Sintering pallet wheel state detection method

Abstract

The invention provides a method for detecting the wheel state of a sintering pallet. The method comprises the following steps: S1, acquiring a height map of the sintering pallet based on a linear structured light imaging device; s2, extracting a height map of a single wheel and correcting the contour of the wheel into a perfect circle wheel contour model; and S3, detecting the state of a single wheel, specifically, detecting the number of bolts on the wheel and detecting the motion state of the wheel. According to the method, the line structured light imaging device is adopted to obtain contour point cloud data of trolley wheels in real time, so that state detection of the wheels is achieved, and the effects of calculating the actual running speed of the trolley, judging whether the wheels are locked or not, judging whether bolts fall or not and the like are achieved. Compared with an existing detection mode, the method has the advantages that the effects of real-time detection and timely early warning are achieved, and meanwhile the labor cost needed by detection is greatly saved.

Description

Technical Field

[0001] The present invention relates to the technical field of sintering, and particularly relates to a method for detecting the state of the wheels of a sintering trolley. Background Art

[0002] Sintering is a very important link in the iron and steel production process. Sintering is to mix iron ore powder, lime powder and coal powder in a certain proportion and make it reach sufficient strength and particle size through calcination. This kind of mixed ore after calcination is called sintered ore, which is mainly used for blast furnace ironmaking. It can improve the utilization coefficient of the blast furnace, reduce the coke ratio and improve the permeability of the blast furnace. The trolleys of sintering machines and ring coolers are important moving mechanisms in the sintering process. The wheels of the trolleys play important roles such as bearing weight and reducing moving friction. The wheels of the trolleys may lose oil in the bearings due to long-term operation in a high-temperature environment and collisions, and even cause the bearings to deform and the wheels to be stuck, thus affecting production. Therefore, it is necessary to detect the state of the wheels of the trolleys.

[0003] At present, the state inspection of the trolley wheels basically relies on manual inspection for regular detection, or on monitoring cameras for monitoring and detection by the central control personnel. The existing detection methods have problems such as being unable to detect the wheel state in time, resulting in further damage and deterioration of the wheels, and the problem of high labor intensity of personnel.

[0004] In summary, there is an urgent need for a method for detecting the state of the wheels of a sintering trolley to solve the problems existing in the prior art. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for detecting the state of the wheels of a sintering trolley, aiming to solve the problem that the existing method cannot detect the wheel state in time. The specific technical solution is as follows:

[0006] A method for detecting the state of the wheels of a sintering trolley includes:

[0007] S1. Obtain the height map of the sintering trolley based on a line structured light imaging device;

[0008] S2. Extract the height map of a single wheel and correct the wheel contour into a regular circular wheel contour model;

[0009] S3. Detect the state of a single wheel, specifically including detecting the number of bolts on the wheel;

[0010] The detection of the number of bolts is specifically as follows: After obtaining the set of potential bolt data, perform contour search on it, and identify whether the contour circle is a real bolt according to the distance from the center of the contour circle found to the center of the wheel, and count the number of real bolts.

[0011] Preferably, in the above technical solution, S2 further includes: obtaining the actual running speed v of the sintering pallet according to the scanning time length and the scanning model width of the circular wheel contour model 2 .

[0012] Preferably, in the above technical solution, S3 further includes detecting the motion state of the wheel, including two judgment methods:

[0013] The first judgment method: If the difference ΔL1 between the average value of the scanning model widths of all bolts above the horizontal center plane of the wheel and the average value of the scanning model widths of all bolts below the horizontal center plane is less than the threshold T1, it is considered that the wheel is locked; if ΔL1 is greater than T1 and less than the threshold T2, it is considered that the wheel is slipping;

[0014] The second judgment method: Calculate the theoretical scanning width Ln of the bolt. If the absolute value ΔL2 of the difference between the theoretical scanning width Ln of the bolt and the actual scanning model width of the bolt is greater than T4, it indicates that the wheel is slipping; if the theoretical scanning width Ln of the bolt is equal to the actual width L of the bolt, it indicates that the wheel is locked.

