A positioning method and system for guiding sintering machine pallet replacement

Abstract

The application provides a positioning method and system for guiding sintering machine trolley replacement, acquires a current scanning data set scanned by a 2D laser scanning device, acquires a standard sampling point set of a standard sintering machine trolley, and translates the standard sampling point set in the current scanning data set in a horizontal plane to match the scanning data set of a to-be-determined trolley, acquires a wheel scanning data set of the to-be-determined trolley according to the scanning data set of the to-be-determined trolley to obtain a candidate sintering machine trolley, and then determines a positioning replacement position of the candidate sintering machine trolley according to a central gravity value of the candidate sintering machine trolley and an included angle value between an extension direction of a sintering machine platform of the candidate sintering machine trolley. The positioning replacement position obtained by the application can be used to guide automatic handling of the sintering machine trolley by a navigation vehicle, is rapid and accurate, and is simple to install, low in maintenance cost, less in matched equipment, and stable and reliable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sintering machine, and particularly relates to a positioning method and system for guiding sintering machine trolley replacement. BACKGROUND

[0002] Sintering is a very important link in the steel production process. Sintering is to mix iron ore powder, lime powder and coal powder in a certain proportion, and to make them reach sufficient strength and particle size through calcination. The mixed ore after calcination is called sintered ore, which is mainly used for blast furnace ironmaking. It can improve the utilization coefficient of blast furnace, reduce the coke ratio, and improve the permeability of blast furnace. The sintering production process mainly includes the following links: raw material acceptance, screening and crushing, solvent fuel crushing and screening, batching, material distribution, sintering, air cooling, crushing and screening, dust removal, etc. The trolley of the sintering machine is an important moving mechanism in the sintering process, which contains mixed materials and changes the mixed materials into sintered ore through ignition, heat preservation and calcination.

[0003] In actual work process, the wheels of the sintering machine trolley are easily damaged due to long-term operation in high-temperature environment, extrusion and wear. Generally, the components of the sintering machine trolley need to be replaced in time, otherwise the normal production of the sintering machine will be affected.

[0004] At present, the sintering machine trolley is mainly replaced by manual operation of the trolley. Multiple workers cooperate with each other. During the replacement process, a special person needs to control the trolley to lift, and relies on manual close-range observation to position the sintering machine standby trolley and the track position of the running trolley. After the lifting lug reaches the vicinity of the positioning, a special person needs to manually adjust the position of the lifting hook until the lifting lug is hung on the sintering machine trolley, and then the trolley is operated to lift the sintering machine trolley. This way has the problems of needing multiple people to cooperate, inaccurate positioning at a long distance, long adjustment time for accurately adjusting the position of the lifting lug, and long time for replacing the sintering machine trolley as a whole. And due to multiple cooperation, especially the process of manually adjusting the lifting lug, personnel scraping is easy to occur, and safety accidents are easy to happen.

[0005] Therefore, it is necessary to provide a positioning method and system for guiding sintering machine trolley replacement to solve or at least alleviate the above-mentioned defects. SUMMARY

[0006] The main purpose of the present application is to provide a positioning method and system for guiding sintering machine trolley replacement, so as to solve the problem in the prior art that when the maintenance worker replaces the sintering machine trolley, he relies on manual close-range observation to position the sintering machine standby trolley and the track position of the running trolley. After the lifting lug reaches the vicinity of the positioning, the position of the lifting lug needs to be manually adjusted until the lifting lug is hung on the trolley, and then the trolley is operated to lift the trolley. This way has the problems of inaccurate positioning at a long distance, long adjustment time for accurately adjusting the position of the lifting lug, and long time for replacing the sintering machine trolley as a whole.

[0007] In a first aspect, to achieve the above object, the present application provides a positioning method for guiding sintering machine trolley replacement, comprising the steps of:

[0008] S1, obtaining a current scanning data set scanned by a 2D laser scanning device; wherein the sintering machine platform is located within the scanning range of the 2D laser scanning device; the moving direction of the 2D laser scanning device is the extension direction of the sintering machine platform;

[0009] S2, obtaining a standard sampling point set of a standard sintering machine trolley, and translating the standard sampling point set in the current scanning data set in the horizontal plane;

[0010] S3, determining the distance between each standard sampling point in the standard sampling point set after each translation and the nearest point in the current scanning data set, and judging whether the distance between each standard sampling point in the standard sampling point set and the nearest point in the current scanning data set is less than a preset threshold value; if yes, it is determined that the standard sampling point set matches the scanning data set of the to-be-determined trolley in the current scanning data set;

[0011] S4, obtaining a wheel scanning data set of the to-be-determined trolley according to the scanning data set of the to-be-determined trolley, and judging whether the wheel scanning data set of the to-be-determined trolley is on the same sintering machine trolley; if yes, the to-be-determined trolley is recorded as a candidate sintering machine trolley;

[0012] S5, obtaining the center of gravity value of the candidate sintering machine trolley and the included angle value between the candidate sintering machine trolley and the extension direction of the sintering machine platform according to the wheel scanning data set of the candidate sintering machine trolley;

[0013] S6, determining the positioning replacement position of the candidate sintering machine trolley according to the center of gravity value and the included angle value.

