A three-dimensional positioning method for a blast furnace taphole and a plugging path generation method

Abstract

The present application provides a three-dimensional positioning method for a blast furnace taphole and a method for generating a taphole blocking path. The method comprises: using a taphole body having an end face of a first shape, the taphole body being provided with a taphole, and the taphole being located at the center of the end face of the taphole body; establishing a first three-dimensional coordinate system based on a laser ranging module, and obtaining first position information of the end face in the first three-dimensional coordinate system; predefining end face reference profile information of the blast furnace taphole based on the first shape of the taphole body end face; capturing an image of the taphole body, obtaining position information of the end face in the image based on the end face reference profile 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; and fusing the first and second position information of the end face in the first three-dimensional coordinate system to determine the final position information of the end face in the first three-dimensional coordinate system. This method can achieve rapid, efficient, and accurate three-dimensional positioning of the blast furnace taphole.

Description

Technical Field

[0001] The present 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] During the blast furnace ironmaking process, accurate taphole positioning and plugging are critical steps to ensure proper operation. Traditional taphole positioning methods rely primarily on manual labor, which can lead to inaccurate positioning and low efficiency. With the advancement of industrial automation, machine vision technology is increasingly being used. However, existing technologies still suffer from insufficient positioning accuracy and inaccurate path generation when handling the complex blast furnace environment. 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 taphole, comprising:

[0005] A tap hole body having an end surface 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 surface of the tap hole body;

[0006] Establishing a first three-dimensional coordinate system based on the laser ranging module, and obtaining first position information of the end face in the first three-dimensional coordinate system;

[0007] Based on the first shape of the end face of the taphole body, pre-define the end face reference contour information of the blast furnace taphole;

[0008] An image of the iron mouth body is collected, and 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. Second position information of the end face in the first three-dimensional coordinate system is obtained based on the camera position;

[0009] The first position information and the second position information of the end surface in the first three-dimensional coordinate system are fused to determine the final position information of the end surface in the first three-dimensional coordinate system.

[0010] In some embodiments, the first shape is a regular polygon comprising at least three vertices.

[0011] In some embodiments, establishing a first three-dimensional coordinate system based on a laser ranging module and obtaining first position information of the end face in the first three-dimensional coordinate system includes:

[0012] Three laser ranging modules are provided, the laser ranging modules including a first laser ranging module, a second laser ranging module and a third laser ranging module;

[0013] 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 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;

[0014] 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.

[0015] In some embodiments, 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 includes:

[0016] Obtain 3D data of the taphole through 3D scanning software or modeling software;

[0017] 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;

[0018] Based on the first feature information, end face reference profile information is generated.

[0019] In some embodiments, the collecting of the 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 include:

[0020] Capture the iron mouth body image through the camera;

[0021] Preprocessing the image using an image processing library, wherein the preprocessing includes denoising, binarization, and edge enhancement;

[0022] extracting end face profile information from the image based on the end face reference profile information, determining boundary feature information of the end face profile, and extracting a target area consistent with the boundary feature information of the end face profile from the image based on the boundary feature information;

[0023] Generate a template image according to the end face reference contour information;

[0024] 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;

[0025] Position information of the end surface in the image is calculated and output based on the first area.

[0026] 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 a template matching algorithm of the end face reference contour information and grayscale, and obtaining second position information of the end face in the first three-dimensional coordinate system based on the camera position, further includes:

[0027] Based on the position of each vertex of the end face in the image, the coordinates of each vertex in the image coordinate system are obtained;

[0028] Obtaining the coordinates of each vertex of the end face in the first three-dimensional coordinate system using a coordinate transformation formula through the camera coordinate system and the intrinsic and extrinsic parameters of the camera, and calculating the second coordinates of the center of the end face in the first three-dimensional coordinate system, where the second position information includes the second coordinates;

[0029] 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;

[0030] 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.

[0031] 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.