[0015] Preferably, in the above technical solution, the theoretical scanning width Ln is obtained according to formula (11):

[0016] Ln = t * v 2 = L / vp * v 2 (11),

[0017] where: L is the actual width of the bolt, t is the scanning duration of the bolt, v p is the forward speed of the bolt, v 2 is the actual running speed of the sintering pallet.

[0018] Preferably, in the above technical solution, the forward speed v of the bolt p is the vector sum of the actual running speed v of the sintering pallet 2 and the component of the linear speed of the bolt rotating around the wheel center in the forward direction.

[0019] Preferably, in the above technical solution, the specific method for obtaining the circular wheel contour model in S2 is:

[0020] Obtain the height map of the wheel and perform contour search on it. Fit the contour data at the outermost end of the wheel to obtain the coordinates of the ellipse center Cr, the length l of the major axis, and the length h of the minor axis, so as to obtain the standard equation of the ellipse;

[0021] Multiply the Z coordinate values of the data points in the wheel contour model by the correction coefficient k, and then project them onto the XZ plane to obtain the corrected circular wheel contour model.

[0022] Preferably, in the above technical solution, the correction coefficient k is obtained according to formula (5):

[0023] k = h / l (5).

[0024] Preferably, in the above technical solution, obtaining the potential bolt data set specifically is as follows:

[0025] On the positive circular wheel contour model, a reference circle is drawn with the center Cr as the center and rt as the radius, a regional circle is drawn with rq as the radius, and a data set P5 containing bolts is circled with the reference circle and the regional circle as the boundaries:

[0026] P5 = {p|rq 2 ≤(p.x - Cr.x) 2 +(p.z - Cr.z) 2 ≤rt 2} (6),

[0027] where: p.x is the X-axis coordinate value of the data point p, p.z is the Z-axis coordinate value of the data point p; Cr.x is the X-axis coordinate value of the wheel center Cr; Cr.z is the Z-axis coordinate value of the wheel center Cr;

[0028] Calculate the average height ht of all data points in the data set P5, and count all the points in the data set P5 whose height values are greater than the average height ht, that is, obtain the potential bolt data set P6:

[0029] P6 = {p|p ∈ P5 & p.y > ht} (7),

[0030] where: p.y is the Y-axis coordinate value of the data point p.

[0031] Preferably, in the above technical solution:

[0032] When the absolute value of the difference between the distance between the center C of the j-th contour circle and the center Cr of the wheel and the set value D is less than the set threshold sj then this contour circle is considered a real bolt:

[0033]

[0034]

[0034] where: C sj .x is the X-axis coordinate value of the center C sj , C sj .z is the Z-axis coordinate value of the center C sj , Cr.x is the X-axis coordinate value of the wheel center Cr; Cr.z is the Z-axis coordinate value of the wheel center Cr.

[0035] Preferably, in the above technical solution, the contour model data scanned by the line structured light imaging device is projected onto the XZ plane to obtain a height map including all sintering cars, where the pixel value is the Y coordinate value of the contour model data; on this height map, segmentation is performed according to the position distribution of the wheels in the X and Y directions and the number signal of the wheels to obtain the height map of each sintering car.

[0036] Applying the technical solution of the present invention has the following beneficial effects:

[0037] The method of the present invention uses a line structured light imaging device to obtain the contour point cloud data of the trolley wheels in real time, so as to realize the state detection of the wheels, achieve the effects of calculating the actual running speed of the trolley, judging whether the wheels are locked, and judging whether there are bolts dropped, etc. If abnormal situations such as bolt detachment and wheel slipping are found, combined with the positioning information of the trolley number, an alarm is given in time to feedback the fault type and the corresponding trolley number, reducing the time for the trolley to run with faults and preventing the equipment from continuing to operate and causing the fault to expand. Compared with the existing detection methods, the method of the present invention achieves the effect of real-time detection and timely warning, and at the same time greatly saves the labor cost required for detection.

