Three-dimensional positioning method of blast furnace tap hole and plugging path generation method

Abstract

The invention provides a three-dimensional positioning method of a blast furnace tap hole and a plugging path generation method, and the method comprises the following steps: adopting a tap hole body with an end surface in a first shape, and arranging the tap hole in the tap hole body, and arranging the tap hole in the center of the end surface of the tap hole body; establishing a first three-dimensional coordinate system based on the laser ranging module, and acquiring first position information of the end face in the first three-dimensional coordinate system; based on the first shape of the end face of the taphole body, pre-defining end face reference contour information of the blast furnace taphole; an image of the iron notch body is collected, position information of the end face in the image is obtained based on end face reference contour information and a gray template matching algorithm, and second position information of the end face in the first three-dimensional coordinate system is obtained based on the camera position; and fusing the first position information and the second position information of the end face in the first three-dimensional coordinate system, and determining final position information of the end face in the first three-dimensional coordinate system. By means of the method, rapid, efficient and accurate three-dimensional positioning of the blast furnace taphole can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of blast furnace ironmaking, and in particular to a method for three-dimensional positioning and plugging path generation of a blast furnace taphole. Background Art

[0002] In the blast furnace ironmaking process, accurate positioning and plugging of the taphole are key steps to ensure the normal operation of the blast furnace. Traditional taphole positioning methods mainly rely on manual operations, which have problems such as inaccurate positioning and low efficiency. With the development of industrial automation technology, machine vision technology has gradually been applied. However, when dealing with complex blast furnace environments, existing technologies still have problems such as insufficient positioning accuracy and inaccurate path generation. Summary of the invention

[0003] The present application discloses a method for three-dimensional positioning of a blast furnace taphole and generating a plugging path, so as to achieve fast, efficient and accurate three-dimensional positioning of the taphole and improve the efficiency of the plugging operation.

[0004] In a first aspect, the present invention provides a three-dimensional positioning method for a blast furnace tap hole, comprising: A tap hole body having an end face of a first shape is used, wherein the tap hole is provided on the tap hole body, and the tap hole is provided at the center of the end face of the tap hole body; Establishing a first three-dimensional coordinate system based on the laser ranging module, and acquiring first position information of the end surface in the first three-dimensional coordinate system; Based on the first shape of the end face of the tap hole body, pre-define the end face reference contour information of the tap hole of the blast furnace; Collect an image of the iron mouth body, obtain position information of the end face in the image based on the end face reference contour information and grayscale template matching algorithm, and obtain second position information of the end face in the first three-dimensional coordinate system based on the camera position; The first position information and the second position information of the end surface in the first three-dimensional coordinate system are integrated to determine the final position information of the end surface in the first three-dimensional coordinate system.

[0005] In some embodiments, the first shape is a regular polygon comprising at least three vertices.

[0006] In some embodiments, establishing a first three-dimensional coordinate system based on a laser ranging module and acquiring first position information of the end surface in the first three-dimensional coordinate system includes: Three laser ranging modules are provided, the laser ranging modules comprising a first laser ranging module, a second laser ranging module and a third laser ranging module; Establishing a first three-dimensional coordinate system, wherein the first three-dimensional coordinate system has a line connecting the first laser ranging module and the second laser ranging module as an x-axis, a straight line passing through the first laser ranging module and perpendicular to the x-axis as a y-axis, and a normal direction of a plane formed by the first laser ranging module, the second laser ranging module and the third laser ranging module as a z-axis; The distance of each vertex of the end face is measured respectively by the third laser ranging module, the coordinates of each vertex in the first three-dimensional coordinate system are calculated by the triangulation positioning principle, and the first coordinate of the center of the end face in the first three-dimensional coordinate system is calculated, and the first position information includes the first coordinate.

[0007] In some embodiments, the predefining the end face reference profile information of the blast furnace tap hole based on the first shape of the end face of the tap hole body comprises: Obtain the three-dimensional data of the tap hole through three-dimensional scanning software or modeling software; Extracting first feature information of the end face based on the three-dimensional data, where the first feature information includes the shape and size of the end face; Based on the first feature information, end surface reference profile information is generated.

[0008] In some embodiments, the image of the iron mouth body is collected, the position information of the end face in the image is obtained based on the template matching algorithm of the end face reference contour information and grayscale, and the second position information of the end face in the first three-dimensional coordinate system is obtained based on the camera position, including: The image of the iron mouth body is collected by a camera; Preprocessing the image using an image processing library, wherein the preprocessing includes denoising, binarization and edge enhancement; Extracting the end face contour information in the image according to the end face reference contour information, determining the boundary feature information of the end face contour, and extracting the target area consistent with the boundary feature information of the end face contour in the image based on the boundary feature information; Generate a template image according to the end face reference contour information; Based on the grayscale template matching algorithm, the target area is matched with the template image to find the first area with the largest correlation coefficient in the image; The position information of the end surface in the image is calculated and output based on the first area.

[0009] In some embodiments, the method of collecting an image of the iron mouth body, obtaining position information of the end face in the image based on the end face reference contour information and a grayscale template matching algorithm, and obtaining second position information of the end face in the first three-dimensional coordinate system based on the camera position, further includes: Based on the position of each vertex of the end surface in the image, the coordinates of each vertex in the image coordinate system are obtained; Obtaining the coordinates of each vertex of the end face in the first three-dimensional coordinate system by using the camera coordinate system and the intrinsic and extrinsic parameters of the camera using a coordinate transformation formula, and calculating the second coordinates of the center of the end face in the first three-dimensional coordinate system, wherein the second position information includes the second coordinates; The camera coordinate system has the horizontal line through the optical center as the x-axis, the vertical line through the optical center as the y-axis, and the central axis of the lens as the z-axis; The camera coordinate system is parallel to the first three-dimensional coordinate system, and the directions of the x, y, and z axes are consistent; the x and y axes of the image coordinate system are respectively parallel to the x and y axes of the first three-dimensional coordinate system, and the directions are consistent.

[0010] In some embodiments, the first position information and the second position information of the end face in the first three-dimensional coordinate system are fused to determine the final position information of the end face in the first three-dimensional coordinate system, including: fusing the first coordinate and the second coordinate of the center of the end face to obtain the third coordinate of the center of the end face, and the final position information includes the third coordinate.

[0011] In a second aspect, the present invention provides a method for generating a plugging path of a blast furnace tap hole, comprising: Obtain the coordinates of the nozzle tip in the first three-dimensional coordinate system and set them as the starting point; By using the three-dimensional positioning method for a blast furnace tapping hole described in the first aspect, the final position information of the end face center in the first three-dimensional coordinate system is obtained and set as the target position; Generate a Bezier curve with reference to the starting position and the end position, and generate an initial motion path of the mud gun equipment in the first three-dimensional coordinate system according to the generated Bezier curve; Dynamic coordinate adjustment is performed according to the constraint characteristics and environmental characteristics of the mud gun equipment to generate the actual motion path of the mud gun equipment.

