Industrial silicon multifunctional operation robot and using method applying same

Abstract

An industrial silicon multifunctional operation robot comprises an operation platform car, a steering supporting plate is horizontally arranged on the operation platform car, and the steering supporting plate can rotate on the horizontal plane; a pitching supporting mechanism is arranged on the steering supporting plate, a reference supporting beam is arranged on the pitching supporting mechanism, and the reference supporting beam can be driven by the pitching supporting mechanism and rotate on the vertical plane relative to the steering supporting plate; a drill rod machine and a clay gun machine are arranged on the reference supporting beam side by side, the length direction of the drill rod machine and the length direction of the clay gun machine are flush with the length direction of the reference supporting beam, and the drill rod machine and the clay gun machine can move in the length direction of the reference supporting beam. And a plurality of infrared imagers are also arranged on the reference supporting beam. The infrared imager is additionally arranged to be matched with the controller, alignment of the drill rod machine and the clay gun machine relative to the furnace opening of the industrial silicon furnace can be confirmed under non-manual observation, and then the phenomenon that equipment collides with the furnace body can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial silicon automated operation robots, and specifically to an industrial silicon multi-functional operation robot and a usage method applying the same. Background Art

[0002] When an operation robot performs the operation of opening and blocking the eye of an industrial silicon furnace, it requires staff to be on-site for operation. And for safety considerations, the staff needs to confirm on-site the alignment of the operation mechanism with the eye of the industrial silicon furnace to ensure normal operation. Moreover, after the eye is opened, the on-site temperature is relatively high, and the staff needs to stay away. And when blocking the eye, the staff needs to return to the site and re-confirm the alignment of the blocking mechanism with the eye. Since there are multiple furnace openings in the industrial silicon furnace, the staff needs to make multiple round trips on-site. And due to the high on-site temperature, the working intensity of the workers will be very high.

[0003] If the manual confirmation link is missing, when components of the operation robot such as the encoder have problems, it is very easy to have the phenomenon that the equipment collides with the furnace body and causes damage. Summary of the Invention

[0004] To solve the above problems, the present invention provides an industrial silicon multi-functional operation robot and a usage method applying the same.

[0005] The technical solution of the present invention is as follows:

[0006] An industrial silicon multi-functional operation robot includes an operation platform vehicle. A steering support plate is horizontally arranged on the operation platform vehicle, and the steering support plate can rotate in a horizontal plane.

[0007] A pitching support mechanism is arranged on the steering support plate, and a reference support beam is arranged on the pitching support mechanism. The reference support beam can be driven by the pitching support mechanism and rotate relative to the steering support plate in a vertical plane.

[0008] A drill rod machine and a clay gun machine are arranged side by side on the reference support beam. The length directions of the drill rod machine and the clay gun machine are flush with the length direction of the reference support beam, and both the drill rod machine and the clay gun machine can move along the length direction of the reference support beam.

[0009] A plurality of infrared imagers are also arranged on the reference support beam. The infrared imagers are circumferentially arranged around the central axes of the drill rod machine and the clay gun machine respectively, and face the moving directions of the drill rod machine and the clay gun machine. There are no obstacles in the direction faced by the infrared imagers, and the infrared imagers are arranged to avoid the paths of the drill rod machine and the clay gun machine.

[0010] By adding an infrared imager, the alignment of the drill rod machine and the clay gun machine relative to the industrial silicon furnace mouth can be achieved without manual control, and then the operation can be automatically performed without manual control.

[0011] To reduce the control difficulty, the central axes of the drill rod machine and the clay gun machine are on the same horizontal plane. Furthermore, when switching the operating mechanism, no adjustment of the angle or height in the vertical direction is required.

[0012] As a preferred solution, at least 3 infrared imagers are arranged outside the drill rod machine and the clay gun machine. It is impossible to achieve positioning in the vertical and horizontal directions with only two infrared imagers.

[0013] The arrangement method of the above infrared imagers is that 5 infrared imagers are provided, and the 5 infrared imagers are respectively located on two horizontal planes.