[0014] Preferably, in the step S4, judging whether the wheel scanning data set of the to-be-determined trolley is on the same sintering machine trolley, specifically comprising the following steps:

[0015] S41, obtaining current image information obtained by an image acquisition device, and extracting a trolley code plate image and a wheel image of a current sintering machine trolley from the current image information;

[0016] S42, obtaining the coordinates of the trolley code plate and the coordinates of the wheels according to the coordinates and the field of view angle of the image acquisition device;

[0017] S43, obtaining the segmentation line of the adjacent two sintering machine trolleys in the current scanning data set according to the coordinates of the trolley code plate and the coordinates of the wheels;

[0018] S44, judging whether the wheel scanning data set of the pending pallet is between two of the dividing lines; if yes, determining that the wheel scanning data set of the pending pallet is on the same pallet of the sintering machine. Preferably, the current scanning data set in the step S1 is obtained by the following steps:

[0019] S11, obtaining a two-dimensional cross-section scanning data set in a two-dimensional coordinate system by a single scanning of the 2D laser scanning device;

[0020] S12, converting the two-dimensional cross-section scanning data set into a world cross-section scanning data set in a world coordinate system;

[0021] S13, obtaining the running speed of the pallet and the interval scanning time, and taking all the world cross-section scanning data sets after multiple scanning as the current scanning data set.

[0022] Preferably, the standard sampling point set in the step S2 is obtained by the following steps:

[0023] S21, establishing a rough three-dimensional model of a single pallet of the sintering machine according to the design size data of the pallet of the sintering machine;

[0024] S22, establishing the standard sampling point set according to the rough three-dimensional model; wherein the standard sampling point set includes wheel standard sampling points, pallet floor standard sampling points and pallet fence standard sampling points.

[0025] Preferably, the wheel scanning data set of the pending pallet in the step S4 is obtained by the following steps:

[0026] S401, obtaining a track scanning data set of a running track of the pallet of the sintering machine;

[0027] S402, obtaining an intermediate scanning data set corresponding to a single running track according to the formula X∈[k1-Δl, k1+Δl]; wherein X=k1 is the center line of the running track, and Δl is the thickness of the wheel;

[0028] S403, screening out the scanning data set with a height coordinate greater than the track scanning data set from the intermediate scanning data sets corresponding to two running tracks as the wheel scanning data set of the pending pallet.

[0029] Preferably, the gravity center value in the step S5 specifically includes the following steps:

[0030] S51, obtaining the gravity center coordinate value of a single wheel in the alternative pallet of the sintering machine according to the formula i-j the jth point in the ith wheel, Pl i ​all scan data sets of the i-th wheel;

[0031] S52, obtaining the whole-vehicle gravity center coordinate value of the candidate sintering machine trolley according to the formula Ti=(C i-1 +C i-2 +C i-3 +C i-4 ) / 4, and taking the whole-vehicle gravity center coordinate value as the gravity center value; wherein the gravity center points C i-1 , C i-2 , C i-3 , C i-4 of the four wheels of the i-th trolley; wherein C i-1 , C i-2 are the gravity center points of the wheels on the same side, and C i-3 , C i-4 are the gravity center points of the wheels on the other side.

[0032] Preferably, the included angle value in the step S5 is obtained by the following steps:

[0033] S51, obtaining the acute angle value between the candidate sintering machine trolley and the extension direction of the sintering machine platform as the included angle value according to the formula ; wherein C i-12 , C i-34 are the direction vectors of the wheels, and C i-12 .x is the x coordinate value of the i-th point; and C i-12 .z is the z coordinate value of the i-th point.

[0034] Preferably, the nearest distance in the step S3 is obtained by the following steps:

[0035] S31, obtaining the point cloud data point closest to the current standard sampling point according to the formula ; wherein P c-i is the i-th point in the standard sampling point set; P s-ni is the nearest scan data point to P c-i in the current scan data set; and is a threshold value.

[0036] Preferably, the preset threshold value is set to be between 5mm and 45mm.