[0012] In some embodiments, obtaining the coordinates of the nozzle tip in the first three-dimensional coordinate system and setting them as the starting point position includes: The plugging equipment includes a mud gun, and the nozzle position of the mud gun is adjusted to ensure that the central axis of the nozzle is parallel to the z-axis of the first three-dimensional coordinate system; The distance of the mud gun spray tip is obtained through three laser ranging modules; The coordinates of the mud gun nozzle tip in the first three-dimensional coordinate system are calculated by the triangulation positioning principle.

[0013] In some embodiments, the dynamic coordinate adjustment according to the constraint characteristics and environmental characteristics of the mud gun equipment includes: Based on the D*Lite algorithm, the Bezier curve control points are used as the initial path nodes, and the end face 3D coordinates updated by the laser ranging module and the obstacle point cloud data detected by the visual sensor are integrated in real time to generate a local obstacle avoidance path; The path is smoothed using an S-shaped speed curve, limiting the path curvature to not exceed the mechanical limit of the steering mechanism of the mud gun equipment; According to the iron mouth end surface temperature data, the target position coordinates are dynamically corrected by the thermal expansion coefficient. The calculation formula is: ΔL=α⋅L0⋅(T−T0) Among them, ΔL is the coordinate correction amount, α is the thermal expansion coefficient of the material, L0 is the initial size of the end face, T is the real-time temperature, and T0 is the reference temperature.

[0014] The present application provides a three-dimensional positioning method for a blast furnace taphole, which adopts an iron mouth body with an end face of a first shape, and an iron mouth is arranged on the iron mouth body, and the iron mouth is arranged at the center of the end face of the iron mouth body; a first three-dimensional coordinate system is established based on a laser ranging module, and first position information of the end face in the first three-dimensional coordinate system is obtained; based on the first shape of the end face of the iron mouth body, end face reference contour information of the blast furnace taphole is predefined; an image of the iron mouth body is collected, and based on the end face reference contour information and a grayscale template matching algorithm, the position information of the end face in the image is obtained, and based on the camera position, the second position information of the end face in the first three-dimensional coordinate system is obtained; the first position information and the second position information of the end face in the first three-dimensional coordinate system are integrated to determine the final position information of the end face in the first three-dimensional coordinate system. Compared with the prior art, the beneficial effects of the present application are as follows: this solution solves the problem of precise positioning of the blast furnace taphole in extreme industrial scenarios through multi-sensor fusion, dynamic environmental compensation and automated algorithms, significantly improves the efficiency, accuracy and safety of the taphole blocking operation, effectively improves the intelligence of steel smelting, and can adapt to complex environments; at the same time, by adopting an taphole body with an end face of a first shape, the taphole body is provided with an taphole, and the taphole is provided at the center of the end face, which can effectively simplify the algorithm and improve the positioning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a logic block diagram of the three-dimensional positioning method of the blast furnace taphole; Figure 2 It is a logic block diagram of the blocking path generation method; Figure 3 It is a schematic diagram of three laser ranging modules measuring the distance of the cross-section vertex; Figure 4 It is a schematic diagram of the structure of the end face of an equilateral triangle; Figure 5 It is a schematic diagram of the structure of the end face of a regular quadrilateral; Figure 6 It is a schematic diagram of the structure of the end face of a regular pentagon. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0019] It is to be understood that the terms "first", "second", etc. used in this application may be used in this article to describe various elements, states or data, but these elements, states, data are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0020] The embodiments of the present application disclose a three-dimensional positioning method for a blast furnace tap hole 6 and a plugging path generation method, which are described in detail below.

[0021] refer to Figure 1 , Figure 3 , Figure 4 , Figure 5 The present application provides a three-dimensional positioning method for a blast furnace tap hole 6, and the specific steps of the method are as follows: S100: adopting an iron mouth body whose end face 4 is a first shape, wherein the iron mouth body is provided with an iron outlet 6, and the iron outlet 6 is provided at the center of the end face of the iron mouth body; S200: establishing a first three-dimensional coordinate system based on the laser ranging module, and obtaining first position information of the end surface 4 in the first three-dimensional coordinate system; S300: predefine end face reference profile information of the blast furnace tap hole 6 based on the first shape of the tap hole body end face 4; S400: collecting an image of the iron mouth body, obtaining position information of the end face 4 in the image based on the end face reference contour information and the grayscale template matching algorithm, and obtaining second position information of the end face 4 in the first three-dimensional coordinate system based on the camera position; S500: The first position information and the second position information of the end surface 4 in the first three-dimensional coordinate system are integrated to determine the final position information of the end surface 4 in the first three-dimensional coordinate system.

[0022] It should be noted that the first shape is a regular geometric shape. In some embodiments, the first shape is a regular polygon, and the regular polygon includes at least three vertices 5. The first shape is a regular polygon to ensure symmetry and feature identifiability to simplify subsequent positioning algorithms. In some embodiments, the first shape is a regular quadrilateral; in some embodiments, the first shape is an equilateral triangle; in some embodiments, the first shape is a regular pentagon.

[0023] In some blast furnaces that have special requirements for spatial layout and structural strength, the iron mouth body of the regular polygon can better adapt to the surrounding structure, and in the positioning process, the unique geometric features of the vertices and edges of the regular polygon can provide more positioning reference information, which helps to improve the accuracy and stability of positioning.

[0024] Furthermore, the iron outlet 6 is arranged at the center of the end face 4. Preferably, the iron outlet 6 is arranged as a circular through hole, and the circular through hole is arranged with the center of the end face 4 as the axis to ensure symmetry and feature identifiability to simplify subsequent positioning algorithms.

[0025] The step of establishing a first three-dimensional coordinate system based on the laser ranging module and obtaining first position information of the end surface 4 in the first three-dimensional coordinate system includes: S210: Setting three laser ranging modules, the laser ranging modules including a first laser ranging module 1, a second laser ranging module 2 and a third laser ranging module 3; S220: Establishing a first three-dimensional coordinate system, wherein the first three-dimensional coordinate system has a line connecting the first laser ranging module 1 and the second laser ranging module 2 as an x-axis, a straight line passing through the first laser ranging module 1 and perpendicular to the x-axis as a y-axis, and a normal direction of a plane formed by the first laser ranging module 1, the second laser ranging module 2, and the third laser ranging module 3 as a z-axis; S230: Measure the distance of each vertex 5 of the end face 4 respectively by the third laser ranging module 3, calculate the coordinates of each vertex 5 in the first three-dimensional coordinate system by the triangulation positioning principle, and calculate the first coordinate of the center of the end face in the first three-dimensional coordinate system, and the first position information includes the first coordinate.