[0014] The way to achieve automatic control is that it further includes a controller. The input end of the controller is connected to the infrared imager, and the output end of the controller is connected to the drive units of the steering support plate, the pitching support mechanism, and the reference support beam.

[0015] To facilitate subsequent control operations based on the image information, the controller includes an image acquisition unit and an image processing unit.

[0016] A usage method of an industrial silicon multi-functional operation robot, using the above-mentioned industrial silicon multi-functional operation robot, and including the following steps:

[0017] Step 1: Rotate the steering support plate until the vertical plane where the reference support beam is located passes through the center of the industrial silicon furnace;

[0018] Step 2: Move the operation platform vehicle until the drill rod machine reaches the vertical plane where the industrial silicon furnace mouth is located, and then adjust the drill rod machine through the pitching support mechanism until it is aligned with the industrial silicon furnace mouth and turn on the drill rod machine;

[0019] Step 3: Move the operation platform vehicle until the clay gun machine reaches the position of the industrial silicon furnace mouth, and then adjust the clay gun machine through the pitching support mechanism until it is aligned with the industrial silicon furnace mouth and turn on the clay gun machine;

[0020] Step 4: And so on until the operation of opening and blocking the eyes of the left and right furnace mouths is completed.

[0021] By sequentially replacing manual observation of the positions of the drill rod machine and the clay gun machine relative to the furnace mouth, it can be confirmed whether they are aligned. Before any operating mechanism performs an action, this confirmation link is required. If there is a problem in the confirmation link, subsequent operations cannot be carried out.

[0022] The way to confirm the position of the drill rod machine through multiple steps is that the specific steps of aligning the drill rod machine with the industrial silicon furnace mouth in Step 2 are:

[0023] (1), Obtain the infrared imager images circumferentially arranged on the outside of the drill rod machine, and perform grayscale processing and binary processing;

[0024] (2), Compare the binary images of the infrared imagers on the horizontal two sides of the drill rod machine. When the difference in the area of the black regions is less than the preset value x, it is determined that the drill rod machine reaches the vertical plane where the industrial silicon furnace mouth is located;

[0025] (3), Preset two area extreme values j and k, compare the binary image of the infrared imager above the drill rod machine. When the area value of the black region is within the interval of the area extreme values j and k, it is determined that the drill rod machine is aligned with the industrial silicon furnace mouth.

[0026] Since the two infrared imagers are symmetrically arranged, in the case of a large difference, it can prove that there is a deviation from the furnace mouth, and the upper infrared imager can completely confirm according to the difference from the normal area value.

[0027] The method for confirming the position of the clay gun machine through multiple steps is that the specific steps for aligning the drill rod machine with the industrial silicon furnace mouth in step (2) are:

[0028] (1), Obtain the infrared imager images circumferentially arranged on the outside of the clay gun machine, and perform grayscale processing and binary processing;

[0029] (2), Compare the binary images of the infrared imagers on the horizontal two sides of the clay gun machine. When the difference in the area of the black regions is less than the preset value y, it is determined that the clay gun machine reaches the vertical plane where the industrial silicon furnace mouth is located;

[0030] (3), Preset two area extreme values m and n, compare the binary image of the infrared imager above the clay gun machine. When the area value of the black region is within the interval of the area extreme values m and n, it is determined that the clay gun machine is aligned with the industrial silicon furnace mouth.

[0031] It is the same as the above steps, but the difference is that since the display values of the fully opened furnace mouth, blocked by anhydrous gun clay, and the furnace wall on the infrared imager are all different, when in use, it is necessary to adjust the specific grayscale value for binary processing according to the requirements.

[0032] In order to ensure that the clay gun machine can completely block the furnace mouth, in step (3), the outlet of the clay gun machine is set to be raindrop-shaped and can rotate. After the clay gun machine is started, the specific steps are:

[0033] S1, Obtain the images taken by 3 infrared imagers circumferentially arranged on the outside of the clay gun machine;

[0034] S2, Obtain the target area according to the taken images;

[0035] The target area is a fan-shaped area formed by the connection line between the center point of the clay gun machine and the center point of the infrared imager rotating ±60° around the center point of the clay gun machine;

[0036] S3. Perform gray-scale processing and binary processing on the above 3 target areas to obtain 3 target pictures;

[0037] S4. Calculate the area values of the black areas of the 3 target pictures;

[0038] S5. Rotate the large-diameter end of the opening of the clay gun machine to align with the infrared imager with the largest black area value;

[0039] S6. After an interval of the preset time t, repeat step S1 until the area value of the black area is 0, and then turn off the clay gun machine.