[0037] In a second aspect, the present application also provides a positioning system for guiding sintering machine trolley replacement, comprising a navigation vehicle, a 2D laser scanning device, an image acquisition device, a sintering machine platform and a control system; wherein the sintering machine platform runs a plurality of sequentially connected sintering machine trolleys, and the sintering machine platform is located within the scanning range of the 2D laser scanning device; the 2D laser scanning device is fixed on the navigation vehicle and movably arranged along the extension direction of the sintering machine platform; the image acquisition device is arranged on one side of the sintering machine trolley, and the navigation vehicle, the 2D laser scanning device and the image acquisition device are electrically connected with the control system, the control system is used for executing the positioning method for guiding sintering machine trolley replacement as described above, and the control system comprises a scanning data set acquisition module, a standard sampling point set module, a target trolley acquisition module and a positioning replacement position acquisition module; wherein,

[0038] The scanning data set acquisition module is used for acquiring the current scanning data set scanned by the 2D laser scanning device;

[0039] The standard sampling point set module is used for acquiring the standard sampling point set of the standard sintering machine trolley,

[0040] The target trolley acquisition module is used for determining the nearest distance between each standard sampling point in the standard sampling point set and the current scanning data set after each translation traversal, and judging whether the nearest distance between each standard sampling point in the standard sampling point set and the current scanning data set is less than a preset threshold value; if yes, it is determined that the standard sampling point set matches the scanning data set of a to-be-determined trolley in the current scanning data set; the wheel scanning data set of the to-be-determined trolley is acquired according to the scanning data set of the to-be-determined trolley, and it is judged whether the wheel scanning data set of the to-be-determined trolley is on the same sintering machine trolley; if yes, the to-be-determined trolley is recorded as a candidate sintering machine trolley;

[0041] The positioning replacement position acquisition module is used for acquiring the center of gravity value of the candidate sintering machine trolley and the included angle value between the candidate sintering machine trolley and the extension direction of the sintering machine platform according to the wheel scanning data set of the candidate sintering machine trolley; and determining the positioning replacement position of the candidate sintering machine trolley according to the center of gravity value and the included angle value.

[0042] Compared with the prior art, the present application has the following beneficial effects:

[0043] The application provides a positioning method and system for guiding sintering machine trolley replacement, acquires a current scanning data set scanned by a 2D laser scanning device, acquires a standard sampling point set of a standard sintering machine trolley, and translates the standard sampling point set in the current scanning data set in a horizontal plane, determines the distance between each standard sampling point in the standard sampling point set and the nearest point of the current scanning data set after each translation, and judges whether the distance between each standard sampling point in the standard sampling point set and the nearest point of the current scanning data set is less than a preset threshold value, acquires a wheel scanning data set of a to-be-determined trolley according to the scanning data set of the to-be-determined trolley, and judges whether the wheel scanning data set of the to-be-determined trolley is on the same sintering machine trolley, if yes, records the to-be-determined trolley as a candidate sintering machine trolley, and then determines a positioning replacement position of the candidate sintering machine trolley according to the angle value between the center of gravity value of the candidate sintering machine trolley and the extension direction of the sintering machine platform of the candidate sintering machine trolley, the positioning replacement position obtained by the application can be used to guide the automatic handling of the sintering machine trolley by the navigation vehicle, is rapid and accurate, the whole set of equipment is relatively simple to install, has relatively low maintenance cost, has relatively few supporting equipment, and is stable and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and other drawings can also be obtained according to the structures shown in the drawings without any creative labor.

[0045] Figure 1 The flowchart for an embodiment of the present application;

[0046] Figure 2 The flowchart for the steps included in step S4 in an embodiment of the present application;

[0047] Figure 3 The installation section view of the 2D laser scanning device in an embodiment of the present application;

[0048] Figure 4 The world coordinate system diagram in an embodiment of the present application;

[0049] Figure 5 The front view of the sintering machine trolley in an embodiment of the present application;

[0050] Figure 6 The top view of the sintering machine trolley in an embodiment of the present application;

[0051] Figure 7 The top view of the sintering machine trolley on the running track in an embodiment of the present application;

[0052] Figure 8 Figure 2 is a side view of a sintering machine trolley according to an embodiment of the present application.

[0053] Figure 9 Figure 3 is a projection of wheel data in the YZ plane according to an embodiment of the present application.

[0054] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings.

[0055] 10, vehicle; 20, 2D laser scanning device; 30, sintering machine platform; 40, sintering machine trolley; 410, trolley wheel; 420, trolley bottom plate; 430, trolley fence; 440, trolley code plate; 50, running track. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein merely exemplify the application and are not intended to limit the application.

[0057] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present application.

[0058] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are merely used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and the directional indications change accordingly when the certain posture changes.

[0059] In addition, the descriptions of "first", "second", etc. in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope of the present application.

[0060] Please refer to the accompanying drawings Figures 1-9 The positioning method for guiding the replacement of the sintering machine trolley provided in an embodiment of the present application includes the following steps:

[0061] S1, obtaining a current scanning data set scanned by a 2D laser scanning device 20; wherein a sintering machine platform 30 is located in a scanning range of the 2D laser scanning device 20; and a moving direction of the 2D laser scanning device 20 is an extension direction of the sintering machine platform 30;

[0062] It should be noted that laser ranging is based on the time flight principle. When a laser emitter emits a laser pulse, an internal timer starts to calculate time (t1). When the laser wave hits the object, part of the energy returns. When the laser receiver receives the returned laser wave, the internal timer is stopped (t2). Because the speed of light V is known, the distance information d = (t2-t1)*V of the measured object can be accurately measured.

