Automatic tracking device and method for furnace fire peeping hole

Abstract

The invention discloses an automatic tracking device and method for a furnace fire peeping hole, and relates to the technical field of automation control, the automatic tracking device comprises a mechanical arm base, a motor, a mechanical arm, a camera device and a controller, the mechanical arm base is horizontally installed on an outer circumferential bus of the top of a converter; the motor is installed on one side face of the mechanical arm base. One end of the mechanical arm is rotationally connected to an output shaft of the motor, the other end is a free end, and the mechanical arm is suitable for being driven by the motor to rotate around the top of the converter; the camera device is installed at the free end of the mechanical arm and used for shooting and collecting position image information of the fire peeping hole. And the controller is electrically connected with the motor and the camera device, and is used for controlling the motor to act according to the positioning information of the fire peeping hole so as to adjust the rotating angle of the mechanical arm, so that the camera device tracks and directly faces the fire peeping hole so as to shoot and collect an in-furnace flame image of the converter. According to the method, the fire peeping hole is automatically tracked and positioned, and the flame state and the temperature are continuously monitored.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control, and more specifically, relates to an automatic tracking device and method for a furnace fire peephole. Background Art

[0002] Metallurgical furnaces are usually used for metal smelting and heat treatment processes in high-temperature environments. Due to the extremely high temperature, the monitoring and operation inside the furnace is very difficult, requiring an efficient and reliable monitoring and control system.

[0003] In the prior art, the fire peephole is an important component of the metallurgical furnace. Generally, the fire peephole is manually observed, through which the flame state and the smelting process in the furnace can be observed. This method is inefficient and has safety hazards. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide an automatic tracking device and method for a furnace fire peephole to solve the technical problems of low efficiency and potential safety hazards in the existing manual observation of the flame state and smelting process in the furnace.

[0005] To achieve the above objectives, the first objective of the present invention is to provide an automatic tracking device for a furnace fire peep hole, which is installed on one side of the top of a converter, and a fire peep hole is provided on the furnace top plate of the converter. The automatic tracking device comprises:

[0006] A mechanical arm base is horizontally mounted on the outer circumferential generatrix on the top of the converter;

[0007] A motor is mounted on a side of the mechanical arm base close to the fire peephole;

[0008] A mechanical arm, one end of which is rotatably connected to the output shaft of the motor and the other end of which is a free end, and the mechanical arm is suitable for rotating around the periphery of the converter driven by the motor;

[0009] A camera device is installed at the free end of the mechanical arm, and is used to capture and collect position image information of the fire peephole;

[0010] A controller is electrically connected to the motor and the camera device, and is used to receive the fire peephole position image information captured by the camera device, and analyze and calculate to obtain the positioning information of the fire peephole. The controller controls the motor action according to the positioning information of the fire peephole to adjust the rotation angle of the robot arm, thereby enabling the camera device to track the fire peephole to capture the flame image inside the converter.

[0011] Preferably, the camera device is an industrial high temperature resistant CCD camera.

[0012] Preferably, the robotic arm is a Bronte robotic arm.

[0013] The second object of the present invention is to provide an automatic tracking method for a furnace fire peep hole, using the automatic tracking device for a furnace fire peep hole as described above, the automatic tracking method comprising:

[0014] Step S 100 : Get the image information of the peephole position of the converter;

[0015] Step S 200 : The controller receives and detects and analyzes the position image information of the fire peephole to obtain the circular outline of the fire peephole;

[0016] Step S 300 : Based on the circular contour of the fire peephole, the controller analyzes and calculates the center coordinates of the fire peephole;

[0017] Step S 400 : Based on the arc trajectory generated by the center coordinate of the fire peephole during the rotation of the converter, the rotation angle θ of the fire peephole is calculated 度 ;

[0018] Step S 500 : Based on the rotation angle θ of the fire peephole 度 The controller controls the motor to drive the robot arm to rotate at a corresponding angle θ around the outer periphery of the converter. 臂 , so that the camera device is just facing the fire peephole.