[0040] Since the filling layer of the anhydrous clay gunite is not evenly filled, there are thick and thin parts. The thin filling layer is prone to breakage and cause safety accidents. In this step, the infrared imager can detect the thickness information of the clay gunite filling layer by detecting the temperature. When the temperature shows too high, there is a problem of too thin filling layer. In view of this, through the above steps, the clay gunite can be evenly filled into the furnace mouth, and the thickness of the filling layer can be ensured to meet the requirements to avoid safety problems.

[0041] The beneficial effects of the present invention are as follows: The present invention is an industrial silicon multi-functional operation robot and a usage method applying the same. On the basis of the existing structure, by adding an infrared imager and a controller, the automatic control of the device can be realized and the operations of opening the eye and plugging the eye can be completed. Moreover, the controller is connected to multiple driving units of the operation robot. After obtaining the pictures of the infrared imager, it can process the pictures according to the requirements, and control the corresponding driving units according to the processed pictures. Furthermore, under non-human conditions, the alignment of the drill rod machine or the clay gun machine relative to the industrial silicon furnace mouth can be completed for subsequent opening and plugging eye operations. And when performing the plugging eye operation, it can confirm whether the thickness of the clay gunite layer meets the requirements, and can evenly fill the clay gunite, maximizing the avoidance of safety problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] By reading the detailed description of the preferred embodiments below, the solutions and advantages of the present application will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention.

[0043] In the drawings:

[0044] Figure 1 is the front view structural schematic diagram of the present invention;

[0045] Figure 2 is the rear view structural schematic diagram of the present invention;

[0046] Figure 3 This is a schematic side view structure diagram of the present invention;

[0047] Figure 4 This is a schematic bottom view structure diagram of the present invention;

[0048] Figure 5 This is a schematic diagram of the image acquisition state of the infrared imager when the clay gun machine of the present invention is aligned with the furnace mouth;

[0049] Figure 6 This is a schematic diagram of the image acquisition state of the infrared imager when the clay gun machine of the present invention is not aligned with the furnace mouth;

[0050] Figure 7 This is a schematic diagram of the raindrop-shaped opening structure of the clay gun machine of the present invention;

[0051] Figure 8 This is a schematic diagram of the state of the target area required for the image captured by the present invention;

[0052] The components represented by the reference numerals in the figure are as follows:

[0053] 1. Operation platform vehicle; 2. Steering support plate; 3. Pitching support mechanism; 4. Reference support beam; 41. Rail beam; 42. Moving trolley; 43. Support frame; 5. Drifter; 6. Clay gun machine; 7. Infrared imager; 8. Reference track. Detailed implementation manners

[0054] As Figure 1-4 shown, an industrial silicon multi-functional operation robot includes an operation platform vehicle 1. The operation platform vehicle 1 can move along a preset path and switch positions. First of all, it should be noted that this device needs to perform the operations of plugging and unplugging the tuyere. However, the position of the industrial silicon furnace is fixed and the furnace mouth cannot move. Therefore, only the device can move to cooperate to perform different operation actions.

[0055] After that, a steering support plate 2 is horizontally arranged on the operation platform vehicle 1, and the steering support plate 2 can rotate in a horizontal plane. The purpose of the horizontal rotation is to adjust the horizontal angle to ensure that all positions of the furnace mouth can be operated.

[0056] Since the furnace mouth is larger than the tuyere plugging and unplugging mechanisms, when in use, in order to operate the positions above and below the furnace mouth, vertical angle adjustment is also required. For this reason, a pitching support mechanism 3 is arranged on the steering support plate 2, and a reference support beam 4 is arranged on the pitching support mechanism 3. The reference support beam 4 can be driven by the pitching support mechanism 3 and rotate relative to the steering support plate 2 in a vertical plane. After having the above functions, the angle can be adjusted in the vertical direction according to requirements and cooperate to realize various operations on the furnace mouth.