[0032] In a second aspect, the present invention provides a method for generating a plugging path for a blast furnace taphole, comprising:

[0033] Obtain the coordinates of the nozzle tip in the first three-dimensional coordinate system and set them as the starting point;

[0034] By using the three-dimensional positioning method for a blast furnace taphole according to 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;

[0035] generating a Bezier curve with reference to the starting position and the end position, and generating an initial motion path of the mud gun device in the first three-dimensional coordinate system according to the generated Bezier curve;

[0036] 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.

[0037] In some embodiments, obtaining the coordinates of the nozzle tip in the first three-dimensional coordinate system and setting them as the starting position includes:

[0038] 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;

[0039] The distance to the mud gun tip is obtained through three laser ranging modules;

[0040] The coordinates of the mud gun nozzle tip in the first three-dimensional coordinate system are calculated using the triangulation positioning principle.

[0041] In some embodiments, the dynamic coordinate adjustment according to the constraint characteristics and environmental characteristics of the mud gun equipment includes:

[0042] 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;

[0043] An S-shaped speed curve is used to smooth the path, limiting the path curvature to not exceed the mechanical limit of the mud gun equipment steering mechanism;

[0044] According to the taphole end face temperature data, the target position coordinates are dynamically corrected by the thermal expansion coefficient. The calculation formula is:

[0045] ΔL=α⋅L0⋅(T−T0)

[0046] 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.

[0047] 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 is provided with an iron mouth on the iron mouth body, and the iron mouth is set 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 existing technology, the beneficial effects of the present application are: 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 level of steel smelting, and can adapt to complex environments; at the same time, by adopting an iron mouth body with an end face of the first shape, the iron mouth body is provided with an iron mouth, and the iron mouth is provided at the center of the end face, which can effectively simplify the algorithm and improve positioning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0049] Figure 1 This is a logic diagram of the three-dimensional positioning method of the blast furnace taphole;

[0050] Figure 2 This is the logic block diagram of the blocking path generation method;

[0051] Figure 3 It is a schematic diagram of three laser ranging modules measuring the distance to the cross-section vertex;

[0052] Figure 4 It is a structural diagram of the end face of an equilateral triangle;

[0053] Figure 5 It is a schematic diagram of the structure of the end face of a regular quadrilateral;

[0054] Figure 6 It is a structural diagram of the end face of a regular pentagon. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0056] It should be noted that the terms "including," "having," and any variations thereof in the embodiments and drawings of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising 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 the process, method, product, or apparatus.

[0057] It will be understood that the terms "first," "second," etc. used herein may be used to describe various elements, states, or data, but these elements, states, and data are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0058] The embodiments of the present application disclose a three-dimensional positioning method for a blast furnace taphole 6 and a method for generating a taphole blocking path, which are described in detail below.

[0059] refer to Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 The present application provides a three-dimensional positioning method for a blast furnace taphole 6, and the specific steps of the method are as follows:

[0060] S100: using an iron mouth body having an end face 4 of a first shape, the iron mouth body being provided with an iron tapping hole 6, the iron tapping hole 6 being arranged at the center of the end face of the iron mouth body;

[0061] 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;

[0062] S300: predefining 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;

[0063] S400: collecting an image of the iron mouth body, obtaining position information of the end face 4 in the image based on the template matching algorithm of the end face reference contour information and grayscale, and obtaining second position information of the end face 4 in the first three-dimensional coordinate system based on the camera position;

[0064] 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.

[0065] It should be noted that the first shape is a regular geometric shape. In some embodiments, the first shape is a regular polygon, which includes at least three vertices 5. The first shape is a regular polygon to ensure symmetry and feature identifiability, thereby simplifying subsequent positioning algorithms. In some embodiments, the first shape is a regular quadrilateral; in some embodiments, the first shape is an equilateral triangle; and in some embodiments, the first shape is a regular pentagon.

[0066] In some blast furnaces that have special requirements for spatial layout and structural strength, the iron mouth body of a regular polygon can better adapt to the surrounding structure. 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.

[0067] 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.