[0063] The 2D laser scanning device 20, for example, a 2D laser scanner, can continuously emit laser pulses. The 2D laser scanning device 20 emits the laser pulses to each direction within the scanning angle at certain angular intervals (angular resolution) through the optical mechanism of the device itself, thereby forming a two-dimensional scanning surface with a radial coordinate as a reference. The position information of the measured object is given by the distance from the scanner to the object and the corresponding angle data. That is, the 2D laser scanning device 20 can quickly measure the distance data on a cross section. The 2D laser scanner device has the advantages of wide measurement range, fast measurement speed, high measurement accuracy, stable performance, and less influence of dust and haze, and can be well applied to the industrial detection field. The principle of this part is the technical content known to those skilled in the art.

[0064] Please refer to the attached Figures 3-4 The 2D laser scanning device 20 in the embodiment of the application is installed on the trolley 10 and close to the middle position. The installation of the 2D laser scanning device 20 does not affect the normal work of the trolley 10. The sintering machine platform 30 is scanned from top to bottom. The specific installation position can be determined according to the site environment and process requirements of the trolley 10.

[0065] In order for those skilled in the art to better understand the technical solutions of the present application, as a specific example, please refer again to the attached Figures 3-4 The 2D laser scanning device 20 takes its optical center as the center O and can detect the distance from the center O point in the OXY plane to the measured object point. Wherein, AB is the cross-sectional area of the sintering machine platform 30, A is the left position of the platform, B is the right area of the platform, H1 is the height of the 2D laser scanning device 20 from the platform, L1 is the distance of the 2D laser scanning device 20 from the right boundary, and L2 is the distance of the 2D laser scanning device 20 from the left boundary.

[0066] 2D laser scanning device 20 returns a distance information from the measured object to the laser emitter every other angle (rotational angle adjustable from 0.01° to 10°) in the laser scanning plane, with the scanning 0° position defined as the negative direction of X axis, and the laser rotates counterclockwise.

[0067] 2D laser scanning device 20 can measure n points each time, denoted as p1, p2, p3, …pn. i , …pn. n The distance information of the i-th point is D i , and the angle information is θ i . Then the coordinates of the i-th point are:

[0068] p i (x) = D i cos(θ i )

[0069] p i (y) = D i sin(θ i )

[0070] Wherein, p i (x) is the X coordinate of the i-th position point, and p i (y) is the Y coordinate of the i-th position point.

[0071] As a preferred embodiment of the present application, the current scanning data set in step S1 is obtained by the following steps:

[0072] S11, obtaining the two-dimensional cross-section scanning data set in the two-dimensional coordinate system obtained by single scanning of the 2D laser scanning device 20; S12, converting the two-dimensional cross-section scanning data set into a world cross-section scanning data set in the world coordinate system; S13, obtaining the running speed of the trolley 10 and the interval scanning time, and taking all the world cross-section scanning data sets after multiple scanning as the current scanning data set.

[0073] It should be noted that, since the coordinates obtained by the 2D laser scanning device 20 are two-dimensional coordinates in the two-dimensional coordinate system, in order to establish complete material layer data, a world coordinate system needs to be defined first. The movement direction of p i (x) is the Z axis, that is, the extension direction of the sintering machine platform 30, and the ground is taken as the starting point, that is, the top surface of the sintering machine platform 30, and the y axis is opposite to the direction of the laser y axis, and the x axis remains unchanged.

[0074] Then the point p i in the two-dimensional coordinate system is converted to the world coordinate system to represent as point P i , and P iis a three-row data containing three-dimensional coordinates, from top to bottom, each row represents the coordinate values of X, Y, Z respectively, then point P i is:

[0075]

[0076] The cross-sectional data of the k-th detection is denoted as Pc(k):

[0077]

[0078] The running speed of the trolley is v, and the data is collected every time t, so after the k-th detection, all the data is denoted as Pa(k):

[0079] Pa(1)=Pc(1)

[0080]

[0081] Through the above conversion, the side cross-sectional data of the sintering machine trolley 40 can be unified into the world coordinate system, and the overall data set of the side profile of the trolley can be constructed as the trolley continuously moves. According to the overall data model, the status of each wheel and the apron of the side of the sintering machine trolley 40 can be intuitively fed back.

[0082] S2, obtaining a standard sampling point set of a standard sintering machine trolley 40, and translating the standard sampling point set in the horizontal plane in the current scanning data set;

[0083] It is worth noting that, by traversing the standard sampling point set in the current scanning data set, the wheel scanning data set of the pending trolley existing in the current scanning data set is obtained by matching with the standard sampling point set, that is, it is preliminarily judged that the current scanning data set may be a complete sintering machine trolley 40.

