Nozzle engagement device and method

Abstract

Embodiments of the present disclosure relate to a nozzle engagement device and method in which image information having a preset range of wavelength blocked is received using one or more cameras, a first nozzle and a second nozzle are identified on the basis of the image information, position information of the first nozzle and position information of the second nozzle are calculated on the basis of the image information, position difference information is calculated on the basis of the position information of the first nozzle and the position information of the second nozzle, whether the position difference information satisfies a preset criterion is determined, and either the first nozzle or the second nozzle is moved or the first nozzle and the second nozzle are engaged on the basis of the position difference information according to whether the position difference information satisfies the preset criterion.

Description

Nozzle fastening device and method

[0001] These embodiments relate to a nozzle fastening device and method.

[0002] In order to move molten steel made from iron ore, etc. in a blast furnace, it is necessary to connect a shroud nozzle and a ladle lower collector nozzle.

[0003] However, in the past, when fastening the shroud nozzle and the ladle lower collector nozzle, the worker manually moved the manipulator holding the shroud nozzle while visually checking it.

[0004] In this case, workers are exposed to high-temperature environments, posing safety risks and potentially causing significant delays. Therefore, remote control of these high-temperature nozzle connections is necessary.

[0005] In addition, the positional difference (X, Y, Z axis) between the shroud nozzle and the collector nozzle must be measured using a camera. However, the shroud nozzle has a temperature of over 900 degrees, and the collector nozzle has a temperature of under 150 degrees due to the refractory material, so there is a significant difference in the degree of luminescence and visual identification according to the temperature difference. Therefore, it is difficult to accurately measure the positions of the two objects.

[0006] In high-temperature conditions, it is necessary to accurately measure the positions of two objects using a camera, but the development of this technology is insufficient.

[0007] The present embodiments can provide a nozzle fastening device for fastening a nozzle to transport molten metal.

[0008] Additionally, the present embodiments can provide a nozzle fastening method for fastening a nozzle to transport molten metal.

[0009] In one aspect, the present embodiments may provide a nozzle fastening device including a receiving unit that receives image information in which a preset range of wavelengths is blocked using one or more cameras, an object identification unit that identifies a first nozzle and a second nozzle based on the image information, a position information calculation unit that calculates position information of the first nozzle and position information of the second nozzle based on the image information and calculates position difference information based on the position information of the first nozzle and the position information of the second nozzle, a determination unit that determines whether the position difference information satisfies a preset standard, and a control unit that moves one of the first nozzle and the second nozzle or fastens the first nozzle and the second nozzle based on the position difference information depending on whether the position difference information satisfies a preset standard.

[0010] In another aspect, the present embodiments may provide a nozzle fastening method including a receiving step of receiving image information in which a preset range of wavelengths is blocked using one or more cameras, an object identification step of identifying a first nozzle and a second nozzle based on the image information, a position information calculation step of calculating position information of the first nozzle and position information of the second nozzle based on the image information and calculating position difference information based on the position information of the first nozzle and the position information of the second nozzle, a judgment step of determining whether the position difference information satisfies a preset standard, and a control step of moving one of the first nozzle and the second nozzle or fastening the first nozzle and the second nozzle based on the position difference information depending on whether the position difference information satisfies a preset standard.

[0011] According to the present embodiments, a nozzle fastening device and method for fastening a nozzle to transport molten metal can be provided.

[0012] Figure 1 is a drawing for explaining a nozzle fastening device according to one embodiment.

[0013] FIG. 2 is a diagram for explaining an operation of calculating location information according to one embodiment.

[0014] FIG. 3 is a diagram for explaining an operation of calculating position difference information according to one embodiment.

[0015] Figure 4 is a flowchart for explaining the operation of a judgment unit and a control unit according to one embodiment.

[0016] Figure 5 is a flowchart for explaining a nozzle fastening method according to one embodiment.

[0017] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to exemplary drawings. When adding reference numerals to components in each drawing, identical components may have the same numerals as much as possible even if they are shown in different drawings. In addition, when describing the present embodiments, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the technical idea of ​​the present invention, the detailed description may be omitted. When "includes," "has," "consists of," etc. are used in this specification, other parts may be added unless "only" is used. When a component is expressed in the singular, it may include a case in which the plural is included unless specifically stated otherwise.

[0018] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of the present disclosure. These terms are only intended to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by the terms.

