten steel drainage is completed, enabling the mechanical arm to automatically return to the safety position, and therefore, the automation process of the steel industry can be accelerated, and a safer, more efficientand labor-saving operation mode is provided for steelmaking enterprises.

Description

Technical field [0001] The invention relates to the technical field of binocular vision, and more specifically, to a binocular vision guidance method based on continuous casting equipment. Background technique [0002] In the steelmaking industry, dozens of tons of molten steel are stored in the large ladle, and the molten steel in the ladle needs to be drained through the upper and lower nozzles and the tundish. The front-line operators need to manually pass the jacket nozzle through the visual method in this process , Push-pull continuous casting machine, set it to the outlet of the big ladle, the length of the whole set of nozzle also varies from person to person, and the site is always high temperature work, it is also a test for front-line operators, and in the process , The position of the big bag will be deviated every time it stops, which makes the operation more difficult. Summary of the invention [0003] Aiming at the above-mentioned drawbacks in the prior art, the pre...

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Problems solved by technology

[0002] Dozens of tons of molten steel are stored in ladles in the steelmaking industry. It is necessary to drain the molten steel in the ladle through the upper and lower nozzles and the tundish. The front-line operators need to manually drain the ladle by visual means during this process. , push-pull continuous casting machine, put it on the water outlet of the ladle, and the length of the entire water outlet is also different from person to person. In addition, the site is always working at high temperature, which is also a test for the front-line operators, and in this process , there will be a deviation in the position of each docking of the large bag, which will increase the difficulty of the operation

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