[0084] As a preferred embodiment of the present application, the standard sampling point set in step S2 is obtained by the following steps: S21, establishing a rough three-dimensional model of a single sintering machine trolley 40 according to the design size data of the sintering machine trolley 40; S22, establishing the standard sampling point set according to the rough three-dimensional model; wherein the standard sampling point set includes wheel standard sampling points, trolley bottom plate 420 standard sampling points and trolley apron 430 standard sampling points.

[0085] Specifically, according to the design size data of the trolley, a rough three-dimensional model of a single trolley is established, such as Figures 6-7As shown, some key points are selected as the standard sampling point set of the trolley, and the selection of the standard sampling points is required to be optimized according to the following settings: to cover the key positions, i.e., the trolley wheel 410, the trolley bottom plate 420, and the trolley fence 430; to cover the entire trolley area, such as the long fence but narrow width, so a row of sampling points is selected, and the trolley bottom plate 420 is large in length and width, so multiple rows of points are selected; to reflect the height difference: the height of the trolley wheel 410, the height of the trolley fence 430, and the height of the trolley bottom plate 420 are not on the same horizontal plane based on the sintering machine platform 30; and the sampling points should not be too many, otherwise the operation efficiency will be reduced.

[0086] The purpose of establishing the standard sampling point set of the trolley is to determine the scanning data set of the trolley through the standard sampling point set.

[0087] Please refer again to FIG. 4 Figures 6-7 The black dots represent individual standard sampling points, and the selected standard sampling point set Pc contains 34 points, each of which contains XYZ three-dimensional coordinate points, and the real size of the trolley is included.

[0088] S3, determining the distance between each standard sampling point in the standard sampling point set and the nearest point in the current scanning data set after each translation traversal, and judging whether the distance between each standard sampling point in the standard sampling point set and the nearest point in the current scanning data set is less than a predetermined threshold value; if so, it is determined that the standard sampling point set matches the scanning data set of the to-be-determined trolley in the current scanning data set.

[0089] As a more optimal example, the standard sampling point set is translated and traversed in the XZ plane, i.e., in the top view, the standard trolley corresponding to the standard sampling point set is taken as a window, and the window is slid in the top view, after each sliding, the distance between each standard sampling point in the standard sampling point set and the nearest point in the current scanning data set is calculated, and it is judged whether the distance between each standard sampling point in the standard sampling point set and the nearest point in the current scanning data set is less than a predetermined threshold value, such as 40 mm, which means that a to-be-determined trolley is found. Here, those skilled in the art should note that, for the sake of illustration, the single side of the sintering machine trolley 40 is described, and since the distance between the two wheels on the same sintering machine trolley 40 and the distance between the wheels of the adjacent two sintering machine trolleys 40 are almost the same, the to-be-determined trolley can be a complete sintering machine trolley 40, or a to-be-determined trolley formed by combining adjacent two sintering machine trolleys 40.

[0090] Wherein, the preset threshold is set between 5mm-45mm, and those skilled in the art can set it according to needs; the nearest point query can adopt an Octree algorithm to search. That is, when the point in the ith standard point set satisfies the following equation, the point is successfully matched to the corresponding point.

[0091] Further, the nearest distance in the step S3 is obtained by the following steps:

[0092] S31, according to the formula Obtain the point cloud data point closest to the current standard sampling point; wherein, P c-i is the ith point in the standard sampling point set; P s-ni is the nearest scanning data point of P c-i in the current scanning data set; is a threshold value.

[0093] S4, according to the scanning data set of the to-be-determined trolley, obtain the wheel scanning data set of the to-be-determined trolley, and determine whether the wheel scanning data set of the to-be-determined trolley is on the same sintering trolley 40; if so, record the to-be-determined trolley as a candidate sintering trolley 40; it should be noted that the sintering trolley finally selected by the staff can be determined according to the number of the sintering trolley or specified by the user as the sintering trolley 40 to be replaced finally.

[0094] As a preferred embodiment, the step S4 of obtaining the wheel scanning data set of the to-be-determined trolley according to the scanning data set of the to-be-determined trolley specifically comprises the following steps:

[0095] S401, obtain the track scanning data set of the running track 50 of the sintering trolley 40;

[0096] S402, obtain the intermediate scanning data set corresponding to a single running track 50 according to the formula X∈[k1-Δl,k1+Δl]; wherein, X=k1 is the center line of the running track 50, and Δl is the thickness of the wheel;

[0097] S403, screen out the scanning data set with a height coordinate greater than the scanning data set of the track scanning data set in the intermediate scanning data set corresponding to the two running tracks 50 as the wheel scanning data set of the to-be-determined trolley.