[0068] 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:

[0069] 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;

[0070] 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 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;

[0071] S230: Measure the distance of each vertex 5 of the end face 4 respectively through the third laser ranging module 3, calculate the coordinates of each vertex 5 in the first three-dimensional coordinate system through 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.

[0072] 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 line connecting the optical centers of the first laser ranging module 1 and the second laser ranging module 2 as the x-axis, in some embodiments, the line connecting the optical centers of 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 horizontal, the y-axis is set to the vertical direction.

[0073] In some embodiments, the regular polygon is a regular rectangle, or a regular polygon. A plane formed by connecting the centers of the three laser ranging modules is parallel to the end face 4. The distance of each vertex 5 of the end face 4 is measured by the three laser ranging modules. The coordinates of each vertex 5 in the first three-dimensional coordinate system are calculated by the triangulation principle. The coordinates of each vertex 5 in the first three-dimensional coordinate system are calculated by the triangulation principle, and the first coordinates of the center of the end face in the first three-dimensional coordinate system are calculated. The first position information includes the first coordinates, including the following steps:

[0074] 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 as 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:

[0075] d A =

[0076] d B =

[0077] d C =

[0078] 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 ranging 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:

[0079] , ,

[0080] Thus, the first coordinate of the end face center is (x c1 ,y c1 , z c1 ).

[0081] In some embodiments, based on the first shape of the end face 4 of the tap hole body, predefining the end face reference profile information of the blast furnace tap hole 6 includes:

[0082] S310: Acquire three-dimensional data of the tap hole 6 through three-dimensional scanning software or modeling software;

[0083] S320: Extracting first feature information of the end face 4 based on the three-dimensional data, where the first feature information includes the shape and size of the end face 4;

[0084] S330: Generate end face reference profile information based on the first feature information.

[0085] It should be noted that 3D data of the taphole is acquired through scanning software. Scanning software such as Artec3D or RevoScan is preferred, with Artec3D being the preferred choice. Leveraging advanced structured light or laser scanning technology, this software can quickly and accurately acquire 3D surface data of the taphole 6 and convert this 3D data into a point cloud model. During the scanning process, a laser strikes the surface of the taphole 6, where the light is reflected and received by the device. By calculating information such as the light's travel time and angle, the 3D coordinates of each point on the surface of the taphole 6 are determined, generating a large amount of point cloud data that accurately describes the shape and position of the taphole 6.

[0086] In some embodiments, three-dimensional data is obtained through modeling software, such as SolidWorks or 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. This model includes all geometric information of the tap hole 6, thereby obtaining three-dimensional data of the tap hole 6.

[0087] 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.

[0088] During the generation of 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 sides of the regular polygon are organized into a specific data structure. For example, the vertex 5 coordinates are stored in an array format, while information such as the number of sides and the connection order of the vertices 5 is also recorded. This organized data constitutes the end face reference profile information, which serves as a standard template in the subsequent image matching and positioning calculations. It is used for comparison and analysis with the actual captured image of the iron mouth body end face 4 to ensure accurate and consistent positioning.

[0089] 3D scanning or modeling software is used to acquire 3D data of the taphole 6, from which primary characteristic information such as the shape and dimensions of the end face 4 is accurately extracted. This generates reliable end face reference profile information, providing a precise standard template for subsequent image matching and positioning. This enables accurate comparison and analysis of taphole body images captured under different environmental conditions and angles with the reference profile information, effectively improving positioning accuracy and reliability, ensuring the accuracy and stability of 3D positioning of the blast furnace taphole 6, and providing strong support for the automated control and precise operation of the blast furnace tapping process.

[0090] In some embodiments, an image of the iron mouth body is collected, and position information of the end face 4 in the image is obtained based on the end face reference contour information and the grayscale template matching algorithm, and second position information of the end face 4 in the first three-dimensional coordinate system is obtained based on the camera position, including:

[0091] S410: Capturing an image of the iron mouth body through a camera;

[0092] S420: Preprocessing the image using an image processing library, wherein the preprocessing includes denoising, binarization, and edge enhancement.