[0038] In addition to the purposes, features and advantages described above, the present invention has other purposes, features and advantages. The following will refer to the drawings to further elaborate on the present invention in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0040] Figure 1 is a schematic diagram of the line structured light imaging device scanning the sintering car;

[0041] Figure 2 is a schematic diagram of dividing multiple sintering cars;

[0042] Figure 3 is a schematic diagram of the structure of the wheel;

[0043] Figure 4 is a schematic diagram of the forward speed analysis of the bolts on the wheel;

[0044] Among them, 1. Sintering car, 2. Wheel, 2.1. Wheel body, 2.2. Bolt, 2.3. Oil nozzle cover plate, 2.4. Oil nozzle protection end cover, 2.5. Oil nozzle, 2.6. Reference circle, 2.7. Region circle, 3. Camera, 4. Line laser device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below, and preferred embodiments of the present invention are given. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0047] Embodiment:

[0048] See Figures 1 - 4 , this embodiment provides a method for detecting the state of the wheels of a sintering trolley, specifically including the following steps:

[0049] S1. Obtain the height map of the sintering trolley based on the line structured light imaging device;

[0050] Specifically, the line structured light imaging device uses the technology of active projection of structured light for imaging. The line structured light projects a single line, hence the name. The line structured light imaging device is composed of two parts: a camera 3 and a line laser device 4. After the structured light is projected onto the surface of the object to be measured, it is modulated by the height of the object to be measured. The modulated structured light is collected by the imaging system (i.e., the camera) and transmitted to the computer for analysis and calculation to obtain the three-dimensional surface shape data of the object to be measured.

[0051] In this embodiment, line structured light imaging devices are symmetrically arranged on both sides of the running direction of the sintering trolley 1, so that both sides of the sintering trolley can be scanned respectively to obtain the scanning data on both sides, as Figure 1 schematically shows the arrangement of the line structured light imaging device on one side of the sintering trolley. The line structured light imaging device is arranged at the central position of the wheel, 0.8 m - 2 m away from the outer side of the wheel. The field of view of the camera 3 can cover the height direction of the wheels of the sintering trolley, and the actual installation position needs to be determined according to the on-site environment and the requirements of the sintering process.

[0052] Among them, the camera 3 and the line laser device 4 are connected together by a bracket and perform 3D scanning after special calibration. Usually, the line laser is perpendicular to the sintering trolley railing, and the line plane is vertical. The camera and the line laser device are on the same horizontal plane and form an angle of about 40° with the line laser device to capture the light stripes projected on the railing.

[0053] The line structured light imaging device measures the contour data of a cross-section where a laser line is located each time, measures n points each time, denoted as p 1 、p 2 、p 3 、…、pi , …, p n , These n points are all two-dimensional data within the laser plane. To establish the complete data of the sintering trolley wheels, it is necessary to first define a world coordinate system, with the movement direction of the sintering trolley as the Z-axis, the height direction of the sintering trolley as the X-axis, and the width direction of the sintering trolley as the Y-axis. Among them, the X and Y axes in the world coordinate system are in the same direction as the X and Y axes of the two-dimensional coordinates in the laser plane.

[0054] The point p in the two-dimensional coordinate system i is transformed to be represented as point P in the world coordinate system i , P i is a column of three rows of data containing three-dimensional coordinates. From top to bottom, each row represents the coordinate values of X, Y, and Z respectively. Then point P i is:

[0055]

[0056] The cross-sectional data detected at the k-th time is denoted as Pc(k):

[0057]

[0058] The measured running speed of the sintering trolley is v 1 , and data is collected every time interval T. Then all the data after the k-th detection is denoted as Pa(k):

[0059]

[0060] Among them, Pa(k - 1) is all the data after the (k - 1)-th detection.

[0061] Through the above conversion, the side cross-sectional data of the sintering trolley wheels can be unified into the world coordinate system. As the trolley continues to move, the overall data set of the sintering trolley wheel contour can be constructed, and based on this, the states of each wheel on the side of the sintering machine trolley can be visually reflected.

[0062] Since multiple sintering trolleys are required in the sintering process, the total data scanned by the line structured light imaging device is for all sintering trolleys. When analyzing the wheel states, the scanned total data still needs to be segmented to obtain the scanned data of each sintering trolley.

[0063] Project the contour model data (i.e., the total data) scanned by the imaging device onto the XZ plane. The X direction represents the height direction of the image, the Z direction represents the width direction of the image, each pixel point represents 1×1 mm, and the corresponding value in the Y direction is the pixel value of the image. In this way, a height map is obtained. On this height map, the total data is segmented based on the position distribution of the wheels in the X and Y directions and the wheel number signals to obtain the height map of each sintering trolley, asFigure 2 As shown in the figure; the segmented data segments (i.e., the data of a single sintering trolley) are corresponded to the trolley numbers one by one for subsequent wheel state analysis.