[0098] As a preferred embodiment of the present application, the step S4 of determining whether the wheel scanning data set of the to-be-determined trolley is on the same sintering trolley 40 specifically comprises the following steps:

[0099] S41, obtain the current image information obtained by the image acquisition device, and extract the trolley code plate 440 image and the wheel image of the current sintering trolley 40 from the current image information;

[0100] S42, obtaining the coordinates of the trolley coding plate 440 and the wheel coordinates according to the coordinates and the field of view angle of the image acquisition device;

[0101] S43, obtaining the dividing line of the adjacent two sintering machine trolleys 40 in the current scanning data set according to the coordinates of the trolley coding plate 440 and the wheel coordinates;

[0102] S44, judging whether the wheel scanning data set of the pending trolley is between the two dividing lines; if yes, judging that the wheel scanning data set of the pending trolley is on the same sintering machine trolley 40.

[0103] S5, obtaining the center of gravity value of the alternative sintering machine trolley 40 and the included angle value between the alternative sintering machine trolley 40 and the extension direction of the sintering machine platform 30 according to the wheel scanning data set of the alternative sintering machine trolley 40.

[0104] As another preferred embodiment, the center of gravity value in the step S5 specifically includes the following steps:

[0105] S51, obtaining the center of gravity coordinate value of a single wheel in the alternative sintering machine trolley 40 according to the formula ; wherein, Pl i-j is the center of gravity coordinate value of the jth point in the ith wheel; i is all the scanning data sets of the ith wheel;

[0106] S52, obtaining the whole vehicle center of gravity coordinate value of the alternative sintering machine trolley 40 according to the formula Ti = (C i-1 +C i-2 +C i-3 +C i-4 ) / 4, and taking the whole vehicle center of gravity coordinate value as the center of gravity value; wherein, C i-1 , C i-2 , C i-3 , C i-4 are the center of gravity points of the four wheels of the ith trolley; i-1 , C i-2 are the center of gravity points of the wheels on the same side, and C i-3 , C i-4 are the center of gravity points of the wheels on the other side.

[0107] S6, determining the positioning replacement position of the alternative sintering machine trolley 40 according to the center of gravity value and the included angle value.

[0108] As a preferred embodiment, the included angle value in the step S5 is obtained by the following steps:

[0109] according to the formula An acute angle value between the alternative sintering machine trolley 40 and the extension direction of the sintering machine platform 30 is obtained as the included angle value; wherein C i-12 , C i-34 is the direction vector of the wheel, C i-12 x is the x coordinate value of the i-th point; C i-12 z is the z coordinate value of the i-th point.

[0110] In a second aspect, the present application also provides a positioning system for guiding sintering machine trolley 40 replacement, comprising a navigation car 10, a 2D laser scanning device 20, an image acquisition device, a sintering machine platform 30 and a control system; wherein the sintering machine platform 30 runs on a plurality of sintering machine trolleys 40 connected in turn, the sintering machine platform 30 is located in the scanning range of the 2D laser scanning device 20; the 2D laser scanning device 20 is fixed on the navigation car 10 and movably arranged along the extension direction of the sintering machine platform 30; the image acquisition device is arranged on one side of the sintering machine trolley 40, the navigation car 10, the 2D laser scanning device 20 and the image acquisition device are electrically connected with the control system, the control system is used for executing the positioning method for guiding sintering machine trolley 40 replacement as described above, and the control system comprises a scanning data set acquisition module, a standard sampling point set module, a target trolley acquisition module and a positioning replacement position acquisition module; wherein,

[0111] The scanning data set acquisition module is used for acquiring the current scanning data set scanned by the 2D laser scanning device 20;

[0112] The standard sampling point set module is used for acquiring the standard sampling point set of the standard sintering machine trolley 40,

[0113] The target trolley acquisition module is used for determining the nearest distance between each standard sampling point in the standard sampling point set and the current scanning data set after each translation traversal, and judging whether the nearest distance between each standard sampling point in the standard sampling point set and the current scanning data set is less than a preset threshold value; if yes, it is determined that the standard sampling point set matches the scanning data set of the to-be-determined trolley in the current scanning data set; the wheel scanning data set of the to-be-determined trolley is acquired according to the scanning data set of the to-be-determined trolley, and it is judged whether the wheel scanning data set of the to-be-determined trolley is on the same sintering machine trolley 40; if yes, the to-be-determined trolley is recorded as the alternative sintering machine trolley 40;

[0114] The acquisition module is configured for acquiring a gravity center value of the candidate sintering machine trolley 40 and an included angle value between the candidate sintering machine trolley 40 and an extension direction of the sintering machine platform 30 according to the wheel scanning data set of the candidate sintering machine trolley 40, and determining a positioning replacement position of the candidate sintering machine trolley 40 according to the gravity center value and the included angle value.

[0115] In a third aspect, to make the technical solution of the present application more comprehensible to those skilled in the art, the present application provides a specific guidance method for replacing the sintering machine trolley 40.