[0026] It should be noted that the relative positions of the three laser ranging modules must first be determined, and a first three-dimensional coordinate system is established with the first laser ranging module 1 as the center, with the line connecting the first laser ranging module 1 and the second laser ranging module 2 as the x-axis, that is, by determining the optical center line connecting the first laser ranging module 1 and the second laser ranging module 2 as the x-axis, in some embodiments, the optical center line connecting the first laser ranging module 1 and the second laser ranging module 2 is horizontally arranged, that is, the x-axis is horizontally arranged; the straight line passing through the first laser ranging module 1 and perpendicular to the x-axis is the y-axis, and the normal direction of the plane formed by the first laser ranging module 1, the second laser ranging module 2 and the third laser ranging module 3 is the z-axis, that is, the normal direction of the plane formed by the optical centers of the first laser ranging module 1, the second laser ranging module 2 and the third laser ranging module 3 is the z-axis, and the straight line passing through the optical center of the first laser ranging module 1 and perpendicular to the x-axis is the y-axis. When the x-axis is in the horizontal direction, the y-axis is set in the vertical direction.

[0027] In some embodiments, the regular polygon is a regular rectangle, or a regular polygon. The plane formed by the center line of the three laser ranging modules is parallel to the end face 4, and the distance of each vertex 5 of the end face 4 is tested by the three laser ranging modules, and the coordinates of each vertex 5 in the first three-dimensional coordinate system are calculated by the triangulation positioning principle, and the coordinates of each vertex 5 in the first three-dimensional coordinate system are calculated by the triangulation positioning principle, and the first coordinates of the end face center in the first three-dimensional coordinate system are calculated, and the first position information includes the first coordinates, including the following steps: Set the coordinate origin O, the optical centers of the first laser ranging module 1, the second laser ranging module 2, and the third laser ranging module 3 are A, B, and C, and their coordinates in the first three-dimensional coordinate system are (x A ,y A , z A )、(x B ,y B , z B )、(x C ,y C , z C ) Use three laser measurement modules to measure the distance of a vertex 5P of the end face 4 respectively. Assuming that the first shape is an n-gon, then the end face 4 is an n-gon with n vertices 5. The coordinates of the i-th vertex 5 are (x i1 ,y i1 , z i1 ), where i=1,2,3,…,n, then the following equation can be constructed: d A = d B = d C = It should be noted that d A is the distance between the first laser ranging module 1 and the i-th vertex 5, d B is the distance between the second laser ranging module 2 and the i-th vertex 5, d C is the distance between the third laser distance measuring module 3 and the i-th vertex 5. Thus, the coordinate value of the i-th vertex 5 can be calculated. Similarly, the coordinate values ​​of n fixed points in the first three-dimensional coordinate system can be calculated; through the above company, the coordinates of n vertices 5 (x 11 ,y 11 , z 11 ), (x 21 ,y 21 , z 21 ),…,(x i1 ,y i1 , z i1 ),…,(x n1 ,y n1 , z n1 ), since the end face 4 is a regular polygon, the center of the end face is the center of gravity of the end face 4, and the calculation formula is as follows: , , Thus, the first coordinate of the end face center is (x c1 ,y c1 , z c1 ).

[0028] In some embodiments, based on the first shape of the end face 4 of the tap hole body, the end face reference profile information of the blast furnace tap hole 6 is predefined, including: S310: Acquire three-dimensional data of the tap hole 6 through three-dimensional scanning software or modeling software; S320: extracting first feature information of the end surface 4 based on the three-dimensional data, where the first feature information includes the shape and size of the end surface 4; S330: Generate end face reference contour information based on the first feature information.

[0029] It should be noted that the three-dimensional data of the tap hole is obtained through scanning software. The scanning software can be Artec3D, RevoScan, etc., preferably Artec3D. The advanced structured light or laser scanning technology can be used to quickly and accurately obtain the three-dimensional surface data of the tap hole 6, and convert the three-dimensional data into a point cloud model. During the scanning process, the laser reaches the surface of the tap hole 6, and the light is reflected back and received by the device. By calculating the propagation time, angle and other information of the light, the three-dimensional coordinates of each point on the surface of the tap hole 6 are determined, thereby forming a large amount of point cloud data, which accurately describes the shape and position information of the tap hole 6.

[0030] In some embodiments, the three-dimensional data is obtained through modeling software, such as SolidWorks, croe. Based on the known design drawings of the tap hole 6 and some actual measurement data, a three-dimensional model of the tap hole 6 can be constructed in the modeling software through precise three-dimensional modeling operations according to the design size and shape requirements. The model contains all the geometric information of the tap hole 6, thereby obtaining the three-dimensional data of the tap hole 6.

[0031] When extracting the first feature information based on the acquired three-dimensional data, for the end face 4 of a regular polygon, such as a quadrilateral, the side length can be obtained by analyzing the coordinate information of the vertices 5 in the point cloud data or the three-dimensional model and calculating the distance between adjacent vertices 5. The internal angle can be obtained by calculating the angle between adjacent sides through vector operation, thereby determining the detailed shape and size information such as the number of sides, side length and internal angle of the regular polygon.

[0032] In the stage of generating the end face reference profile information, the extracted first feature information is further processed and transformed. For regular polygons, the coordinates of each vertex 5 and the number of edges of the regular polygon are organized into a specific data structure, such as storing the coordinates of the vertex 5 in the form of an array, while recording the number of edges of the regular polygon and the connection order of the vertices 5. These organized data constitute the end face reference profile information, which will be used as a standard template in the subsequent image matching and positioning calculation process for comparison and analysis with the end face 4 of the iron mouth body in the actual collected image to ensure the accuracy and consistency of positioning.

[0033] The three-dimensional data of the tap hole 6 is obtained through three-dimensional scanning software or modeling software, and the first characteristic information such as the shape and size of the end face 4 is accurately extracted from it, thereby generating reliable end face reference profile information, providing an accurate standard template for subsequent image matching and positioning. This enables the images of the tap hole body collected under different environmental conditions and at different angles to be accurately compared and analyzed with the reference profile information, effectively improving the accuracy and reliability of positioning, ensuring the accuracy and stability of the three-dimensional positioning of the blast furnace tap hole 6, and providing strong support for the automated control and precise operation of the blast furnace tapping process.

[0034] In some embodiments, an image of the iron mouth body is collected, and based on the end face reference contour information and the grayscale template matching algorithm, the position information of the end face 4 in the image is obtained, and based on the camera position, the second position information of the end face 4 in the first three-dimensional coordinate system is obtained, including: S410: collecting an image of the iron mouth body through a camera; S420: Preprocessing the image using an image processing library, wherein the preprocessing includes denoising, binarization and edge enhancement; S430: extracting the contour information of the end face 4 in the image according to the end face reference contour information, determining the boundary feature information of the contour of the end face 4, and extracting a target area consistent with the boundary feature information of the contour of the end face 4 in the image based on the boundary feature information; S440: Generate a template image according to the end face reference profile information; Based on the grayscale template matching algorithm, the target area is matched with the template image to find the first area with the largest correlation coefficient in the image; S450: Calculate and output position information of the end surface 4 in the image based on the first region.