[0064] Regarding the two-dimensional coordinate system of the height map in this embodiment, the following explanations are made here: Those skilled in the art know that generally, the height map usually uses the X and Y axes to represent the coordinate values of data points in the image. In this embodiment, for the convenience of understanding and to keep the directions corresponding to X, Y, and Z consistent in each coordinate system, the height map in this embodiment uses the X and Z axes to represent the coordinate values of data points in the image. Subsequently, the coordinate representation of data points in the height map will be represented by the X and Z axes.

[0065] For the convenience of subsequent understanding, the structure of the wheel is explained here first: Figure 3 It is a schematic structural diagram of the wheel on the sintering trolley. The wheel 2 includes a wheel body 2.1, an oil nozzle cover plate 2.3, an oil nozzle protection end cover 2.4, and an oil nozzle 2.5. Among them, the oil nozzle cover plate 2.3 is installed on the wheel body 2.1 through a plurality of bolts 2.2 arranged evenly. The oil nozzle 2.5 is arranged at the center position of the wheel body 2.1. An oil nozzle protection end cover 2.4 is also provided between the oil nozzle 2.5 and the oil nozzle cover plate 2.3; the total number of the bolts 2.2 is M, and preferably M is an even number. In this embodiment, M = 6.

[0066] S2. Extract the height map of a single wheel and correct the wheel contour into a perfect circle wheel contour model, and obtain the true running speed v of the sintering trolley according to the scanning time length and scanning model width of the perfect circle wheel contour model 2 ;

[0067] Due to a certain error in the running speed of the sintering machine, the model of the wheel in the running direction (i.e., the Z direction) will be compressed or stretched, resulting in the scanned wheel not necessarily being a perfect circle. And the speed of the sintering machine is constant in a short time. Therefore, it can be considered that the scanned wheel contour is a standard ellipse, and the standard ellipse needs to be corrected to obtain a perfect circle wheel contour model.

[0068] Further segment the height map of a single sintering trolley to obtain the height map of a single wheel. Perform contour search in the height map of the single wheel to obtain the contour data of the outermost end of the wheel (for the specific search method, please refer to the prior art). Then fit the contour data into formula (4) to obtain the coordinates of the ellipse center Cr, the length l of the major axis, and the length h of the minor axis, so as to obtain the standard equation of the ellipse.

[0069]

[0070] Where: Cr.x is the X-axis coordinate value of the center Cr; Cr.z is the Z-axis coordinate value of the center Cr, x is the X-axis coordinate value of the contour data point, and z is the Z-axis coordinate value of the contour data point.

[0071] Multiply the Z - coordinate values of the data points in the wheel contour model by the correction coefficient k, and then project them onto the XZ plane to obtain the corrected circular wheel contour model, where the correction coefficient k is obtained according to formula (5):

[0072] k = h / l (5),

[0073] On the circular wheel contour model, count the acquisition time t of the left boundary of the circular wheel contour model 1 and the acquisition time t of the right boundary 2 , then calculate the speed v of the scanned wheel according to the width of the circular wheel contour model and the time difference between t 1 and t 2 ; Here, v 2 is the actual running speed of the sintering pallet car. It should be noted that: v 2 and v 1 both represent the running speed of the sintering pallet car, but v 2 is the measured running speed of the sintering pallet car obtained by the measuring device. Therefore, v 1 has a measurement error, while v 1 is the actual running speed of the sintering pallet car obtained by calculation. v 2 is more accurate than v 2 1 1 .

[0074] S3. Detect the state of a single wheel, specifically including the detection of the number of bolts on the wheel and the detection of the wheel motion state;

[0075] In this embodiment, the detection method of the number of bolts 2.2 on the wheel is as follows:

[0076] As Figure 3 shown, the bolt 2.2 is used to fix the nozzle cover plate 2.3. If the bolt 2.2 falls off, there is a risk of the nozzle cover plate 2.3 falling off, which may lead to damage to the nozzle 2.5. To better ensure the normal operation of the wheel, it is necessary to detect the bolt 2.2. After finding that it has fallen off, it is necessary to remind the operator to handle it in time to prevent accidents.