[0019] Preferably, in step S 300 The method for calculating the center coordinates of the fire peephole comprises the steps of:

[0020] Step S 310 : Compare and analyze the pixel values ​​between the circular outline of the fire peephole and the surroundings to capture the size range of the fire peephole;

[0021] Step S 320 : Based on the size range of the captured fire peephole, the minimum circumscribed rectangle of the fire peephole is obtained;

[0022] Step S 330 : Using the minimum circumscribed rectangle of the fire peephole, calculate the center of the fire peephole.

[0023] Preferably, in step S 400 Among them, calculate the rotation angle θ of the fire peephole 度 , the specific steps include:

[0024] Step S 410: respectively obtain the position image information of the fire peephole at time t1 and time t2, and respectively calculate the center coordinates of the fire peephole at time t1 and time t2;

[0025] Step S 420 : The arc circumference of the center of the fire peephole on the outer circumference of the converter during the time t1-t2 is calculated by difference processing;

[0026] Step S 430 :Based on the circumference of the arc, the rotation angle θ corresponding to the fire peephole is calculated 度 .

[0027] Preferably, in step S 430 The rotation angle θ of the fire peephole is 度 The calculation expression is:

[0028]

[0029]

[0030]

[0031] Where: s represents the distance of the center of the fire peephole, (x1, y1) represents the position of the center of the fire peephole at time t1, (x2, y2) represents the position of the center of the fire peephole at time t2, r represents the radius of the converter, θ 弧度 represents the arc length of the trajectory of the center of the fire peephole, θ 度 Represents the rotation angle of the fire peephole.

[0032] Preferably, in step S 500 The robot arm rotates at an angle θ around the converter. 臂 The calculation expression is:

[0033]

[0034] Where: θ 臂 Represents the corresponding angle of rotation of the robot arm around the converter.

[0035] Compared with the prior art, the present invention has the following advantages and effects:

[0036] The automatic tracking device in the present invention is composed of a mechanical arm base, a motor, a mechanical arm, a camera device and a controller, wherein the mechanical arm base is horizontally installed on the outer circumferential busbar at the top of the converter, the motor is installed on one side of the mechanical arm base, one end of the mechanical arm is rotatably connected to the output shaft of the motor, and the other end is a free end, and the mechanical arm can rotate around the periphery of the converter driven by the motor; the camera device is installed at the free end of the mechanical arm, the camera device is used to capture and collect the position image information of the fire peephole, the controller is used to receive the position image information of the fire peephole captured and collected by the camera device, and analyze and calculate to obtain the positioning information of the fire peephole, and the controller controls the motor action according to the positioning information of the fire peephole to adjust the rotation angle of the mechanical arm, thereby enabling the camera device to track the fire peephole to capture the flame image in the converter. The automatic tracking device replaces the manual observation means, realizes the real-time monitoring of the flame and temperature inside the furnace through image recognition technology and automatic tracking, and improves the production efficiency and safety. The problem that the end point judgment cannot be normally and accurately judged in the intelligent judgment of the metallurgical furnace due to the influence of the vibration of the converter body, the splashing of slag, etc. is successfully solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of an automatic tracking device for a furnace fire peephole in an embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the operation of the automatic tracking device in front of the converter in an embodiment of the present invention;

[0039] Figure 3 It is a schematic flow chart of an automatic tracking method of a furnace fire peephole in an embodiment of the present invention;

[0040] Figure 4 Step S in the embodiment of the present invention 300 Detailed process diagram of

[0041] Figure 5 Step S in the embodiment of the present invention 400 Detailed process diagram.