[0035] In some embodiments, an industrial camera is selected to collect the image of the iron mouth body. The industrial camera has the characteristics of high resolution, high frame rate and good environmental adaptability, and can stably obtain clear images of the iron mouth body under the complex light conditions, high temperature environment and dust pollution and other harsh working conditions at the blast furnace site. The installation position of the camera is selected on the premise of ensuring that the end face 4 of the iron mouth body can be completely and clearly photographed. At the same time, the parameter settings of the camera, such as focal length, aperture, exposure time, etc., need to be optimized and adjusted according to the actual shooting distance and the intensity of the light on site to obtain high-quality images.

[0036] In some embodiments, the OpenCV library used is used to preprocess the image. The denoising process uses a Gaussian filter algorithm. Based on the characteristics of the Gaussian function, Gaussian filtering performs weighted averaging on each pixel in the image and the pixels in its neighborhood to obtain a grayscale function. In the Gaussian function, the closer the pixel is to the center pixel, the higher its weight is. Through weighted averaging calculation, the image can be effectively smoothed, and noise points caused by camera sensor noise, transmission interference and other factors can be removed, thereby improving the quality and clarity of the image.

[0037] In some embodiments, the binarization process uses an adaptive threshold method, which dynamically calculates a threshold suitable for each pixel point according to the grayscale distribution in the neighborhood of each pixel point in the image. The adaptive threshold method can better adapt to the grayscale changes in different areas of the image, accurately convert the image into a binary image with only black and white colors, so that the contour of the end face 4 of the iron mouth body can be more clearly separated from the background, highlighting the contour information, which is convenient for subsequent processing and analysis.

[0038] In some embodiments, the edge enhancement process uses the Canny operator. The Canny operator detects edge information in an image by calculating the gradient of the image in the horizontal and vertical directions. The gradient amplitude and direction are calculated using the finite difference of the first-order derivative of the gray value function, and then the edge is refined by non-maximum suppression, and then double threshold detection and edge connection steps are used to finally obtain a clear and accurate edge image. After being processed by the Canny operator, the contour edge of the end face 4 of the iron mouth body is more obvious, and the contour lines are clearer, which provides a good foundation for subsequent contour extraction.

[0039] In some embodiments, the end face 4 is a regular polygon end face 4. The chain code tracking algorithm is used to start from the edge of the image and track along the contour points in sequence according to certain rules, such as clockwise or counterclockwise. During the tracking process, the coordinates of each contour point and the connection relationship with the adjacent points are recorded. By analyzing and processing these points, the coordinates of the vertices 5 and the contour shape of the regular polygon are determined, thereby extracting the contour information of the regular polygon end face 4.

[0040] After determining the boundary feature information, the target area including the end face 4 of the iron mouth body is screened out in the image according to the information. The target area should include the contour information of the end face 4 of the iron mouth body as accurately as possible, excluding the influence of background and other interference factors.

[0041] A template image is generated based on the end face reference contour information, and the grayscale value distribution of the template image is consistent with the ideal grayscale model of the end face 4 of the iron mouth body. In some embodiments, the grayscale template matching algorithm adopts the normalized cross-correlation NCC algorithm, and a correlation coefficient is obtained by calculating the similarity between the grayscale values ​​of the template image and the target area image. In the specific calculation process, the template image is slid pixel by pixel on the target area image, and for each position, the normalized cross-correlation value between the template image and the target area sub-image at the corresponding position is calculated. The closer the correlation coefficient is to the value "one", the more similar the grayscale value distribution of the two is, that is, the higher the matching degree between the target area and the template image. By traversing the entire target area, the first area with the largest correlation coefficient is found, and this area is the area of ​​the end face 4 of the iron mouth body that best matches the template image.

[0042] It should be noted that in the step of calculating the position of the end face 4 in the image based on the first region, by performing operations such as geometric center calculation and feature point extraction on the first region, combined with the internal and external parameters of the camera, the position of the first region in the image can be converted to an accurate position in the image, including the camera's internal parameters at least including focal length and principal point coordinates, and the external parameters including rotation matrix and translation vector. In some embodiments, the geometric center coordinates of the first region are obtained by calculating the average coordinates of all pixel points in the first region. Then, according to the internal and external parameters of the camera, the coordinate transformation formula is used to transform the geometric center coordinates and the coordinates of other feature points except the geometric center from the image coordinate system to the world coordinate system, thereby determining the position information of the end face 4 in the image.

[0043] It should be noted that by preprocessing the collected images such as denoising, binarization and edge enhancement, the quality and analyzability of the images are effectively improved, and the contour information of the end face 4 of the iron mouth body is highlighted. Combined with the predefined end face reference contour information, the position of the end face 4 of the iron mouth body can be quickly and accurately located in the image using the grayscale template matching algorithm. This method can adapt to images collected in different environments, reduce the interference of external factors on positioning, improve the efficiency and accuracy of positioning, provide reliable image position information for the subsequent three-dimensional positioning of the iron mouth 6, and lay the foundation for realizing the accurate three-dimensional positioning of the blast furnace iron mouth 6.

[0044] Further, an image of the iron mouth body is collected, and based on the template matching algorithm of the end face reference contour information and grayscale, the position information of the end face 4 in the image is obtained, and based on the camera position, the second position information of the end face in the first three-dimensional coordinate system is obtained, and the position information of the end face 4 in the image is calculated and output based on the first area, and further includes: Based on the position of each vertex 5 of the end surface 4 in the image, obtaining the coordinates of each vertex 5 in the image coordinate system; By using the camera coordinate system and the camera's intrinsic and extrinsic parameters, using a coordinate transformation formula, the coordinates of each vertex 5 of the end face 4 in the first three-dimensional coordinate system are obtained, and the second coordinates of the end face center in the first three-dimensional coordinate system are calculated, and the second position information includes the second coordinates; The camera coordinate system has the horizontal line through the optical center as the x-axis, the vertical line through the optical center as the y-axis, and the central axis of the lens as the z-axis; The camera coordinate system is parallel to the first three-dimensional coordinate system, and the directions of the x, y, and z axes are consistent; the x and y axes of the image coordinate system are respectively parallel to the x and y axes of the first three-dimensional coordinate system, and the directions are consistent.

[0045] A two-dimensional coordinate system for describing the position of a pixel point in an image. In some embodiments, the origin of the image coordinate system is located at the upper left corner of the image, the x-axis is in the right direction, and the y-axis is in the downward direction. In this embodiment, the coordinates of each vertex 5 of the end face 4 of the iron mouth body are obtained in the image coordinate system by determining the pixel position of each vertex 5 in the image.

[0046] The area with the largest correlation coefficient with the template image is found in the iron mouth body image by the grayscale template matching algorithm. This area contains information of the iron mouth body end face 4 and is the first area.