[0116] Specifically, the replacement of the sintering machine trolley is a process of placing a trolley from one place to another, which is completed by the way of hoisting by the trolley crane 10. The replacement of the trolley needs manual designation of which trolley to replace, that is, manual designation of the faulty trolley. Then, a trolley is selected from the standby area to replace the faulty trolley. The replacement of the trolley is to adjust the faulty trolley in the online trolley into the standby trolley area, wherein the standby trolley can also be placed on the sintering machine platform 30, and then a trolley is designated to be adjusted into the online trolley from the standby trolley area. That is, the process of designating the trolley to be hoisted and transported to the designated place, which will be described in detail below.

[0117] When the ith trolley is to be replaced, the gravity center Ti and the included angle δi of the trolley are known through the above calculation, and the trolley crane 10 is controlled to perform the following steps:

[0118] 1) The trolley crane 10 is operated to the lifting point

[0119] First, the hook is lifted, and the hook is operated to the designated position, that is, the X direction is moved to Ti.x, the Z axis direction is moved to Ti.z, and the hook direction is rotated to δi.

[0120] 2) Hook lifting

[0121] Lower the hook, and stop when the hook height reaches the height of the trolley wheel 410, that is, adjust the hook to Ti.y in the Y direction, that is, stop when the hook is hooked on the wheel; control the hook to hook the wheel shaft part and lift, pull up the hook; at this time, the winch motor current will rise sharply; those skilled in the art can understand that the mass center of the hook can be controlled to coincide with the gravity center of the sintering machine trolley, so as to quickly guide the positioning.

[0122] 3) Hoisting to the designated position

[0123] Control the trolley crane 10 to move to the designated storage point of the trolley, and complete the automatic transportation of the trolley.

[0124] In this way, the trolley on the sintering machine platform 30 can be positioned, and the positioning parameters of the gravity center and the rotation angle can be calculated, which are used to guide the trolley crane 10 to complete the hoisting of the trolley.

[0125] The above merely preferred embodiments of the present application and are not intended to limit the patent scope of the present application, any equivalent structure or equivalent process transformation made by using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A positioning method for guiding a sintering machine pallet change, characterized in that, The method comprises the steps of: S1, obtaining a current scanning data set scanned by a 2D laser scanning device; wherein a sintering machine platform is located in a scanning range of the 2D laser scanning device; and a moving direction of the 2D laser scanning device is an extension direction of the sintering machine platform; S2, obtaining a standard sampling point set of a standard sintering machine trolley, and translating the standard sampling point set in the current scanning data set in a horizontal plane; S3, determining the distance between each standard sampling point in the standard sampling point set and the nearest point in the current scanning data set after each translation, and judging whether the distance between each standard sampling point in the standard sampling point set and the nearest point in the current scanning data set is less than a preset threshold value; if yes, it is determined that the standard sampling point set matches the scanning data set of a to-be-determined trolley in the current scanning data set; S4, obtaining a wheel scanning data set of the to-be-determined trolley according to the scanning data set of the to-be-determined trolley, and judging whether the wheel scanning data set of the to-be-determined trolley is on the same sintering machine trolley; if yes, the to-be-determined trolley is recorded as a candidate sintering machine trolley; S5, obtaining a center of gravity value of the candidate sintering machine trolley and an included angle value between the candidate sintering machine trolley and the extension direction of the sintering machine platform according to the wheel scanning data set of the candidate sintering machine trolley; S6, determining a positioning replacement position of the candidate sintering machine trolley according to the center of gravity value and the included angle value.

2. The positioning method for guiding a sintering machine car exchange according to claim 1, characterized in that, The step S4 of judging whether the wheel scanning data set of the to-be-determined trolley is on the same sintering machine trolley comprises the following steps: S41, obtaining current image information obtained by an image acquisition device, and extracting a trolley code plate image and a wheel image of a current sintering machine trolley from the current image information; S42, obtaining coordinates of the trolley code plate and wheel coordinates according to coordinates and a field of view angle of the image acquisition device; S43, obtaining a segmentation line of two adjacent sintering machine trolleys in the current scanning data set according to the coordinates of the trolley code plate and the wheel coordinates; S44, judging whether the wheel scanning data set of the to-be-determined trolley is between the two segmentation lines; if yes, it is determined that the wheel scanning data set of the to-be-determined trolley is on the same sintering machine trolley.

3. The positioning method for guiding a sintering machine car exchange according to claim 1, characterized in that, The current scanning data set in the step S1 is obtained by the following steps: S11, obtaining a two-dimensional cross-section scanning data set in a two-dimensional coordinate system obtained by single scanning of the 2D laser scanning device; S12, converting the two-dimensional cross-section scanning data set into a world cross-section scanning data set in a world coordinate system; S13, obtaining a running speed of a vehicle and an interval scanning time, and taking all world cross-section scanning data sets after multiple scanning as the current scanning data set.