[0042] Description of reference numerals:

[0043] 1- mechanical arm base; 2- motor; 3- mechanical arm; 4- camera device; 5- converter; 51- fire peephole. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] See also Figure 1-2 As shown, an embodiment of the present invention provides an automatic tracking device for a furnace fire peep hole, the automatic tracking device is installed on the top of one side of a converter 5, and a fire peep hole 51 is provided on the furnace top plate of the converter 5. The automatic tracking device includes a robot arm base 1, a motor 2, a robot arm 3, a camera device 4 and a controller, wherein:

[0047] The robot arm base 1 is horizontally installed on the outer circumferential busbar at the top of the converter 5; the motor 2 is installed on the side of the robot arm base 1 close to the fire peephole 51, one end of the robot arm 3 is rotatably connected to the output shaft of the motor 2, and the other end is a free end. The robot arm 3 is suitable for rotating around the periphery of the furnace roof of the converter 5 driven by the motor 2; the camera device 4 is installed at the free end of the robot arm 3, and the camera device 4 is used to capture and collect the position image information of the fire peephole 51; the controller is electrically connected to the motor 2 and the camera device 4, and the controller is used to receive the fire peephole position image information captured by the camera device 4, and analyze and calculate the positioning information of the fire peephole 51. The controller controls the action of the motor 2 according to the positioning information of the fire peephole 51 to adjust the rotation angle of the robot arm 3, so that the camera device 4 tracks the fire peephole 51 to capture and collect the flame image in the converter 5.

[0048] In a specific embodiment of the present invention, the automatic tracking device is composed of two parts, one part is the actuator end of the robot arm, and the other part is the positioning end of the image acquisition and fire peephole 51. The positioning end of the image acquisition and fire peephole 51 is provided with a camera device 4, which mainly collects flame images and the position information of the fire peephole 51. Once the furnace of the converter 5 deflects during the smelting process, for example, during the slag pouring process or during the hammering process, the state of the converter 5 needs to be adjusted when the spray gun needs to be pressed into the molten metal; and the actuator end of the robot arm is when the position of the converter 5 changes, the robot arm 3 can carry the camera device 4 and change with the position of the fire peephole 51 in the converter 5.

[0049] Therefore, the automatic tracking device replaces manual observation methods, and through image recognition technology and automatic tracking, it can realize real-time monitoring of the flame and temperature inside the furnace, thereby improving production efficiency and safety. It successfully solves the problem that the endpoint judgment in the intelligent judgment of metallurgical furnaces cannot be correctly judged due to the influence of converter body vibration, slag splashing, etc.

[0050] It can be understood that this automatic tracking device can be used not only in high-temperature industrial processes such as steel and non-ferrous metal smelting, but also in other working environments with high-temperature conditions. It has the technical advantages of high efficiency, safety and precision.

[0051] Furthermore, in a specific embodiment of the present invention, the camera device 4 is an industrial high temperature resistant CCD camera.

[0052] Therefore, the industrial high temperature resistant CCD camera can not only withstand high temperatures and increase its service life, but also can cleanly shoot the required images with high resolution, thereby making the positioning accurate.

[0053] Furthermore, in a specific embodiment of the present invention, the robot arm 3 is a Bronte robot arm.

[0054] Preferably, the robot arm 3 in this embodiment adopts a Bronte robot arm arm and a control motor. This robot arm 3 can adapt to the complex dust and high temperature environment of the factory. The arm length of the robot arm 3 and the control accuracy of the motor 2 must meet the requirements of the factory converter 5.

[0055] See also Figure 3 As shown, an embodiment of the present invention also provides an automatic tracking method for a furnace fire peephole, and the automatic tracking method includes:

[0056] Step S 100 : Obtain the image information of the fire peephole position of the converter 5;

[0057] Step S 200 : The controller receives and detects and analyzes the fire peephole position image information to obtain the circular outline of the fire peephole 51;

[0058] Step S 300 : Based on the circular contour of the fire peephole 51, the controller analyzes and calculates the center coordinates of the fire peephole 51;

[0059] Step S 400 : Based on the arc trajectory generated by the center coordinates of the fire peephole 51 during the rotation of the converter 5, the rotation angle θ of the fire peephole 51 is calculated. 度 ;

[0060] Step S 500 : Based on the rotation angle θ of the fire peephole 51 度The controller controls the motor 2 to drive the robot arm 3 to rotate the corresponding angle θ around the converter 5. 臂 , so that the camera device 4 is just facing the fire peephole 51.