[0077] To detect the number of bolts 2.2, it is necessary to first extract the potential bolt data set that may be bolts:

[0078] On the circular wheel contour model, with the center Cr as the center, draw a reference circle 2.6 with a radius of rt and a region circle 2.7 with a radius of rq. Circle out the data set P5 containing bolts with the reference circle and the region circle as the boundaries. Then the data set P5 is:

[0079] P5 = {p|rq 2≤ (p.x - Cr.x) 2 + (p.z - Cr.z) 2 ≤ rt 2} (6),

[0080] Where: p.x is the X - axis coordinate value of the data point p, and p.z is the Z - axis coordinate value of the data point p; where rt is confirmed according to the outer diameter of the nozzle cover plate 2.3, and rq is confirmed according to the outer diameter of the nozzle protection end cover or the inner diameter of the nozzle cover plate 2.3.

[0081] Calculate the average height ht of all data points in the data set P5, and count all the points in the data set P5 whose height values are greater than the average height ht, that is, obtain the potential bolt data set P6 that may be bolts:

[0082] P6 = {p|p ∈ P5 & p.y > ht} (7),

[0083] Where: p.y is the Y - axis coordinate value of the data point p.

[0084] After extracting the potential bolt data set that may be bolts, the number of bolts can be counted:

[0085] Based on the extracted potential bolt data set, establish a marked area on the height map, set the points in the potential bolt data set to 225, and other areas (referring to areas outside the standard area) to 0; then perform contour search on the potential bolt data set, fit the contour circle, and calculate the coordinates of the center C sj of each contour circle.

[0086] Judge whether the contour circle is a real bolt: When the absolute value of the difference between the distance ds between the center C sj of the j - th contour circle and the center Cr of the wheel and the set value D is less than the set threshold , then it is considered that the contour circle is a real bolt:

[0087]

[0088] Where: C sj .x is the X - axis coordinate value of the center C sj of the circle, and C sj .z is the Z - axis coordinate value of the center C sj of the circle, and the value of D depends on the actual distance from the center of the wheel to the center of the bolt.

[0089] Count the number N of contour circles that satisfy formula (8). If N is less than the total number M of actual bolts on the wheel, it is considered that there is a situation of bolt dropping, and an alarm can be processed in combination with the number of the sintering trolley.

[0090] For the detection of the motion state of the sintering trolley wheels, this embodiment provides two judgment methods, which are as follows:

[0091] The first judgment method:

[0092] The movement of the bolt is subject to the superposition of two directions of operation. The first is the overall forward direction of the sintering trolley, that is, the trolley running speed v 2 , and the second is the rotational movement of the bolt around the wheel center. Under the superposition of the two movements: the bolts above the horizontal center plane of the wheel have a faster running speed and a shorter scanning time, showing a smaller scanning model width of the bolt; the bolts below the horizontal center plane of the wheel have a slower running speed and a longer scanning time, and the scanned model width is larger. Please refer to Figure 4 , and the principle presenting this law will be explained below.

[0093] Taking the bolt above the horizontal center plane of the wheel as P1: The forward speed of P1 is v p1 As shown in formula (9):

[0094] v p1 = v 2 + Vr1*sin(θ1) = R1*γ + R2*γ*sin(θ1) > v 2 (9),

[0095] Taking the bolt below the horizontal center plane of the wheel as P2: The forward speed of P2 is v p2 As shown in formula (10):

[0096] v p2 = v 2 + Vr2*sin(θ2) = R1*γ + R2*γ*sin(θ2) < v 2 (10),

[0097] Where: γ is the angular velocity of the wheel, v 2 is the actual running speed of the sintering trolley; Vr1 and Vr2 are the linear velocities of bolts P1 and P2 respectively; R1 is the radius of the wheel; R2 is the distance from the bolt center to the wheel center, that is, the rotation radius of the bolt; θ1 and θ2 are the angular positions of bolts P1 and P2 respectively, where θ2 Figure 4 is not shown in the figure.