[0093] S430: extracting the contour information of the end face 4 in the image according to the end face reference contour information, determining 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;

[0094] S440: Generate a template image based on the end face reference profile information;

[0095] 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;

[0096] S450: Calculate and output position information of the end surface 4 in the image based on the first region.

[0097] In some embodiments, an industrial camera is used to capture images of the iron mouth body. Industrial cameras offer high resolution, high frame rate, and excellent environmental adaptability. They are capable of consistently capturing clear images of the iron mouth body under harsh operating conditions such as complex lighting conditions, high temperatures, and dust pollution at the blast furnace site. The camera's installation location is selected to ensure a complete and clear image of the iron mouth body's end face 4. Furthermore, camera parameters, such as focal length, aperture, and exposure time, need to be optimized and adjusted based on the actual shooting distance and on-site light intensity to achieve high-quality images.

[0098] In some embodiments, the OpenCV library is used to preprocess images. De-noising employs a Gaussian filter algorithm. Based on the properties of the Gaussian function, Gaussian filtering performs a weighted average of each pixel in the image and its neighborhood to obtain a grayscale function. In a Gaussian function, pixels closer to the center pixel receive a higher weight. This weighted average effectively smooths the image, removing noise caused by factors such as camera sensor noise and transmission interference, thereby improving image quality and clarity.

[0099] In some embodiments, the binarization process utilizes an adaptive thresholding method, which dynamically calculates a threshold value appropriate for each pixel in the image based on the grayscale distribution within the neighborhood of that pixel. The adaptive thresholding method can better adapt to grayscale variations in different regions of the image, accurately converting the image into a binary image consisting of only black and white colors. This allows for a clearer separation of the outline of the tappet body end face 4 from the background, highlighting the outline information and facilitating subsequent processing and analysis.

[0100] 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 grayscale value function, and then the edge is refined by non-maximum suppression. Then, double threshold detection and edge connection are used to finally obtain a clear and accurate edge image. After processing 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, providing a good foundation for subsequent contour extraction.

[0101] In some embodiments, end face 4 is a regular polygonal end face 4. A chain code tracking algorithm is employed, starting from the edge of the image and tracking the contour points sequentially according to a certain rule, such as a clockwise or counterclockwise direction. During the tracking process, the coordinates of each contour point and its connection relationship with adjacent points are recorded. By analyzing and processing these points, the coordinates of the vertices 5 of the regular polygon and the contour shape are determined, thereby extracting the contour information of the regular polygonal end face 4.

[0102] After determining the boundary feature information, the target area including the end face 4 of the taphole body is screened out in the image based on the information. The target area should include the contour information of the end face 4 of the taphole body as accurately as possible, excluding the influence of background and other interference factors.

[0103] A template image is generated based on the end face reference profile 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 degree of matching between the target area and the template image. By traversing the entire target area, the first area with the largest correlation coefficient is found. This area is the area of ​​the iron mouth body end face 4 that best matches the template image.

[0104] 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, the position of the first region in the image can be converted to an accurate position in the image by performing operations such as geometric center calculation and feature point extraction on the first region, combined with the intrinsic and extrinsic parameters of the camera. The intrinsic parameters of the camera include at least the focal length and the coordinates of the principal point, and the extrinsic parameters include the rotation matrix and the translation vector. In some embodiments, the geometric center coordinates of the first region are obtained by calculating the average coordinates of all pixels in the first region. Then, based on the intrinsic and extrinsic parameters of the camera, the coordinates of the geometric center and the coordinates of other feature points other than the geometric center are converted from the image coordinate system to the world coordinate system using a coordinate transformation formula, thereby determining the position information of the end face 4 in the image.

[0105] It should be noted that preprocessing the captured images, including denoising, binarization, and edge enhancement, effectively improves image quality and analyzability, highlighting the contour information of the taphole end face 4. Combined with predefined end face reference contour information and utilizing a grayscale template matching algorithm, the taphole end face 4 can be quickly and accurately located within the image. This method adapts to images captured in diverse environments, reduces interference from external factors on positioning, and improves positioning efficiency and accuracy. It provides reliable image position information for subsequent three-dimensional positioning of the taphole 6, laying the foundation for precise three-dimensional positioning of the blast furnace taphole 6.