[0019] In a description of the positional relationship of components, when it is described that two or more components are "connected," "combined," or "connected," it should be understood that the two or more components may be directly "connected," "combined," or "connected," but that the two or more components may also be further "interposed" with another component to be "connected," "combined," or "connected." Here, the other component may be included in one or more of the two or more components that are "connected," "combined," or "connected" to each other.

[0020] In the description of the temporal flow relationship related to components, operation methods, or manufacturing methods, for example, when the temporal or flow relationship is described as “after”, “following”, “next to”, “before”, etc., it may also include cases where it is not continuous, unless “immediately” or “directly” is used.

[0021] Meanwhile, when numerical values ​​or corresponding information (e.g., levels, etc.) for components are mentioned, even without separate explicit description, the numerical values ​​or corresponding information may be interpreted as including an error range that may occur due to various factors (e.g., process factors, internal or external impact, noise, etc.).

[0022] Figure 1 is a drawing for explaining a nozzle fastening device according to one embodiment.

[0023] Referring to FIG. 1, a nozzle fastening device (100) may include a receiving unit (110) that receives image information in which a preset range of wavelengths is blocked using one or more cameras, an object identification unit (120) that identifies a first nozzle and a second nozzle based on the image information, a position information calculation unit (130) that calculates position information of the first nozzle and position information of the second nozzle based on the image information and calculates position difference information based on the position information of the first nozzle and the position information of the second nozzle, a determination unit (140) that determines whether the position difference information satisfies the preset range, and a control unit (150) that moves one of the first nozzle and the second nozzle or fastens the first nozzle and the second nozzle based on the position difference information depending on whether the range is satisfied.

[0024] The receiving unit (110) can receive image information in which a preset range of wavelengths is blocked using one or more cameras.

[0025] For example, the receiver (110) can receive image information using one or more cameras.

[0026] For example, the camera may include a film camera, a digital camera, or a thermal imaging camera. As another example, the camera may include a camera with a CCD or CMOS image sensor. Furthermore, the camera may include a camera with a three-dimensional spatial recognition sensor, such as a KINECT (RGB-D sensor), a TOF (Structured Light Sensor), or a stereo camera. However, the present invention is not limited to this embodiment, and the camera may include various types of photographing devices.

[0027] As another example, one or more cameras may be positioned in various ways relative to the first and second nozzles described below. For example, they may be positioned in a front-facing position. For another example, one camera may be positioned in a front-facing position toward the first and second nozzles, and another camera may be positioned so that the first and second nozzles are on the right. However, the present invention is not limited to this embodiment, and the orientation of one or more cameras may be set in various ways.

[0028] As another example, one or more cameras may be positioned at a distance A m (where A is a real number greater than 0) from the first nozzle and the second nozzle. For example, one or more cameras may be positioned within a range of 5 m to 7 m from the first nozzle and the second nozzle. However, the present embodiment is not limited thereto, and one or more cameras may be positioned at various locations from the first nozzle and the second nozzle.

[0029] For another example, the receiver (110) can receive image information in which a preset range of wavelengths is blocked.

[0030] For example, the preset range may include 500 nm to 700 nm.

[0031] In general, a camera can receive image information in the visible light range (380 nm to 780 nm). Accordingly, the receiving unit (110) can receive image information generated from wavelengths in the visible light range (380 nm to 780 nm) using one or more cameras, as long as it does not block a specific range of wavelengths.

[0032] Meanwhile, as the temperature of an object increases, wavelengths longer than 500 nm (red light) are generated according to Planck's law, and the luminescence intensity of that wavelength may increase.

[0033] For example, the temperature of the shroud nozzle included in the present disclosure is about 900 degrees or more, and the temperature of the collector nozzle is about 150 degrees or less due to the refractory material.

[0034] Therefore, due to the temperature difference, the luminous intensity (hereinafter, luminous intensity) of light over 500 nm may be higher at the shroud nozzle than at the collector nozzle. In this case, even if the camera captures the shroud nozzle and the collector nozzle simultaneously, the shroud nozzle may be clearly expressed in the image information, but the collector nozzle may be barely visible. In other words, due to the difference in luminous intensity, there may be difficulties in utilizing the image information received by the receiving unit (110).

[0035] Accordingly, the present embodiment blocks a preset range of wavelengths. In particular, given that the temperature of the shroud nozzle is around 900 degrees, a wavelength of 500 nm corresponding to this can be set as the lower limit of the preset range. This lower limit setting may be optimal considering the environment in which the present disclosure can be used, the temperature difference between the shroud nozzle and the collector nozzle, and the main wavelength range.