[0057] Finally, if Figure 1 As shown, a drill rod machine 5 and a mud gun machine 6 are arranged side by side on the reference support beam 4, wherein the drill rod machine 5 is used for eye opening operations, and the mud gun machine 6 is used for eye plugging operations, and in order to avoid the above-mentioned mechanism always being located at the furnace mouth position to affect other operations, the above-mentioned structure also needs to specifically adjust the function of the distance from the furnace mouth. For this purpose, the length directions of the drill rod machine 5 and the mud gun machine 6 are flush with the length direction of the reference support beam 4, and the drill rod machine 5 and the mud gun machine 6 can be moved along the length direction of the reference support beam 4. When in use, they need to be moved to the corresponding position of the furnace mouth according to the eye opening or eye plugging operation, and need to be reset after the operation is completed to avoid affecting the movement and affecting subsequent operations.

[0058] In order to control the specific position of the above-mentioned operating mechanism, in general, the above-mentioned equipment will be equipped with an encoder, and the specific position of the above-mentioned structure can be grasped by connecting the encoder to the driving mechanism. However, in actual use, due to the high price of the equipment, after the equipment is automatically moved to the corresponding operating position, manual confirmation is still required. If the position is confirmed to be correct, the operation can continue. If the equipment is displayed in place but is not aligned with the furnace mouth, it proves that some components of the equipment have problems and need to be repaired. Obviously, the above-mentioned manual confirmation process will lead to insufficient intelligence of the above-mentioned equipment. To a certain extent, it cannot operate autonomously and has defects. For this reason, this device has added the following on the basis of the above-mentioned structure. Structure, first, a plurality of infrared imagers 7 are also arranged on the reference support beam 4, and the infrared imagers 7 are arranged circumferentially around the central axis of the drill rod machine 5 and the mud cannon machine 6, respectively, and face the moving direction of the drill rod machine 5 and the mud cannon machine 6. The infrared imager 7 can take images in front of the drill rod machine 5 and the mud cannon machine 6. Since the open furnace mouth, furnace wall and furnace mouth blocked by cannon mud present different temperatures, the infrared imager 7 can confirm whether the equipment is located at the position corresponding to the furnace mouth. Accordingly, there is no obstruction in the direction of the infrared imager 7, and the infrared imager 7 avoids the path setting of the drill rod machine 5 and the mud cannon machine 6, which can avoid blocking the normal image acquisition while not affecting the normal operation of the equipment.

[0059] Therefore, it can be considered that by adding the infrared imager 7, the alignment of the drill rod machine 5 and the mud gun machine 6 relative to the furnace mouth of the industrial silicon furnace can be achieved without human control, and thus the operation can be performed automatically without human control. By adding the infrared imager 7 instead of human observation to confirm whether it is aligned with the furnace mouth, the gap in the equipment can be filled and complete automation without manual reliance can be achieved.

[0060] In the above structure, in order to reduce the control difficulty, the central axes of the drill rod machine 5 and the mud gun machine 6 are in the same horizontal plane. Therefore, when switching the operating mechanism, there is no need to adjust the angle or height in the vertical direction.

[0061] Due to the obstruction of the drill rod machine 5 and the mud gun machine 6, the infrared imager 7 cannot obtain good images. Therefore, it is necessary to increase its quantity to overcome the above defects. For this purpose, at least 3 infrared imagers 7 are arranged outside the drill rod machine 5 and the mud gun machine 6. Positioning in the vertical and horizontal directions cannot be achieved with only two infrared imagers 7. Since the drill rod machine 5 and the mud gun machine 6 of this device need to move horizontally, a driving unit needs to be arranged at the rear. Therefore, the conventional installation position at the rear of the drill rod machine 5 and the mud gun machine 6 will cause inapplicability due to too many obstacles. Therefore, the best installation method is to arrange 3 infrared imagers 7 circumferentially around the central axis.