[0047] After determining the first area, for the regular polygon end face 4, an image processing algorithm is used to identify and determine the position of each vertex 5 in the area. For example, for the regular polygon end face 4, an edge detection algorithm, such as the Canny algorithm mentioned above, is used to perform edge detection again in the first area to obtain a clear contour edge of the end face 4. Then, based on a contour tracking algorithm, such as a chain code tracking algorithm, tracking is performed along the contour in a clockwise or counterclockwise direction. During the tracking process, the coordinates of each contour point are recorded. Since the regular polygon vertex 5 has special geometric features, such as angle changes, the position of each vertex 5 can be accurately identified by analyzing the connection relationship and angle information between the contour points. For example, for an equilateral triangle end face 4, during the contour tracking process, when an obvious turning point in the angle change between the contour points is detected and the internal angle is 60°, the point can be determined to be a vertex 5. After determining the position of each vertex 5 in the image, according to the definition of the image coordinate system, the coordinates of each vertex 5 in the image coordinate system are obtained, recorded as (u i ,y i ), where i=1,2,3,…,n, and n is the number of vertices of the regular polygon.

[0048] Furthermore, the coordinates in the first three-dimensional coordinate system are obtained through coordinate transformation and the second coordinates of the end face center are calculated. It should be noted that the camera coordinate system is a three-dimensional coordinate system established with the optical center of the camera as the origin, and the direction of its coordinate axis is determined by the structure of the camera. In this embodiment, the x-axis is a horizontal line passing through the optical center, and the right direction is the positive direction; the y-axis is a vertical line passing through the optical center, and the downward direction is the positive direction; the z-axis is the central axis of the lens, and the positive direction is from the optical center to the photographed object.

[0049] The camera parameters include at least the focal length f and the principal point coordinates (u0, y0). The focal length determines the imaging scale of the camera. The principal point coordinates are a special point on the image plane, located near the center of the image. Ideally, the projection point of the light passing through the optical center of the camera on the image plane is the principal point.

[0050] The camera external parameters describe the position and posture parameters of the camera in the world coordinate system, that is, the first three-dimensional coordinate system, including the rotation matrix R and the translation vector t. The rotation matrix R is used to represent the rotation angle of the camera relative to the world coordinate system, and the translation vector t is used to represent the position of the camera's optical center in the world coordinate system.

[0051] The coordinates in the image coordinate system are converted into coordinates in the camera coordinate system through the coordinate transformation formula, and then further converted into the world coordinate system, that is, the coordinates in the first three-dimensional coordinate system.

[0052] Conversion from image coordinate system to camera coordinate system: According to the pinhole imaging model, the vertex 5 (u i ,y i ) and the point in the camera coordinate system (X Ci , Y Ci , Z Ci ) has the following relationship, the camera's intrinsic parameter matrix is , where f x 、f y are the focal lengths in the x-axis and y-axis directions, preferably f x =f y =f, then, , for each vertex 5 in the image coordinate system (u i ,y i ) The depth value in the camera coordinate system is Z Ci , then the coordinates of each vertex 5 in the first three-dimensional coordinate system (X Ci , Y Ci , Z Ci ).

[0053] Calculate the second coordinate of the end face center in the first three-dimensional coordinate system. Since the end face 4 is a regular polygon, its center is the centroid. After obtaining the coordinates (x i2 ,y i2 , z i2 ), according to the centroid coordinate calculation formula: , , Calculate the second coordinate (x c2 ,y c2 , z c2 ).

[0054] Through a clear coordinate conversion process, from the image coordinate system to the camera coordinate system, and then to the first three-dimensional coordinate system, the position information of the iron mouth body end face 4 obtained based on image matching can be accurately converted to the three-dimensional coordinate system that is the same as the position information obtained by the laser ranging module, which provides a basis for subsequent position information fusion and effectively improves the accuracy of the three-dimensional positioning of the blast furnace iron mouth 6.

[0055] The relationship between the camera coordinate system and the first three-dimensional coordinate system is defined in detail, and the role and calculation method of the camera's internal and external parameters are clarified. In practical applications, even if there are certain deviations in the camera's installation position and posture, accurate coordinate conversion can be performed by accurately measuring and calculating these parameters, thereby reducing positioning errors caused by factors such as camera installation, improving the stability and reliability of the entire positioning system, and contributing to the realization of automated control and precise operation of the blast furnace iron-casting process.

[0056] Further, fusing the first position information and the second position information of the end surface 4 in the first three-dimensional coordinate system to determine the final position information of the end surface 4 in the first three-dimensional coordinate system includes: The first coordinate and the second coordinate of the end face center are merged to obtain the third coordinate of the end face center, and the final position information includes the third coordinate.

[0057] Preferably, the first coordinate and the second coordinate of the fusion center are fused by the least square method. Assume that the first coordinate of the end face center obtained by the laser ranging module is (x c1 ,y c1 , z c1 ), the second coordinate obtained based on image matching and coordinate transformation is (x c2 ,y c2 , z c2 ), the optimal solution coordinates of the center are defined as (x c3 ,y c3 , z c3 ). Construct the error sum of squares function: For x c3 ,y c3 , z c3 Find the partial derivative and set it to zero. After calculation, the third coordinate after fusion is This method comprehensively utilizes the data of the two measurement methods, effectively reduces the single measurement error, and improves the three-dimensional positioning accuracy of the blast furnace tapping hole 6.

[0058] This positioning method fully integrates the first coordinate data obtained by the laser ranging module and the second coordinate data obtained based on image matching and coordinate transformation, avoiding the limitations of relying solely on a single measurement method. From the perspective of error control, by constructing an error square sum function and using the least squares method to solve the optimal solution, the influence of random errors and systematic errors that may occur in a single measurement process is effectively reduced, and the positioning accuracy is significantly improved. In actual application scenarios, this solution improves the accuracy of the three-dimensional positioning of the blast furnace taphole 6, making the monitoring and control of the taphole status more accurate, and providing reliable support for the stable operation of the blast furnace ironmaking process, improving production efficiency, and ensuring product quality.

[0059] In a second aspect, the present application provides a method for generating a plugging path of a blast furnace tap hole 6, comprising: S1000: Obtain the coordinates of the nozzle tip in the first three-dimensional coordinate system and set them as the starting point; S2000: Obtain the final position information of the end face center in the first three-dimensional coordinate system through the aforementioned three-dimensional positioning method of the blast furnace tapping hole 6, and set it as the target position; S3000: Generate a Bezier curve with reference to the starting position and the end position, and generate an initial motion path of the mud gun equipment in the first three-dimensional coordinate system according to the generated Bezier curve; S4000: Perform dynamic coordinate adjustment according to the constraint characteristics and environmental characteristics of the mud gun equipment to generate the actual movement path of the mud gun equipment.

[0060] It should be noted that the spray tip refers to the tip part of the mud gun equipment used to spray plugging material.