[0036] For example, a wavelength for capturing an image of a shroud nozzle having a temperature of around 900 degrees may be included, but in order to minimize interference with a collector nozzle, a wavelength that may occur at 900 degrees, which is a wavelength, may be set as the lower limit of a preset range. This provides clearer distinguishing images of the shroud nozzle and the collector nozzle. In the case of a lower limit value lower than 500 nm, the shroud nozzle and the collector nozzle may not be captured, and in the case of a lower limit value higher than this, the luminescence intensity of the shroud nozzle may increase, making it difficult to accurately distinguish the collector nozzle.

[0037] Accordingly, in one embodiment, the lower limit of the preset range can be set to 500 nm. However, this is exemplary and the range may vary depending on the temperature of the shroud nozzle.

[0038] Meanwhile, standard cameras can capture images using light in the visible light range. For example, typical RGB cameras use wavelengths of approximately 380 to 780 nm. Capturing shorter or longer wavelengths requires specialized cameras, such as infrared cameras.

[0039] The present disclosure requires simultaneous imaging of two imaging objects with very large temperature differences, namely, a shroud nozzle and a collector nozzle. Therefore, a preset range of wavelengths is blocked to clearly distinguish between the two imaging objects due to the temperature difference.

[0040] In particular, for collector nozzles, wavelengths depending on the luminous intensity can appear long at around 150 degrees or less (Beene's Law). In cases of such long wavelengths, clear separation and imaging are possible using special cameras such as near-infrared cameras. However, near-infrared cameras are very expensive and difficult to manage in harsh environments such as industrial dust. Considering these factors, the upper limit of the preset range according to one embodiment may be set to 700 nm.

[0041] Since this is below 780 nm, which is possible with a general camera, it enables imaging of relatively low-temperature objects such as collector nozzles, while also resolving the problem of reduced recognition due to the high temperature of the shroud nozzle. However, the upper limit of the preset range is exemplary and can be set to a value that allows imaging with a general camera, thus solving economic / environmental issues. This can be set in conjunction with the camera installation environment, collector nozzle temperature, etc.

[0042] Additionally, the preset range is not limited to the present embodiment, and may be set to various ranges, and may include various ranges of wavelengths as well as wavelengths corresponding to red light.

[0043] Additionally, a preset range of wavelengths may be blocked by controlling the camera itself or by using an optical filter mounted on the camera.

[0044] As another example, one or more cameras may include an optical filter to block a preset range of wavelengths.

[0045] For example, the optical filter may include an absorbing glass that transmits visible light but absorbs wavelengths greater than 500 nm. For example, the absorbing glass may include blue glass with a pigment, such as copper ions, dispersed therein.

[0046] For example, an optical filter may include a blocking coat that transmits visible light but reflects wavelengths greater than 500 nm. For example, the blocking coat may include a dielectric multilayer film formed by alternately laminating several tens of layers of high-refractive-index materials such as TiO2, ZrO2, Ta2O5, Nb2O5, and low-refractive-index materials such as SiO2 and MgF2 on a transparent substrate.

[0047] However, while this embodiment focuses on an optical filter that blocks wavelengths greater than 500 nm, optical filters that block a wide range of wavelengths may be included. Furthermore, various filters that perform the same function may be included in addition to the optical filter that blocks a preset range of wavelengths.

[0048] As another example, the image information may include not only the object including the first nozzle and the second nozzle described above, but also the outer boundary information, color information, brightness information, and three-dimensional position information of each object. However, the present invention is not limited to this embodiment, and the image information may include various types of information.

[0049]

[0050] The object identification unit (120) can identify the first nozzle and the second nozzle based on image information.

[0051] For example, the first nozzle may correspond to a shroud nozzle, and the second nozzle may correspond to a collector nozzle. A detailed description of the shroud nozzle and collector nozzle of the present embodiment will be described later with reference to FIG. 2. In addition, the present embodiment is not limited thereto, and the first nozzle and the second nozzle may include various nozzles.

[0052] For another example, the object identification unit (120) can identify the first nozzle and the second nozzle using color information and brightness information included in the image information.