[0062] And to save costs, the arrangement method of the above infrared imagers 7 is that 5 infrared imagers 7 are arranged, and the 5 infrared imagers 7 are respectively located on two horizontal planes. Since the drill rod machine 5 and the mud gun machine 6 cannot operate simultaneously, arranging 5 infrared imagers 7 will not affect the normal operation of the equipment. The infrared imager 7 arranged in the middle position can operate simultaneously with the drill rod machine 5 or the mud gun machine 6 respectively.

[0063] After that, for the above device, the way to achieve automatic control is that it further includes a controller. The input end of the controller is connected to the infrared imager 7, and the output end of the controller is connected to the driving units of the steering support plate 2, the pitching support mechanism 3, and the reference support beam 4.

[0064] Finally, discrimination cannot be performed only through color images. Therefore, for the convenience of subsequent control operations based on image information, the controller includes an image acquisition unit and an image processing unit. The image processing unit can perform grayscale processing and binary processing on the acquired images. Since the above method for image processing is a conventional means, it will not be elaborated here.

[0065] Just introducing the device above cannot enable those skilled in the art to master how to use this device. For this reason, the present invention also discloses a usage method of an industrial silicon multi-functional operation robot. Using the above-mentioned industrial silicon multi-functional operation robot, and including the following steps:

[0066] Step 1: Rotate the steering support plate 2 until the vertical plane where the reference support beam 4 is located passes through the center of the industrial silicon furnace. Its usage method is a conventional technical means, so it will not be elaborated here.

[0067] Step 2: Move the operation platform vehicle 1 to the vertical plane where the drill rod machine 5 reaches the industrial silicon furnace mouth. Then, adjust the drill rod machine 5 through the pitching support mechanism 3 until it is aligned with the industrial silicon furnace mouth, and turn on the controller and the infrared imager 7 for confirmation operation. After there is no problem, the drill rod machine 5 can be turned on. Under normal circumstances, if there are no component problems, after this step, the above-mentioned drill rod machine 5 is aligned with the furnace mouth. Generally, at this time, manual confirmation is required. However, this device is different. It can be achieved through the cooperation of the infrared imager 7 and the controller. And the method for confirming the position of the drill rod machine 5 through multiple steps is as follows. The specific steps for aligning the drill rod machine 5 with the industrial silicon furnace mouth in Step 2 are as follows:

[0068] (1) Obtain the images of the infrared imagers 7 circumferentially arranged outside the drill rod machine 5 and perform grayscale processing and binaryzation processing. As Figure 5 shown, under normal circumstances, each infrared imager 7 can obtain corresponding images. Therefore, after processing, three processed images can be obtained;

[0069] (2) Compare the binaryzation images of the infrared imagers 7 on the horizontal two sides of the drill rod machine 5. When the difference in the area of the black regions is less than the preset value x, it is determined that the drill rod machine 5 reaches the vertical plane where the industrial silicon furnace mouth is located. The principle is that under normal circumstances, if the drill rod machine 5 is located at the center position of the furnace mouth and is aligned with it, the binaryzation images of the infrared imagers 7 on both sides of the drill rod machine 5 are symmetric. Therefore, after binaryzation, the areas of their black regions are basically the same. Although there will be errors, they will not be too large. If the difference is too large, it is definitely as Figure 6 shown, there is a deviation, that is to say, there is a problem with the components. The equipment needs to be shut down for maintenance and the problem needs to be found. If there is no problem in this step, the next step can be carried out;

[0070] (3) Preset two area extreme values j and k. Compare the binaryzation image of the infrared imager 7 above the drill rod machine 5. When the area value of the black region is within the interval of the area extreme values j and k, it is determined that the drill rod machine 5 is aligned with the industrial silicon furnace mouth. Similar to the above steps, when the drill rod machine 5 is aligned with the center of the furnace mouth, the difference between the black area value of the obtained binaryzation image and the standard value is not too large, and it can even be said to be the same. Through the above method, it can be judged whether the above-mentioned drill rod machine 5 is aligned with the furnace mouth in the vertical direction. If there is a problem, it proves that there is a problem with the components. If there is no problem, the drill rod machine 5 can be normally turned on.