4. The positioning method for guiding a sintering machine car exchange according to claim 1, characterized in that, The standard sampling point set in the step S2 is obtained by the following steps: S21, establishing a rough three-dimensional model of a single sintering machine trolley according to sintering machine trolley design size data; S22, establish the standard sampling point set based on the rough three-dimensional model; wherein, the standard sampling point set includes standard sampling points for wheels, standard sampling points for the trolley floor, and standard sampling points for the trolley sideboards.

5. The positioning method for guiding a sintering machine car exchange according to claim 2, characterized in that, Step S4, which involves obtaining the wheel scan dataset of the vehicle to be determined based on the scan dataset of the vehicle to be determined, specifically includes the following steps: S401, Obtain the track scan dataset of the sintering machine trolley's running track; S402, according to the formula X∈[k1-Δl,k1+Δl], the intermediate scan dataset corresponding to a single running track is obtained; where X=k1 is the centerline of the running track, and Δl is the thickness of the wheel; S403, the scan datasets whose height coordinates are greater than those of the track scan datasets in the intermediate scan datasets corresponding to the two running tracks are selected as the wheel scan datasets of the trolley to be determined.

6. The positioning method for guiding a sintering machine trolley change according to claim 5, characterized in that, The centroid value in step S5 specifically includes the following steps: S51, the formula Obtaining the center of gravity coordinate value of a single wheel in the alternative sintering machine trolley; wherein, Pl i-j The jth point in the ith wheel, Pl i All scanning data sets for the ith wheel; S52, obtain the whole vehicle gravity center coordinate value of the alternative sintering machine trolley according to the formula Ti=(C i-1 +C i-2 +C i-3 +C i-4 ) / 4, and take the whole vehicle gravity center coordinate value as the gravity center value; wherein the gravity center points C i-1 、C i-2 、C i-3 、C i-4 of the four wheels of the ith trolley; wherein C i-1 、C i-2 are the gravity center points of the wheels on the same side, and C i-3 、C i-4 are the gravity center points of the wheels on the other side.

7. The positioning method for guiding a sintering machine car exchange according to claim 5, characterized in that, The included angle value in step S5 is obtained through the following steps: According to the formula An acute angle value between the alternative sintering machine trolley and the extension direction of the sintering machine platform is obtained as the included angle value; wherein C i-12 , C i-34 is the direction vector of the wheel, C i-12 .x is the x coordinate value of the i-th point; C i-12 .z is the z coordinate value of the i-th point.

8. The positioning method for guiding a sintering machine car exchange according to claim 1, characterized in that, The nearest distance in step S3 is obtained through the following steps: S31, according to the formula Obtaining the point cloud data point closest to the current standard sampling point; wherein P c-i is the i-th point in the standard sampling point set; P s-ni is the nearest scanning data point in the current scanning data set to P c-i ; is a threshold value.

9. The positioning method for guiding a sintering machine car exchange according to claim 1, characterized in that, The preset threshold is set between 5mm and 45mm.

10. A positioning system for guiding a sintering machine pallet change, characterized in that, The system includes an overhead crane, a 2D laser scanning device, an image acquisition device, a sintering machine platform, and a control system. Multiple sintering machine trolleys connected in sequence operate on the sintering machine platform, which is located within the scanning range of the 2D laser scanning device. The 2D laser scanning device is fixed to the overhead crane and movably mounted along the extension direction of the sintering machine platform. The image acquisition device is located on one side of each sintering machine trolley. The overhead crane, the 2D laser scanning device, and the image acquisition device are all electrically connected to the control system. The control system is used to execute the positioning method for guiding the replacement of sintering machine trolleys as described in any one of claims 1-9. The control system includes a scan dataset acquisition module, a standard sampling point set module, a target trolley acquisition module, and a positioning and replacement position acquisition module. The scan dataset acquisition module is used to acquire the current scan dataset obtained by the 2D laser scanning device. The standard sampling point set module is used to acquire the standard sampling point set of the standard sintering machine trolley. The target trolley acquisition module is used to determine the nearest distance between each standard sampling point in the standard sampling point set and the current scan dataset after each translation traversal, and to determine whether the nearest distance between each standard sampling point in the standard sampling point set and the current scan dataset is less than a preset threshold; if so, it is determined that the standard sampling point set matches the scan dataset of the trolley to be determined in the current scan dataset; the wheel scan dataset of the trolley to be determined is obtained according to the scan dataset of the trolley to be determined, and it is determined whether the wheel scan dataset of the trolley to be determined is on the same sintering machine trolley; if so, the trolley to be determined is recorded as a candidate sintering machine trolley; The positioning replacement position acquisition module is configured to acquire a gravity center value of the alternative sintering machine trolley and an included angle value between the alternative sintering machine trolley and an extension direction of a sintering machine platform according to the wheel scanning data set of the alternative sintering machine trolley; and determine a positioning replacement position of the alternative sintering machine trolley according to the gravity center value and the included angle value.

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