[0061] For further information, see Figure 4 As shown, in the embodiment of the present invention, step S 300 The method for calculating the center coordinates of the fire peephole 51 comprises the steps of:

[0062] Step S 310 : Compare and analyze the pixel values ​​between the circular outline of the fire peephole and the surroundings to capture the size range of the fire peephole 51;

[0063] Step S 320 : Based on the size range of the captured fire peephole 51, the minimum circumscribed rectangle of the fire peephole (51) is obtained;

[0064] Step S 330 : Using the minimum circumscribed rectangle of the fire peephole 51, the center of the fire peephole 51 is calculated.

[0065] In some embodiments of the present invention, based on the fire peephole image acquired by the camera device 4, the size range of the fire peephole 51 is captured by comparing the pixel values ​​of the fire peephole with those of the surrounding areas, and the minimum circumscribed rectangle of the fire peephole 51 is obtained. After the minimum circumscribed rectangle is obtained, the center of the fire peephole 51 is obtained using the minimum circumscribed rectangle, and the center of the circle is displayed in the same coordinate area as the size range of the fire peephole image.

[0066] When the converter 5 rotates, the center of the fire peephole 51 will rotate within the coordinate area. The center of the fire peephole 51 is found by using the different transformations of the pixels of the captured image. The angle at which the center of the fire peephole 51 rotates is used to calculate the angle at which the robot arm 3 needs to rotate, thereby ensuring that the center of the fire peephole 51 always remains at the exact center of the coordinate origin.

[0067] For further information, see Figure 5 As shown, in a specific embodiment of the present invention, step S 400 The rotation angle θ of the fire peephole 51 is calculated 度 , the specific steps include:

[0068] Step S 410 : Obtain the position image information of the fire peephole 51 at time t1 and time t2 respectively, and calculate the center coordinates of the fire peephole 51 at time t1 and time t2 respectively;

[0069] Step S 420 : The arc circumference of the center of the fire peep hole 51 on the outer circumference of the converter 5 during the time t1-t2 is calculated by using difference processing;

[0070] Step S 430 :Based on the circumference of the arc, the rotation angle θ of the corresponding fire peephole 51 is calculated 度 .

[0071] In some embodiments of the present invention, a difference algorithm is used between the center images of the fire peephole 51 obtained at different times to calculate the arc value of the trajectory of the center of the circle between different fire peephole images. The main calculation process is: draw an arc with the position of the center of the circle between different images as the starting point, the end point and the center of the circle, count the pixel values ​​on the arc trajectory to obtain the arc length, and calculate the angle between different fire peephole images according to the arc length formula.

[0072] Furthermore, in a specific embodiment of the present invention, step S 430 Among them, the rotation angle θ of the fire peephole 51 is 度 The calculation expression is:

[0073]

[0074]

[0075]

[0076] Where: s represents the distance of the center of the fire peephole, (x1, y1) represents the position of the center of the fire peephole at time t1, (x2, y2) represents the position of the center of the fire peephole at time t2, r represents the radius of the converter, θ 弧度 represents the arc length of the trajectory of the center of the fire peephole, θ 度 Represents the rotation angle of the fire peephole.

[0077] Furthermore, in a specific embodiment of the present invention, step S 500 In the process, the robot arm 3 rotates at the periphery of the converter 5 by a corresponding angle θ 臂 The calculation expression is:

[0078]

[0079] Where: θ 臂 It represents that the robot arm 3 rotates a corresponding angle around the converter 5 .

[0080] Thus, the corresponding angle θ of the robot arm 3 rotating around the converter 5 is obtained. 臂 After that, the rotation angle of the motor 2 is controlled. When the motor 2 rotates to a specified angle, the robot arm 3 rotates the corresponding angle θ around the converter 5. 臂 At this time, the camera device 4 is exactly located at the fire peephole 51, thereby achieving accurate positioning of the fire peephole 51.