[0071] Step 3: Move the operation platform vehicle 1 to the position where the clay gun machine 6 reaches the industrial silicon furnace mouth. Then, adjust the clay gun machine 6 through the pitching support mechanism 3 until it is aligned with the industrial silicon furnace mouth, and turn on the controller and the infrared imager 7 for confirmation operation. After there is no problem, the clay gun machine 6 can be turned on;

[0072] The method for adjusting the clay gun 6 through multiple steps is that the specific steps for aligning the drill rod machine 5 with the industrial silicon furnace mouth in the second step are as follows:

[0073] (1) Obtain the image of the infrared imager 7 circumferentially arranged outside the clay gun 6 and perform grayscale processing and binarization processing;

[0074] (2) Compare the binarized images of the infrared imagers 7 on the horizontal two sides of the clay gun 6. When the area difference of the black regions is less than the preset value y, it is determined that the clay gun 6 reaches the vertical plane where the industrial silicon furnace mouth is located;

[0075] (3) Preset two area extreme values m and n. Compare the binarized image of the infrared imager 7 above the clay gun 6. When the area value of the black region is within the interval of the area extreme values m and n, it is determined that the clay gun 6 is aligned with the industrial silicon furnace mouth.

[0076] Its principle is the same as that of the second step, but limited by the different outer diameters of the clay gun 6 and the drill rod machine 5, the same vertical judgment cannot be applied. Moreover, in addition to the above differences, when performing binarization processing, different grayscale values are also required for binarization processing in both the second step and the third step.

[0077] The reason is that the temperature difference between the furnace wall and the furnace mouth is very obvious, but there are two states at the furnace mouth, namely the state sealed by gun clay and the open state. When opening the hole, there is gun clay at the furnace mouth, so the temperature shown by the infrared imager 7 is relatively low. Therefore, binarization processing needs to be performed according to the grayscale image obtained from the infrared images of the furnace wall and the furnace mouth sealed by gun clay and the grayscale value that can distinguish their states, so as to obtain the black image of the furnace mouth and the white image of the furnace wall from the binarized image.

[0078] Similarly, when performing the plugging operation, the furnace mouth is not sealed, so the temperature shown by the infrared imager 7 is relatively high and the color is reddish. Therefore, after grayscale processing, different grayscale values are required for binarization processing to ensure that the images of the furnace wall and the furnace mouth can be separated, with the furnace mouth showing a black region and the furnace wall showing a white image.

[0079] Since the filling layer of the anhydrous gun clay is not filled evenly, there are thick and thin parts. The thin filling layer is prone to breakage and cause safety accidents. In this step, the infrared imager 7 can detect the thickness information of the gun clay filling layer by detecting the temperature. When the temperature shows too high, there is a problem of too thin a filling layer. In view of this, through the above steps, the gun clay can be evenly filled into the furnace mouth and the thickness of the filling layer can be ensured to meet the requirements to avoid safety problems.

[0080] And in this step, to ensure that the clay gun 6 can completely seal the furnace mouth, in the third step, the outlet of the clay gun 6 is set in a raindrop shape and can rotate, that is, as Figure 7 shown. After the clay gun 6 is opened, the specific steps are as follows:

[0081] S1. Obtain the images taken by 3 infrared imagers 7 circumferentially arranged outside the clay gun 6;

[0082] S2. Obtain the target area according to the taken images, and judge which target area needs more gun clay for sealing by judging the display temperature of the target area on the infrared imager 7;

[0083] And the target area is a fan-shaped area formed by the connection line between the center point of the clay gun 6 and the center point of the infrared imager 7 rotating ±60° around the center point of the clay gun 6. The three infrared imagers 7 each have their own target areas and do not affect each other;