[0061] In some embodiments, the coordinates of the nozzle tip in the first three-dimensional coordinate system are obtained and set as the starting position by installing a positioning sensor at the nozzle tip position or by using three laser ranging modules in the three-dimensional positioning method of the blast furnace iron outlet 6 in this application.

[0062] Furthermore, the process of obtaining the coordinates of the nozzle tip in the first three-dimensional coordinate system by installing a positioning sensor at the nozzle tip is specifically described as follows: the positioning sensor includes a laser displacement sensor and an inertial measurement unit (IMU). The laser displacement sensor accurately measures the distance and position of the nozzle tip relative to a specific reference point, and the IMU measures the attitude and acceleration information of the nozzle tip. The positioning sensor collects the position data of the nozzle tip in real time, and transmits the data to the control system, which processes and converts the collected data into coordinates in the first three-dimensional coordinate system.

[0063] It should be noted that during installation, the installation position of the positioning sensor should be accurate, and the relative position relationship between the positioning sensor and the first three-dimensional coordinate system is known. The position data of the nozzle tip is collected by the sensor, and the data is converted into coordinates in the first three-dimensional coordinate system using the measurement principle of the sensor and related algorithms. Preferably, a laser displacement sensor is used, and the position of the nozzle tip can be calculated by measuring the propagation time and angle of the laser.

[0064] Further, the process of obtaining the coordinates of the nozzle tip in the first three-dimensional coordinate system by the three laser ranging modules in the three-dimensional positioning method of the blast furnace tap hole 6 in the present application is specifically described. Obtaining the coordinates of the nozzle tip in the first three-dimensional coordinate system and setting them as the starting position includes: S2001: The plugging equipment includes a mud gun, and the nozzle position of the mud gun is adjusted to ensure that the central axis of the nozzle is parallel to the z-axis of the first three-dimensional coordinate system; S2002: obtaining the distance of the mud gun spray tip through three laser ranging modules; S2003: Calculate the coordinates of the mud gun nozzle tip in the first three-dimensional coordinate system through the triangulation positioning principle.

[0065] It should be noted that the mud gun is a device used to block the taphole 6 during the blast furnace ironmaking process. The taphole 6 is blocked by spraying refractory mud and other materials into the taphole 6. The central axis of the mud gun nozzle represents the direction of the mud gun spraying material.

[0066] In some embodiments, the mud gun is mounted on an adjustable mechanical structure, which is a bracket or rail system with multiple degrees of freedom. The operator can manually or electrically adjust the position of the mud gun in the horizontal and vertical directions so that the central axis of the nozzle is consistent with the z-axis direction of the first three-dimensional coordinate system.

[0067] Further, a mud gun is installed and its position is preliminarily adjusted so that it is roughly facing the tap hole 6; an angle measuring instrument is installed and calibrated; the position of the mud gun is adjusted manually or automatically, while observing the reading of the angle measuring instrument, and continuously optimizing and adjusting until the requirement that the central axis is parallel to the z-axis is met. Further, a high-precision angle measuring instrument is used, and the high-precision angle measuring instrument includes an electronic inclinometer.

[0068] Further, a feedback control system is constructed to feed back the measured value of the angle measuring instrument to the control system. The control system automatically adjusts the position of the mud gun according to the feedback information to achieve automatic precise alignment. Further, a feedback control system is constructed to feed back the measured value of the angle measuring instrument to the control system. The control system automatically adjusts the position of the mud gun according to the feedback information to achieve automatic precise alignment.

[0069] Furthermore, the three laser ranging modules respectively emit laser beams to the spray tip of the mud gun to measure the distance between the spray tip and each laser ranging module. Let the distances measured by the three laser ranging modules be d Aj ,d Bj ,d Cj , the coordinates of the nozzle tip in the first three-dimensional coordinate system are (x j ,y j , z j ) can be calculated by the triangulation principle. j ,y j , z j : It should be noted that d Aj is the distance between the first laser ranging module 1 and the i-th vertex 5, d Bj is the distance between the second laser ranging module 2 and the nozzle tip, d Cj is the distance between the third laser distance measuring module 3 and the nozzle tip. Thus, the coordinate value of the nozzle tip can be calculated. Further, the coordinate of the nozzle tip in the first three-dimensional coordinate system is (x j ,y j , z j ) as the starting position.

[0070] The target position is the position that the mud gun equipment needs to reach, that is, the coordinate of the end face center of the blast furnace tap hole 6 in the first three-dimensional coordinate system (x c3 ,y c3 , z c3 ) is located, it should be noted that the coordinate (x c3 ,y c3 , z c3 ) has been described in detail in the first embodiment of the present application and will not be repeated here.

[0071] Further based on the target position coordinates (x c3 ,y c3 , z c3 ) and the starting point position coordinates (x j ,y j , z j ), generate a Bezier curve, and generate an initial motion path of the mud gun equipment in the first three-dimensional coordinate system according to the generated Bezier curve.

[0072] Furthermore, it is necessary to select at least one control point to define the shape of the Bezier curve. Preferably, two control points are set. The selection of control points can be adjusted according to actual conditions, for example, considering the motion characteristics of the mud gun equipment, the surrounding environment and other factors.

[0073] In some embodiments, the control point is at least one of the joint point connecting the mud gun barrel, the extreme position point in the mud gun movement path, and the speed change point during the mud gun movement process, and can be selected according to actual needs.

[0074] According to the cubic Bezier curve formula B(t)=(1-t) 3 P0+3t(1-t) 2 P1+3t 2 (1-t)P2+t 3 P3 Among them, t∈[0,1], P0 is the starting point, and the coordinates are (x j ,y j , z j ), P3 is the end point, the coordinates are (x c3 ,y c3 , z c3 ), P1 and P2 are control points, and the coordinates of P1 and P2 in the first three-dimensional coordinate system are determined to be (x p1 ,y p1 , z p1 )、(x p2 ,y p2 , z p2 ). Discretization processing: discretize the Bezier curve in the range of t from 0 to 1, preferably, take (t=0, 0.1, 0.2, ..., 1), and calculate the coordinates of the corresponding points on the curve. The coordinates of these discrete points constitute the initial motion path of the mud gun equipment.

[0075] Substitute the coordinates of P0, P1, P2, and P3 into the cubic Bezier curve formula to obtain: X(t)=(1-t) 3 x j +3t(1-t) 2 x p1 +3t 2 (1-t)x p2 +t 3 x c3 Y(t)=(1-t) 3 y j +3t(1-t) 2 y p1 +3t 2 (1-t)y p2 +t3 y c3 Z(t)=(1-t) 3 z j +3t(1-t) 2 z p1 +3t 2 (1-t)z p2 +t 3 z c3 By substituting different values ​​of t, the coordinates of the discrete points can be obtained, thereby obtaining the initial motion path of the mud gun equipment.