[0098] For the bolts on the horizontal center plane of the wheel, since the linear velocity of the bolt has no component in the horizontal direction, the forward speed of the bolts on the horizontal center plane is equal to v 2 , and the scanning model width thereof is not affected by the linear velocity of the bolt.

[0099] Therefore, the motion state of the wheel can be judged according to the scanning model widths of the bolts above and below the horizontal center plane, which are as follows:

[0100] On the circular wheel contour model: If the difference ΔL1 between the average value of the scanning model widths of all bolts above the horizontal center plane of the wheel and the average value of the scanning model widths of all bolts below the horizontal center plane is less than the threshold T1, the wheel is considered locked; if ΔL1 is greater than T1 and less than the threshold T2, the wheel is considered to be slipping. It is preferred that the number of bolts above the horizontal center plane of the wheel is the same as the number of bolts below the horizontal center plane.

[0101] Where T1 is a value close to (i.e., approximately equal to or equal to) 0 (the value of T1 can be determined through experiments). When the wheel is locked, that is, when the wheel is not rotating and there is no influence of linear velocity on each bolt, the scanning model widths of each bolt should be the same, so ΔL1 will also be close to 0; T2 can be determined through multiple experiments. Obtain the values of ΔL1 when the wheel is rotating normally in m experiments, and subtract a small threshold T3 greater than 0 from the smallest ΔL1 in the m experiments to obtain the value of T2. The small threshold T3 can be determined according to experience. Preferably, T3 ∈ (0, 2], and 0 ≤ T1 < 1.

[0102] The second judgment method:

[0103] For the bolts at any position on the wheel, according to the component of the linear velocity of the bolt in the forward direction and the actual running speed v of the sintering trolley 2 , calculate the forward speed v p of this bolt, and calculate the theoretical scanning width Ln of this bolt according to formula (11):

[0104] Ln = t * v 2 = L / v p * v 2 (11),

[0105] Where: L is the actual width of the bolt, t is the scanning duration of this bolt, and the forward speed v p is calculated as in formula (9) or formula (10).

[0106] Therefore, if the absolute value ΔL2 of the difference between the theoretical scanning width Ln of the bolt and the actual scanning model width of this bolt is less than or equal to T4, it indicates that the wheel is rotating normally; if ΔL2 is greater than T4, it indicates that the wheel is slipping. T4 ∈ [0, 1], preferably T4 = 0; if the theoretical scanning width Ln of the bolt is equal to the actual width L of this bolt, it indicates that the wheel is locked.

[0107] To prevent misjudgment of the wheel state due to errors, the motion states of the wheel judged according to M bolts can be statistically counted. If more than m bolts indicate that the wheel is in a locked or slipping state, an abnormal alarm is issued, where 2 ≤ m ≤ M.

[0108] The method of this embodiment uses a line structured light imaging device to obtain the contour point cloud data of the trolley wheels in real time, so as to realize the state detection of the wheels, achieve the effects of calculating the trolley speed, judging whether the wheels are locked, and judging whether there are bolt drops, etc. If abnormal situations such as bolt detachment and wheel slipping are found, combined with the positioning information of the trolley number, the fault type and the corresponding trolley number are reported in time, reducing the time for the trolley to run with faults and preventing the equipment from continuing to operate and causing the fault to expand. Compared with the existing detection methods, the method of this embodiment achieves the effects of real-time detection and timely warning, and at the same time greatly saves the labor cost required for detection.

[0109] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for detecting the state of the wheels of a sintering trolley, characterized in that, it includes: S1. Obtain the height map of the sintering trolley based on the line structured light imaging device; S2. Extract the height map of a single wheel and correct the wheel contour into a perfect circular wheel contour model; S3. Detect the state of a single wheel, specifically including the detection of the number of bolts on the wheel; The detection of the number of bolts is specifically: after obtaining the set of potential bolt data, perform contour search on it, and identify whether the contour circle is a real bolt according to the distance from the center of the contour circle obtained by the search to the center of the wheel, and count the number of real bolts.

2. The method for detecting the state of the wheels of a sintering trolley according to claim 1, characterized in that, S2 also includes: obtaining the true running speed v of the sintering pallet according to the scanning time length and the scanning model width of the circular wheel contour model 2 .