[0084] S3. Perform gray-scale processing and binary processing on the above 3 target areas to obtain 3 target pictures. At this time, the numerical value for binary processing is different from that in the above step two and step three. If this step can be performed, it proves that the equipment components are okay. Therefore, only the furnace mouth needs to be sealed. At this time, it is necessary to distinguish the unsealed part and the sealed part of the furnace mouth. Obviously, due to the existence of gun clay, the unsealed part shows a higher temperature, while the sealed part has a lower temperature. Therefore, it can be distinguished on the image of the infrared imager 7. And there are two situations for the sealed part. One is that the sealing thickness meets the requirements, and the other does not meet the requirements. At this time, we only need to obtain the display information after the sealing thickness meets the requirements. That is to say, the information reflected on the binary image, the black situation represents unsealed or the sealing does not meet the requirements, while the white represents that the sealing meets the requirements. According to the actual situation, input the corresponding gray-scale value to distinguish and obtain the binary image;

[0085] S4. Calculate the area values of the black areas of the 3 target pictures. The larger the area value of the black area, the worse the sealing effect of this target area, and more gun clay is needed. For this reason, the following steps are shown;

[0086] S5. Rotate the large-diameter end of the opening of the clay gun 6 to align with the infrared imager 7 with the largest area value of the black area. That is to say, the large opening of the clay gun 6 needs to fill more for the target area with a poor sealing effect;

[0087] S6. After an interval of a preset time t, repeat step S1 until the area value of the black area is 0, and then close the clay gun 6. The purpose of setting the interval time is to fill only at one position. Since there is a diameter difference in the opening of the clay gun 6, the filling effect is different. By taking intervals of time and performing multiple times, and filling different target areas respectively, the above problems can be effectively avoided.

[0088] Step 4: And so on until the plugging and unplugging operations of the left and right tuyeres are completed.

[0089] It can be seen from the above steps that the present invention needs to set different gray values to perform binary processing on the gray image. However, due to different working conditions, the specific gray values cannot be determined. Therefore, the present invention will not introduce it separately, and the method of binary processing by presetting gray values is a conventional means of existing vision processing. Therefore, the principle will not be elaborated. It is only necessary to distinguish the tuyere, furnace wall, sealed tuyere, and tuyere with poor or unsealed effect based on the temperature image of the infrared imager 7.

[0090] The above equipment and method can be realized. By successively replacing manual observation of the positions of the drill rod machine 5 and the clay gun machine 6 relative to the tuyere, it is possible to confirm whether they are aligned. Before any operating mechanism performs an action, this confirmation link is required. If there is a problem in the confirmation link, subsequent operations cannot be carried out.

Claims

1. An industrial silicon multifunctional working robot, characterized in that: It comprises an operating platform vehicle (1), on which a steering support plate (2) is horizontally arranged, and the steering support plate (2) is capable of rotating on a horizontal plane; The steering support plate (2) is provided with a pitch support mechanism (3), and a reference support beam (4) is provided on the pitch support mechanism (3), and the reference support beam (4) can be driven by the pitch support mechanism (3) and rotate relative to the steering support plate (2) on a vertical plane; A drill rod machine (5) and a mud gun machine (6) are arranged side by side on the reference support beam (4); the length directions of the drill rod machine (5) and the mud gun machine (6) are aligned with the length direction of the reference support beam (4), and the drill rod machine (5) and the mud gun machine (6) are both movable along the length direction of the reference support beam (4); A plurality of infrared imagers (7) are also provided on the reference support beam (4). The infrared imagers (7) are arranged circumferentially around the central axis of the drill rod machine (5) and the mud cannon machine (6), and face the moving direction of the drill rod machine (5) and the mud cannon machine (6). There are no obstructions in the direction in which the infrared imagers (7) face, and the infrared imagers (7) are arranged to avoid the paths of the drill rod machine (5) and the mud cannon machine (6).

2. The industrial silicon multifunctional working robot according to claim 1, characterized in that: The central axes of the drill rod machine (5) and the mud gun machine (6) are on the same horizontal plane.

3. The industrial silicon multifunctional working robot according to claim 1, characterized in that: At least three infrared imagers (7) are arranged outside the drill rod machine (5) and the mud gun machine (6).

4. The industrial silicon multifunctional working robot according to claim 1, characterized in that: Five infrared imagers (7) are provided, and the five infrared imagers (7) are respectively located on two horizontal planes.