[0106] Furthermore, an image of the iron mouth body is collected, and position information of the end face 4 in the image is obtained based on a template matching algorithm of the end face reference contour information and grayscale; second position information of the end face in the first three-dimensional coordinate system is obtained based on the camera position; and position information of the end face 4 in the image is calculated and output based on the first area, further comprising:

[0107] 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;

[0108] Using the camera coordinate system and the camera's intrinsic and extrinsic parameters, and utilizing 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, where the second position information includes the second coordinates;

[0109] 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;

[0110] 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.

[0111] A two-dimensional coordinate system is used to describe the positions of pixels in an image. In some embodiments, the origin of the image coordinate system is located in the upper left corner of the image, with the x-axis pointing rightward and the y-axis pointing downward. In this embodiment, the coordinates of each vertex 5 of the end face 4 of the iron mouth body are obtained by determining the pixel position of each vertex 5 in the image.

[0112] The region with the largest correlation coefficient with the template image is found in the iron mouth body image by the grayscale template matching algorithm. This region contains information of the iron mouth body end face 4 and is referred to as the first region.

[0113] 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 earlier, 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 vertices 5 of the regular polygon have 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.

[0114] Furthermore, 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 camera's optical center as its origin, and the directions of its coordinate axes are determined by the camera's structure. In this embodiment, the x-axis is a horizontal line passing through the optical center, with a positive direction to the right; the y-axis is a vertical line passing through the optical center, with a positive direction downward; and the z-axis is the central axis of the lens, with a positive direction pointing from the optical center toward the subject.

[0115] Camera parameters include at least the focal length f and the principal point coordinates (u0, y0). The focal length determines the camera's imaging scale. The principal point coordinates are a special point on the image plane, located near the center of the image. Ideally, the principal point is the projection point on the image plane of a ray passing through the camera's optical center.

[0116] The camera's extrinsic parameters describe the camera's position and posture in the world coordinate system, or the first three-dimensional coordinate system. These parameters include the rotation matrix R and the translation vector t. The rotation matrix R represents the camera's rotation angle relative to the world coordinate system, and the translation vector t represents the position of the camera's optical center in the world coordinate system.

[0117] 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.

[0118] 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

[0119] , 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 ).

[0120] 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 center of gravity. After obtaining the coordinates of each vertex 5 in the first three-dimensional coordinate system (x i2 ,y i2 , z i2 ), according to the calculation formula of the center of gravity coordinates:

[0121] , , Calculate the second coordinate (x c2 ,y c2 , z c2 ).

[0122] 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 same three-dimensional coordinate system as the position information obtained by the laser ranging module, providing a basis for subsequent position information fusion and effectively improving the accuracy of the three-dimensional positioning of the blast furnace iron mouth 6.

[0123] 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 actual 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. This reduces positioning errors caused by factors such as camera installation, improves the stability and reliability of the entire positioning system, and helps to achieve automated control and precise operation of the blast furnace iron-making process.

[0124] Furthermore, 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:

[0125] The first coordinate and the second coordinate of the end face center are fused to obtain the third coordinate of the end face center, and the final position information includes the third coordinate.

[0126] Preferably, the first coordinate and the second coordinate of the 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. The third coordinate after fusion is calculated as This method comprehensively utilizes the data of the two measurement methods, effectively reduces the error of a single measurement, and improves the three-dimensional positioning accuracy of the blast furnace taphole 6.

[0127] 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 on a single measurement method. From the perspective of error control, by constructing an error sum-of-squares function and using the least squares method to solve the optimal solution, the impact of random errors and systematic errors that may occur in a single measurement process is effectively reduced, significantly improving positioning accuracy. 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.