3. The method for detecting the state of the wheels of a sintering trolley according to claim 2, characterized in that, S3 also includes the detection of the wheel motion state, including two judgment methods: The first judgment method: If the difference ΔL1 between the average value of the scanning model widths of all bolts above the horizontal center plane of the wheel and the average value of the scanning model widths of all bolts below the horizontal center plane is less than the threshold T1, it is considered that the wheel is locked; if ΔL1 is greater than T1 and less than the threshold T2, it is considered that the wheel is slipping; The second judgment method: Calculate the theoretical scanning width Ln of the bolt. If the absolute value ΔL2 of the difference between the theoretical scanning width Ln of the bolt and the actual scanning model width of the bolt is greater than T4, it indicates that the wheel is slipping; if the theoretical scanning width Ln of the bolt is equal to the actual width L of the bolt, it indicates that the wheel is locked.

4. The method for detecting the state of the wheels of a sintering trolley according to claim 3, characterized in that, wherein the theoretical scanning width Ln is obtained according to formula (11): Ln = t * v 2 = L / vp * v 2 (11), Where: L is the actual width of the bolt, t is the scanning duration of the bolt, v p is the forward speed of the bolt, v 2 is the actual running speed of the sintering trolley.

5. The method for detecting the state of the wheels of a sintering trolley according to claim 4, characterized in that, The forward speed v of the bolt p is the actual running speed v of the sintering trolley 2 and the vector sum of the components of the linear speed of the bolt rotating around the wheel center in the forward direction.

6. The method for detecting the state of the wheels of a sintering trolley according to claim 1, characterized in that, Specifically, the method for obtaining the perfect circular wheel contour model in S2 is: Obtain the height map of the wheel and perform contour search on it. Fit the contour data at the outermost end of the wheel to obtain the coordinates of the center Cr of the ellipse, the length l of the major axis, and the length h of the minor axis, so as to obtain the standard equation of the ellipse; Multiply the Z coordinate value of the data points in the wheel contour model by the correction coefficient k, and then project it onto the XZ plane to obtain the corrected perfect circular wheel contour model.

7. The method for detecting the state of the wheels of a sintering trolley according to claim 6, characterized in that, The correction coefficient k is obtained according to formula (5): k = h / l (5).

8. The method for detecting the state of the wheels of a sintering trolley according to claim 1, characterized in that, Specifically, the method for obtaining the set of potential bolt data is: Draw a reference circle with the center Cr as the center and rt as the radius on the perfect circular wheel contour model, draw a region circle with rq as the radius, and circle out the data set P5 containing bolts with the reference circle and the region circle as the boundaries: P5 = {p | rq 2 ≤ (p.x - Cr.x) 2 + (p.z - Cr.z) 2 ≤ rt 2} (6) where: p.x is the X-axis coordinate value of the data point p, p.z is the Z-axis coordinate value of the data point p; Cr.x is the X-axis coordinate value of the center Cr of the wheel; Cr.z is the Z-axis coordinate value of the center Cr of the wheel; Calculate the average height ht of all data points in the data set P5, and count all the points in the data set P5 whose height values are greater than the average height ht, that is, obtain the potential bolt data set P6: P6 = {p|p ∈ P5 & p.y > ht} (7), where: p.y is the Y-axis coordinate value of the data point p.

9. The method for detecting the state of the sintering trolley wheel according to claim 1, characterized in that: When the absolute value of the difference between the distance between the center C of the j-th contour circle and the center Cr of the wheel and the set value D is less than the set threshold value sj then this contour circle is considered to be a real bolt: when Where: C sj .x is the X-axis coordinate value of the center C sj , C sj .z is the Z-axis coordinate value of the center C sj , Cr.x is the X-axis coordinate value of the center Cr of the wheel; Cr.z is the Z-axis coordinate value of the center Cr of the wheel.

10. The method for detecting the state of the sintering trolley wheel according to claim 1, characterized in that project the contour model data scanned by the line structured light imaging device onto the XZ plane to obtain a height map including all sintering trolleys, where the pixel value is the Y coordinate value of the contour model data; segment on this height map according to the position distribution of the wheels in the X and Y directions and the number signal of the wheels to obtain the height map of each sintering trolley.

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