5. An industrial silicon multifunctional working robot according to any one of claims 1 to 4, characterized in that: It also comprises a controller, the input end of which is connected to the infrared imager (7), and the output end of which is connected to the driving unit of the steering support plate (2), the pitch support mechanism (3) and the reference support beam (4).

6. The industrial silicon multifunctional working robot according to claim 5, characterized in that: The controller includes an image acquisition unit and an image processing unit.

7. A method for using an industrial silicon multifunctional working robot, characterized in that: Using the industrial silicon multifunctional working robot according to claim 6, and comprising the following steps: Step 1: Rotate the steering support plate (2) until the vertical plane where the reference support beam (4) is located passes through the center of the industrial silicon furnace; Step 2: Move the work platform vehicle (1) to the vertical plane where the drill rod machine (5) is located at the furnace mouth of the industrial silicon furnace, and then adjust the drill rod machine (5) through the pitch support mechanism (3) until it is aligned with the furnace mouth of the industrial silicon furnace and start the drill rod machine (5); Step 3, move the work platform vehicle (1) to the position where the mud cannon machine (6) reaches the furnace mouth of the industrial silicon furnace, and then adjust the mud cannon machine (6) through the pitch support mechanism (3) until it is aligned with the furnace mouth of the industrial silicon furnace and start the mud cannon machine (6); Step 4: Repeat this process until the opening and blocking of the left and right furnace openings are completed.

8. The method for using an industrial silicon multifunctional working robot according to claim 7, characterized in that: The specific steps of aligning the drill rod machine (5) with the furnace mouth of the industrial silicon furnace in step 2 are: (1) acquiring an image of an infrared imager (7) arranged in a circumferential direction on the outer side of the drill rod machine (5) and performing grayscale processing and binarization processing; (2) comparing the binary images of the infrared imagers (7) located on both sides of the drill rod machine (5), and when the difference in the area of ​​the black region is less than a preset value x, determining that the drill rod machine (5) has reached the vertical plane where the furnace mouth of the industrial silicon furnace is located; (3) Preset two surface positive values ​​j and k, and compare the binary image of the infrared imager (7) located above the drill rod machine (5). When the area value of the black region is within the interval of the surface positive values ​​j and k, it is determined that the drill rod machine (5) is aligned with the furnace mouth of the industrial silicon furnace.

9. The method for using an industrial silicon multifunctional working robot according to claim 7, characterized in that: The specific steps of aligning the mud gun machine (6) with the furnace mouth of the industrial silicon furnace in step 3 are: (1) obtaining an image from an infrared imager (7) arranged in the circumferential direction of the outer side of the mud gun machine (6) and performing grayscale processing and binarization processing; (2) Comparing the binary images of the infrared imagers (7) located on both sides of the mud gun machine (6), when the difference in the area of ​​the black area is less than a preset value y, it is determined that the mud gun machine (6) has reached the vertical plane where the furnace mouth of the industrial silicon furnace is located; (3) Preset two surface positive values ​​m and n, and compare the binary image of the infrared imager (7) located above the mud cannon machine (6). When the area value of the black region is within the interval of the surface positive values ​​m and n, it is determined that the mud cannon machine (6) is aligned with the furnace mouth of the industrial silicon furnace.

10. The method for using an industrial silicon multifunctional working robot according to claim 7, characterized in that: In step 3, the outlet of the mud gun machine is set to be raindrop-shaped and can rotate. After the mud gun machine is turned on, the specific steps are: S1, obtaining images taken by three infrared imagers (7) arranged circumferentially on the outer side of the mud gun machine (6); S2, obtaining the target area according to the captured image; The target area is a sector-shaped area formed by a line connecting the center point of the mud cannon machine (6) and the center point of the infrared imager (7) rotating around the center point of the mud cannon machine (6) by ±60°; S3, performing grayscale processing and binarization processing on the above three target areas to obtain three target images; S4, calculating the area values ​​of the black areas of the three target images; S5, rotating the large diameter end of the mud gun opening until it is aligned with the infrared imager (7) with the largest black area value; S6. After a preset time t, repeat step S1 until the area value of the black area is 0, and then turn off the mud gun machine.

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