[0128] In a second aspect, the present application provides a method for generating a plugging path for a blast furnace taphole 6, comprising:

[0129] S1000: Obtain the coordinates of the nozzle tip in the first three-dimensional coordinate system and set them as the starting position;

[0130] S2000: Obtain final position information of the end face center in the first three-dimensional coordinate system using the aforementioned three-dimensional positioning method for the blast furnace taphole 6, and set the final position information as the target position;

[0131] S3000: generating a Bezier curve with reference to the starting position and the end position, and generating an initial motion path of the mud gun device in the first three-dimensional coordinate system based on the generated Bezier curve;

[0132] S4000: Perform dynamic coordinate adjustment according to the constraint characteristics and environmental characteristics of the mud gun equipment to generate an actual motion path of the mud gun equipment.

[0133] It should be noted that the spray tip refers to the tip part of the mud gun equipment used to spray plugging material.

[0134] 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.

[0135] Furthermore, the process of obtaining the nozzle tip's coordinates in the first three-dimensional coordinate system by installing a positioning sensor at the nozzle tip is described in detail as follows: The positioning sensor includes a laser displacement sensor and an inertial measurement unit (IMU). The laser displacement sensor accurately measures the nozzle tip's distance and position relative to a specific reference point, while the IMU measures the nozzle tip's attitude and acceleration. The positioning sensor collects nozzle tip position data in real time and transmits this data to the control system, which processes and converts the collected data into coordinates in the first three-dimensional coordinate system.

[0136] It should be noted that during installation, the positioning sensor must be accurately positioned and its relative position to the first three-dimensional coordinate system must be known. The sensor collects position data of the nozzle tip, and the sensor's measurement principles and associated algorithms are used to convert this data into coordinates in the first three-dimensional coordinate system. Preferably, a laser displacement sensor is used to calculate the nozzle tip's position by measuring the laser's propagation time and angle.

[0137] Furthermore, 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 taphole 6 in this 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:

[0138] 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;

[0139] S2002: Obtain the distance of the mud gun spray tip through three laser ranging modules;

[0140] S2003: Calculate the coordinates of the mud gun nozzle tip in the first three-dimensional coordinate system through the triangulation positioning principle.

[0141] 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 sealed 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.

[0142] In some embodiments, the mud gun is mounted on an adjustable mechanical structure, such as a bracket or rail system with multiple degrees of freedom. An 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 aligned with the z-axis of the first three-dimensional coordinate system.

[0143] Furthermore, a mud gun is installed and initially adjusted to face the taphole 6. An angle measuring instrument is installed and calibrated. The mud gun position is adjusted manually or automatically while observing the reading of the angle measuring instrument, and the adjustment is continuously optimized until the central axis and the z-axis are parallel. A high-precision angle measuring instrument is further used, including an electronic inclinometer.

[0144] Furthermore, a feedback control system is constructed to feed back the measured values ​​of the angle measuring instrument to the control system. The control system automatically adjusts the position of the mud gun based on the feedback information, achieving automated and precise alignment. Furthermore, a feedback control system is constructed to feed back the measured values ​​of the angle measuring instrument to the control system. The control system automatically adjusts the position of the mud gun based on the feedback information, achieving automated and precise alignment.

[0145] 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 triangulation principle j ,y j , z j :

[0146]

[0147]

[0148]

[0149] It should be noted that d Aj is the distance between the first laser ranging module 1 and the i-th vertex 5, d Bjis the distance between the second laser ranging module 2 and the nozzle tip, d Cj is the distance between the third laser ranging 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 ) is set as the starting position.

[0150] The target position is the position that the mud gun equipment needs to reach, that is, the coordinate of the center of the end face of the blast furnace taphole 6 in the first three-dimensional coordinate system (x c3 ,y c3 , z c3 ) is located, it should be noted that the coordinates of the center of the end face of the blast furnace taphole 6 in the first three-dimensional coordinate system (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.

[0151] Further based on the target position coordinates (x c3 ,y c3 , z c3 ) and the starting point 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.

[0152] 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 factors such as the motion characteristics of the mud gun equipment and the surrounding environment.

[0153] 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.