[0076] Furthermore, dynamic coordinate adjustment is performed according to the constraint characteristics and environmental characteristics of the mud gun equipment, including: S4001: Based on the D*Lite algorithm, the Bezier curve control points are used as the initial path nodes, and the 4D coordinates of the end surface updated by the laser ranging module and the obstacle point cloud data detected by the visual sensor are integrated in real time to generate a local obstacle avoidance path; S4002: Use an S-shaped speed curve to smooth the path and limit the path curvature to not exceed the mechanical limit of the steering mechanism of the mud gun equipment; S4003: According to the temperature data of the iron mouth end face 4, the target position coordinates are dynamically corrected by the thermal expansion coefficient. The calculation formula is: ΔL=α⋅L0⋅(T−T0) Among them, ΔL is the coordinate correction amount, α is the thermal expansion coefficient of the material, L0 is the initial size of the end face 4, T is the real-time temperature, and T0 is the reference temperature.

[0077] It should be noted that the unit of ΔL is meter, which can also be centimeter, millimeter and other length units. It represents the coordinate correction amount, which is essentially the change in length. The unit of α is the reciprocal of Kelvin K -1 In some embodiments, the reciprocal of Celsius is also used. -1 , depending on the temperature scale used for temperature T and T0. The coefficient of thermal expansion represents the relative change in length of a material caused by a unit temperature change. The unit of L0 is consistent with ΔL, which represents the initial size of the end face 4 and is a length quantity. The units of T and T0 are Kelvin K or Celsius °C. Preferably, T and T0 are in Celsius, T is the real-time temperature, T and T0 are the reference temperatures, and the temperature difference obtained by subtracting the two determines the degree of expansion or contraction of the material.

[0078] Furthermore, in path planning, based on the D*Lite algorithm, the control points of the Bezier curve are first set as the initial path nodes. During operation, the 4D coordinate data of the end face is acquired and updated in real time with the help of the laser ranging module, and the point cloud data of the obstacle is detected by the visual sensor. These real-time updated 4D coordinates of the end face are then fused with the obstacle point cloud data and input into the D*Lite algorithm. Based on the fused data, the algorithm dynamically adjusts and optimizes the initial path nodes, and then generates a local obstacle avoidance path that can avoid obstacles in real time, ensuring the efficiency and safety of path planning in complex and changing environments.

[0079] It should be noted that in actual working conditions such as blast furnace iron tapping, the position and shape of the iron mouth end face 4 may change due to various factors such as high temperature and molten iron flow impact. Real-time acquisition of the three-dimensional coordinate data of the end face 4 allows the system to perceive these changes in a timely manner, so that the D* Lite algorithm can dynamically adjust and optimize the path according to the new data to ensure the accuracy and feasibility of the path. Acquiring the three-dimensional coordinate data of the end face 4 can provide an accurate environmental information basis for path planning. Knowing the three-dimensional information such as the specific position and shape of the iron mouth end face 4 helps to more accurately determine the initial path node and key positions such as the starting point of subsequent path planning, so that the path planning based on the D* Lite algorithm is based on accurate data from the beginning.

[0080] Furthermore, combined with the obstacle point cloud data detected by the visual sensor, the end face 4 three-dimensional coordinate data can provide more comprehensive environmental information. On the one hand, the position of the iron mouth end face 4 is clear, and on the other hand, the surrounding obstacles are known, which facilitates the system to better plan a safe and efficient path that can reach the target iron mouth and avoid obstacles.

[0081] Furthermore, in the operation related to the blast furnace taphole 6, the target position coordinates need to be accurately corrected based on the temperature data of the taphole end face 4. First, the temperature sensor is used to collect the temperature of the taphole end face 4 in real time to obtain the real-time temperature value T. The reference temperature T is determined, which is the value under the stable temperature state used as a reference. At the same time, the thermal expansion coefficient α of the taphole body material and the initial size L0 of the taphole end face 4 are known, which is usually measured at the reference temperature T0. Substitute these data into the formula ΔL=α⋅L0⋅(T−T0) for calculation to obtain the coordinate correction ΔL.

[0082] It should be noted that the thermal expansion coefficient α of the material can be obtained by referring to the relevant material manual or by experimental measurement in combination with the material information of the iron mouth body. The initial size L0 of the iron mouth end face 4 is measured and calculated by an accurate measuring tool, preferably a laser distance measuring module. The iron mouth end face 4 is a regular polygon, and the circumscribed circle radius R of the iron mouth end face 4 can be obtained by the formula Calculation, that is , where n is the number of sides of the regular polygon, e is the length of the side of the regular polygon. T0 is the temperature corresponding to the initial size L0.

[0083] Finally, the originally determined target position coordinates are dynamically adjusted based on the correction value to obtain precise target position coordinates after considering the influence of thermal expansion, so as to ensure the accuracy and stability of related operations under different temperature conditions.

[0084] Furthermore, when optimizing the path, an S-shaped speed curve is used to achieve path smoothing. The characteristic of the S-shaped speed curve is that the acceleration is continuous during the speed change process, which can effectively avoid the impact caused by the sudden change of speed. In the application process, the mechanical limit parameters of the steering mechanism of the mud gun equipment are first analyzed to determine the maximum path curvature it can withstand. Then, for the path that needs to be smoothed, according to the mathematical model of the S-shaped speed curve, the speed of the path point is adjusted in the starting section, middle section and end section of the path according to the determined acceleration and deceleration rules. At the same time, the curvature of each point on the path is monitored in real time. When the path curvature approaches or exceeds the mechanical limit of the steering mechanism of the mud gun equipment, the position and direction of the path point are fine-tuned to ensure that the path is always within the range allowed by the mechanical limit, thereby generating an optimized path that is both smooth and in line with the capabilities of the steering mechanism of the mud gun equipment.

[0085] In the stage of generating the actual motion path, it is necessary to consider the constraint characteristics of the mud gun equipment, such as the maximum motion speed and acceleration limit of the equipment, as well as environmental characteristics, such as the distribution of obstacles around the blast furnace. Through a comprehensive analysis of these factors, the coordinate points on the initial motion path are adjusted to generate the actual motion path of the mud gun equipment that conforms to the actual situation.

[0086] Through this method, a reasonable initial motion path can be generated according to the current position of the mud gun equipment and the accurate target position of the tap hole 6, and dynamic coordinate adjustment can be performed in combination with the constraint characteristics and environmental characteristics of the mud gun equipment to obtain a practical and feasible motion path, thereby improving the accuracy of the plugging operation of the mud gun equipment.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the three-dimensional positioning method of the blast furnace iron outlet 6 and the plugging path generation method of the present application, rather than to limit them; although the three-dimensional positioning method of the blast furnace iron outlet 6 and the plugging path generation method of the present application are described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A three-dimensional positioning method for a blast furnace tap hole, characterized in that: include: A tap hole body having an end face of a first shape is used, wherein the tap hole is provided on the tap hole body, and the tap hole is provided at the center of the end face of the tap hole body; Establishing a first three-dimensional coordinate system based on the laser ranging module, and acquiring first position information of the end surface in the first three-dimensional coordinate system; Based on the first shape of the end face of the tap hole body, pre-define the end face reference contour information of the tap hole of the blast furnace; Collect an image of the iron mouth body, obtain position information of the end face in the image based on the end face reference contour information and grayscale template matching algorithm, and obtain second position information of the end face in the first three-dimensional coordinate system based on the camera position; The first position information and the second position information of the end surface in the first three-dimensional coordinate system are integrated to determine the final position information of the end surface in the first three-dimensional coordinate system.