[0081] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An automatic tracking device for a furnace fire peep hole, installed on one side of the top of a converter (5), wherein a fire peep hole (51) is provided on the furnace top plate of the converter (5), characterized in that: The automatic tracking device comprises: A mechanical arm base (1) is horizontally mounted on the outer circumferential generatrix at the top of the converter (5); A motor (2) is mounted on a side of the mechanical arm base (1) close to the fire peephole (51); a mechanical arm (3), one end of which is rotatably connected to the output shaft of the motor (2) and the other end of which is a free end, and the mechanical arm (3) is suitable for rotating around the periphery of the converter (5) under the drive of the motor (2); A camera device (4) is installed at the free end of the mechanical arm (3), and the camera device (4) is used to capture position image information of the fire peephole (51); A controller is electrically connected to the motor (2) and the camera device (4), the controller is used to receive the fire peephole position image information captured by the camera device (4), and to analyze and calculate to obtain the positioning information of the fire peephole (51), the controller controls the motor (2) to move according to the positioning information of the fire peephole (51) to adjust the rotation angle of the mechanical arm (3), thereby enabling the camera device (4) to track the fire peephole (51) to capture the flame image in the converter (5).

2. The automatic tracking device for the furnace fire peephole according to claim 1, characterized in that: The camera device (4) is an industrial high temperature resistant CCD camera.

3. The automatic tracking device for the furnace fire peephole according to claim 1, characterized in that: The mechanical arm (3) is a Bronte mechanical arm.

4. A method for automatically tracking a furnace fire peephole, using the automatic tracking device for a furnace fire peephole according to any one of claims 1 to 3, characterized in that: The automatic tracking method comprises: Step S 100 : Obtaining image information of the position of the fire peephole of the converter (5); Step S 200 : The controller receives and detects and analyzes the fire peephole position image information to obtain the circular outline of the fire peephole (51); Step S 300 : Based on the circular contour of the fire peephole (51), the controller analyzes and calculates to obtain the center coordinates of the fire peephole (51); Step S 400 : Based on the fact that the center coordinates of the fire peephole (51) rotate to generate an arc trajectory during the rotation of the converter (5), the rotation angle θ of the fire peephole (51) is calculated. 度 ; Step S 500 : Based on the rotation angle θ of the fire peephole (51) 度 The controller controls the motor (2) to drive the robot arm (3) to rotate at a corresponding angle θ around the outer periphery of the converter (5). 臂 , so that the camera device (4) is just facing the fire peephole (51).

5. The automatic tracking method of the furnace fire peephole according to claim 4, characterized in that: In step S 300 The method for calculating the center coordinates of the fire peephole (51) comprises the steps of: Step S 310 : Compare and analyze the pixel values ​​between the circular outline of the fire peephole and the surroundings to capture the size range of the fire peephole (51); Step S 320 : Based on the size range of the captured fire peephole (51), the minimum circumscribed rectangle of the fire peephole (51) is obtained; Step S 330 : Using the minimum circumscribed rectangle of the fire peephole (51), the center of the fire peephole (51) is calculated.

6. The automatic tracking method of the furnace fire peephole according to claim 4, characterized in that: In step S 400 The rotation angle θ of the fire peephole (51) is calculated 度 , the specific steps include: Step S 410 : respectively obtaining the position image information of the fire peephole (51) at time t1 and time t2, and respectively calculating the center coordinates of the fire peephole (51) at time t1 and time t2; Step S 420 : using difference processing to calculate the arc circumference of the center of the fire peep hole 51 on the outer circumference of the converter (5) during the time t1-t2; Step S 430 :Based on the circumference of the arc, the rotation angle θ corresponding to the fire peephole (51) is calculated 度 .

7. The automatic tracking method of the furnace fire peephole according to claim 6, characterized in that: In step S 430 The rotation angle θ of the fire peephole (51) is 度 The calculation expression is: Where: s represents the distance of the center of the fire peephole, (x1, y1) represents the position of the center of the fire peephole at time t1, (x2, y2) represents the position of the center of the fire peephole at time t2, r represents the radius of the converter, θ 弧度 represents the arc length of the trajectory of the center of the fire peephole, θ 度 Represents the rotation angle of the fire peephole.

8. The automatic tracking method of a furnace fire peephole according to claim 4, characterized in that: In step S 500 The robot arm (3) rotates around the converter (5) by a corresponding angle θ. 臂 The calculation expression is: Where: θ 臂 It represents the corresponding angle at which the robot arm (3) rotates around the converter (5).

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