[0154] According to the cubic Bezier curve formula

[0155] B(t)=(1-t) 3 P0+3t(1-t) 2 P1+3t 2 (1-t)P2+t 3 P3

[0156] Among them, t∈[0,1], P0 is the starting position, 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: Discretize the Bezier curve within the range of t from 0 to 1, preferably (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.

[0157] Substitute the coordinates of P0, P1, P2, and P3 into the cubic Bezier curve formula to obtain:

[0158] X(t)=(1-t) 3 x j +3t(1-t) 2 x p1 +3t 2 (1-t)x p2 +t 3 x c3

[0159] Y(t)=(1-t) 3 y j +3t(1-t) 2 y p1 +3t 2 (1-t)y p2 +t 3 y c3

[0160] Z(t)=(1-t) 3 z j +3t(1-t) 2 z p1 +3t 2 (1-t)z p2 +t 3 z c3

[0161] 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.

[0162] Furthermore, dynamic coordinate adjustment is performed according to the constraint characteristics and environmental characteristics of the mud gun equipment, including:

[0163] S4001: Based on the D*Lite algorithm, with Bezier curve control points as the initial path nodes, it generates a local obstacle avoidance path by integrating the 4D coordinates of the end face updated by the laser ranging module and the obstacle point cloud data detected by the vision sensor in real time;

[0164] S4002: Use an S-shaped speed curve to smooth the path, limiting the path curvature to not exceed the mechanical limit of the mud gun equipment steering mechanism;

[0165] S4003: Based on 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:

[0166] ΔL=α⋅L0⋅(T−T0)

[0167] Wherein, 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.

[0168] 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 temperatures T and T0. The coefficient of thermal expansion indicates the relative change in length of a material per unit temperature change. L0, with the same unit as ΔL, represents the initial dimension of end face 4 and is a length measure. T and T0 are expressed in Kelvin (K) or Celsius (°C). Preferably, T and T0 are expressed in Celsius, with T being the actual temperature and T and T0 being the reference temperature. The temperature difference between the two determines the degree of material expansion or contraction.

[0169] 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 laser ranging module acquires and updates the 4D coordinate data of the end face in real time, while the visual sensor detects the point cloud data of obstacles. 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 this fused data, the algorithm dynamically adjusts and optimizes the initial path nodes, generating 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.

[0170] 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, thereby enabling the D* Lite algorithm to dynamically adjust and optimize the path based on 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 key positions such as the initial path node and 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.

[0171] Furthermore, combined with the obstacle point cloud data detected by the visual sensor, the 3D coordinate data of the end face 4 can provide more comprehensive environmental information. On the one hand, it clearly defines the location of the taphole end face 4, and on the other hand, it understands the surrounding obstacles, allowing the system to better plan a safe and efficient path to the target taphole while avoiding obstacles.

[0172] Furthermore, during operations related to the blast furnace taphole 6, the target position coordinates must be accurately corrected based on the taphole end face 4 temperature data. First, a temperature sensor is used to collect the taphole end face 4 temperature in real time, obtaining the real-time temperature value T. A reference temperature T is determined, which serves as a reference value at a stable temperature. Furthermore, the thermal expansion coefficient α of the taphole material and the initial dimension L0 of the taphole end face 4 are known. This dimension is typically measured at the reference temperature T0. Substituting these data into the formula ΔL = α⋅L0⋅(T−T0) yields the coordinate correction ΔL.

[0173] It should be noted that the thermal expansion coefficient α of the material can be obtained by referring to the relevant material manual or through 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 a precise measuring tool, preferably a laser distance measuring module. The iron mouth end face 4 is a regular polygon. 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, and T0 is the temperature at which the initial size L0 is obtained.

[0174] 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.

[0175] 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 in speed. During 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, the speed of the path points is adjusted according to the determined acceleration and deceleration rules at the starting, middle and ending sections of the path according to the mathematical model of the S-shaped speed curve. 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 points 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.

[0176] When generating the actual motion path, it's necessary to consider the constraints of the mud gun equipment, such as its maximum speed and acceleration limits, 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 an actual motion path that conforms to the actual situation.