2. A three-dimensional positioning method for a blast furnace tap hole according to claim 1, characterized in that: The first shape is a regular polygon, and the regular polygon includes at least three vertices.

3. A three-dimensional positioning method for a blast furnace tap hole according to claim 2, characterized in that: The step of establishing a first three-dimensional coordinate system based on the laser ranging module and obtaining first position information of the end surface in the first three-dimensional coordinate system includes: Three laser ranging modules are provided, the laser ranging modules comprising a first laser ranging module, a second laser ranging module and a third laser ranging module; Establishing a first three-dimensional coordinate system, wherein the first three-dimensional coordinate system has a line connecting the first laser ranging module and the second laser ranging module as an x-axis, a straight line passing through the first laser ranging module and perpendicular to the x-axis as a y-axis, and a normal direction of a plane formed by the first laser ranging module, the second laser ranging module and the third laser ranging module as a z-axis; The distance of each vertex of the end face is measured respectively by the third laser ranging module, the coordinates of each vertex in the first three-dimensional coordinate system are calculated by the triangulation positioning principle, and the first coordinate of the center of the end face in the first three-dimensional coordinate system is calculated, and the first position information includes the first coordinate.

4. A three-dimensional positioning method for a blast furnace tap hole according to claim 1, characterized in that: The predefining of the end face reference profile information of the blast furnace tap hole based on the first shape of the end face of the tap hole body comprises: Obtain the three-dimensional data of the tap hole through three-dimensional scanning software or modeling software; Extracting first feature information of the end face based on the three-dimensional data, where the first feature information includes the shape and size of the end face; Based on the first feature information, end surface reference profile information is generated.

5. A three-dimensional positioning method for a blast furnace tap hole according to claim 4, characterized in that: The method of collecting an image of the iron mouth body, obtaining position information of the end face in the image based on the end face reference contour information and a grayscale template matching algorithm, and obtaining second position information of the end face in the first three-dimensional coordinate system based on the camera position includes: The image of the iron mouth body is collected by a camera; Preprocessing the image using an image processing library, wherein the preprocessing includes denoising, binarization and edge enhancement; Extracting the end face contour information in the image according to the end face reference contour information, determining the boundary feature information of the end face contour, and extracting the target area consistent with the boundary feature information of the end face contour in the image based on the boundary feature information; Generate a template image according to the end face reference contour information; Based on the grayscale template matching algorithm, the target area is matched with the template image to find the first area with the largest correlation coefficient in the image; The position information of the end surface in the image is calculated and output based on the first area.

6. A three-dimensional positioning method for a blast furnace tap hole according to claim 5, characterized in that: The method of collecting an image of the iron mouth body, obtaining position information of the end face in the image based on the end face reference contour information and the grayscale template matching algorithm, and obtaining second position information of the end face in the first three-dimensional coordinate system based on the camera position, further includes: Based on the position of each vertex of the end surface in the image, the coordinates of each vertex in the image coordinate system are obtained; Obtaining the coordinates of each vertex of the end face in the first three-dimensional coordinate system by using the camera coordinate system and the intrinsic and extrinsic parameters of the camera using a coordinate transformation formula, and calculating the second coordinates of the center of the end face in the first three-dimensional coordinate system, wherein the second position information includes the second coordinates; The camera coordinate system has the horizontal line through the optical center as the x-axis, the vertical line through the optical center as the y-axis, and the central axis of the lens as the z-axis; The camera coordinate system is parallel to the first three-dimensional coordinate system, and the directions of the x, y, and z axes are consistent; the x and y axes of the image coordinate system are respectively parallel to the x and y axes of the first three-dimensional coordinate system, and the directions are consistent.

7. A three-dimensional positioning method for a blast furnace tap hole according to claim 6, characterized in that: The fusing the first position information and the second position information of the end surface in the first three-dimensional coordinate system to determine the final position information of the end surface in the first three-dimensional coordinate system includes: The first coordinate and the second coordinate of the end face center are merged to obtain the third coordinate of the end face center, and the final position information includes the third coordinate.

8. A method for generating a plugging path for a blast furnace tap hole, characterized in that: include Obtain the coordinates of the nozzle tip in the first three-dimensional coordinate system and set them as the starting point; By using a three-dimensional positioning method for a blast furnace tapping hole as described in any one of claims 1 to 7, the final position information of the end face center in the first three-dimensional coordinate system is obtained and set as the target position; Generate a Bezier curve with reference to the starting position and the end position, and generate an initial motion path of the mud gun equipment in the first three-dimensional coordinate system according to the generated Bezier curve; Dynamic coordinate adjustment is performed according to the constraint characteristics and environmental characteristics of the mud gun equipment to generate the actual motion path of the mud gun equipment.

9. A method for generating a plugging path for a blast furnace tap hole according to claim 8, characterized in that: The step of obtaining the coordinates of the nozzle tip in the first three-dimensional coordinate system and setting the coordinates as the starting point includes: The plugging equipment includes a mud gun, and the nozzle position of the mud gun is adjusted to ensure that the central axis of the nozzle is parallel to the z-axis of the first three-dimensional coordinate system; The distance of the mud gun spray tip is obtained through three laser ranging modules; The coordinates of the mud gun nozzle tip in the first three-dimensional coordinate system are calculated by the triangulation positioning principle.

10. A method for generating a plugging path for a blast furnace tap hole according to claim 9, characterized in that: The dynamic coordinate adjustment according to the constraint characteristics and environmental characteristics of the mud gun equipment includes: Based on the D*Lite algorithm, the Bezier curve control points are used as the initial path nodes, and the end face 3D coordinates updated by the laser ranging module and the obstacle point cloud data detected by the visual sensor are integrated in real time to generate a local obstacle avoidance path; The path is smoothed using an S-shaped speed curve, limiting the path curvature to not exceed the mechanical limit of the steering mechanism of the mud gun equipment; According to the iron mouth end surface temperature data, the target position coordinates are dynamically corrected by the thermal expansion coefficient. The calculation formula is: ΔL=α⋅L0⋅(T−T0) Among them, ΔL is the coordinate correction amount, α is the thermal expansion coefficient of the material, L0 is the initial size of the end face, T is the real-time temperature, and T0 is the reference temperature.

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