[0177] This method generates a reasonable initial motion path based on the current position of the mud gun and the precise target position of the taphole 6. Dynamic coordinate adjustments are then made based on the constraints and environmental characteristics of the mud gun to obtain a practical and feasible motion path. This improves the accuracy of the mud gun's plugging operation.

[0178] 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, and do not 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 above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacements for some or all of the technical features therein; 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 taphole, 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, wherein the first shape is a regular polygon and the regular polygon includes at least three vertices; 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. The first three-dimensional coordinate system is established based on the laser ranging module, and the first position information of the end face in the first three-dimensional coordinate system is obtained. The method includes setting three laser ranging modules, and the laser ranging module includes a first laser ranging module, a second laser ranging module and a third laser ranging module. The first three-dimensional coordinate system is established with a line connecting the first laser ranging module and the second laser ranging module as the x-axis, a straight line passing through the first laser ranging module and perpendicular to the x-axis as the 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 the z-axis. The distance of each vertex of the end face is measured by the third laser ranging module respectively, and the coordinates of each vertex in the first three-dimensional coordinate system are calculated by the triangulation positioning principle, and the first coordinates of the center of the end face in the first three-dimensional coordinate system are calculated. The first position information includes the first coordinates. Based on the first shape of the end face of the iron mouth body, the end face reference contour information of the blast furnace tapping mouth is predefined; Acquire an image of the iron mouth body, obtain position information of the end face in the image based on a template matching algorithm of the end face reference contour information and grayscale, and obtain second position information of the end face in the first three-dimensional coordinate system based on the camera position. The acquisition of the image of the iron mouth body, obtaining position information of the end face in the image based on a template matching algorithm of the end face reference contour information and grayscale, and obtaining second position information of the end face in the first three-dimensional coordinate system based on the camera position include obtaining the coordinates of each vertex in the image coordinate system based on the position of each vertex of the end face in the image, obtaining the coordinates of each vertex of the end face in the first three-dimensional coordinate system by using a coordinate transformation formula through the camera coordinate system and the intrinsic and extrinsic parameters of the camera, and calculating the second coordinates of the center of the end face in the first three-dimensional coordinate system. The second position information includes the second coordinates. The camera coordinate system uses a horizontal line passing through the optical center as the x-axis, a vertical line passing through the optical center as the y-axis, and a 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. 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. 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 the first coordinate and the second coordinate of the center of the fused end face to obtain the third coordinate of the center of the end face. The final position information includes the third coordinate.

2. A three-dimensional positioning method for a blast furnace taphole 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 includes: Obtain 3D data of the taphole through 3D 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 face reference profile information is generated.

3. The three-dimensional positioning method of a blast furnace taphole according to claim 2, 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: Capture the iron mouth body image through the camera; Preprocessing the image using an image processing library, wherein the preprocessing includes denoising, binarization, and edge enhancement; extracting end face profile information from the image based on the end face reference profile information, determining boundary feature information of the end face profile, and extracting a target area consistent with the boundary feature information of the end face profile from 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; Position information of the end surface in the image is calculated and output based on the first area.

4. A method for generating a plugging path for a blast furnace taphole, characterized in that: include: By using the three-dimensional positioning method for a blast furnace taphole according to any one of claims 1 to 3, the final position information of the end face center in the first three-dimensional coordinate system is obtained and set as the target position; the coordinates of the nozzle tip in the first three-dimensional coordinate system are obtained and set as the starting position; 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 to the mud gun tip is obtained through three laser ranging modules; Calculate the coordinates of the mud gun nozzle tip in the first three-dimensional coordinate system by using the triangulation positioning principle; generating a Bezier curve with reference to the starting position and the target position, and generating 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.

5. The method for generating a plugging path for a blast furnace taphole according to claim 4, wherein: 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; An S-shaped speed curve is used to smooth the path, limiting the path curvature to not exceed the mechanical limit of the mud gun equipment steering mechanism; According to the taphole end face 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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