[0053] For example, if the temperature of the first nozzle is approximately 900 degrees and the temperature of the second nozzle is approximately 150 degrees, the brightness of the first nozzle may be higher than that of the second nozzle in the image information. Therefore, the first nozzle and the second nozzle may be distinguished by using the difference in brightness. In addition, if the temperature of the first nozzle is approximately 900 degrees and the temperature of the second nozzle is approximately 150 degrees, the color of the first nozzle may be expressed as red in the image information, and the color of the second nozzle may be expressed as a red color close to black.

[0054] Accordingly, the first nozzle and the second nozzle can be distinguished by utilizing the difference in color. However, the temperature of the first nozzle and the temperature of the second nozzle in this embodiment are exemplary expressions, and are not limited to this embodiment. The object identification unit (120) can identify an object by utilizing a configuration capable of identifying various temperatures, colors, brightnesses, and other objects contained in the object.

[0055] As another example, the object identification unit (120) can identify the first nozzle and the second nozzle using a deep learning model (YOLO, SSD, Faster R-CNN), a machine learning model (SVM, Haar Cascade Classifier, Random Forest), a computer vision technique and algorithm (SIFT, SURF, HOG, MSER, Template matching, feature extraction technique).

[0056] However, without being limited to the present embodiment, the object identification unit (120) can identify the first nozzle and the second nozzle using an algorithm and technology capable of identifying an object.

[0057]

[0058] Meanwhile, the location information generating unit (130) can generate location information of the first nozzle and location information of the second nozzle based on image information, and can generate location difference information based on the location information of the first nozzle and the location information of the second nozzle.

[0059] For example, a plurality of feature points can be extracted from the screen of the image information of the location information generating unit (130). In this case, the feature points may correspond to the respective corners, center points, or other various feature points of the first and second nozzles existing within the screen of the image information. The embodiments of the present disclosure are described using the SURF (Speeded Up Robust Features) feature point detection algorithm, but the feature point detection algorithm is not limited thereto.

[0060] In addition, the location information generating unit (130) can select one or more different image information including the same feature point using one or more cameras and calculate the coordinates of the same feature point using trigonometry. However, since the method of calculating coordinates using trigonometry is already widely known, a detailed description thereof will be omitted. In addition, for the convenience of explanation, the coordinates of the feature point include the location information of the first nozzle and the location information of the second nozzle.

[0061] For example, the position information generating unit (130) can generate position information of the first nozzle and position information of the second nozzle based on one or more pieces of image information. In this case, the position information of the first nozzle and the position information of the second nozzle can be generated in a three-dimensional (x, y, z) format.

[0062] In this case, the position information of the first nozzle may include the center coordinates of the first nozzle. The center may refer to the exact center point of the nozzle. In addition, the center coordinates of the first nozzle may refer to coordinates in a three-dimensional format. That is, the center coordinates of the first nozzle may include an x-coordinate, a y-coordinate, and a z-coordinate.

[0063] Additionally, the position information of the second nozzle may include the center coordinates of the second nozzle. In this case, the center coordinates of the second nozzle may refer to coordinates in a three-dimensional format. That is, the center coordinates of the second nozzle may include an x-coordinate, a y-coordinate, and a z-coordinate.

[0064] Here, the position difference information can be calculated as the difference between the center coordinates of the first nozzle and the center coordinates of the second nozzle. In addition, the position difference information can be calculated in a three-dimensional format. That is, the position difference information can include the x-coordinate difference, y-coordinate difference, and z-coordinate difference between the center coordinates of the first nozzle and the center coordinates of the second nozzle.

[0065] The operation of calculating location information and location difference information of the location information calculating unit (130) will be described later using FIGS. 2 and 3. In addition, the operation of calculating location information and location difference information of the location information calculating unit (130) is not limited to this embodiment, and may be set in various ways.

[0066]

[0067]

[0068] *The judgment unit (140) can determine whether the position difference information satisfies a preset standard.

[0069] For example, the preset criterion may be set to K mm (where K is a real number greater than or equal to 0). In addition, if the x-coordinate difference, y-coordinate difference, and z-coordinate difference included in the position difference information are each within the range of K mm, it may be determined that the preset criterion is met.

[0070] For example, the preset standard may be set to 0.5 mm. The judgment unit (140) may determine that the preset range is met if the x-coordinate difference is 0.5 mm, the y-coordinate difference is 0.4 mm, and the z-coordinate difference is 0.5 mm.

[0071] A detailed description of the position difference information is provided later with reference to Fig. 3. However, the present invention is not limited to this embodiment and various preset criteria may be set.

[0072]

[0073] The control unit (150) can move one of the first nozzle and the second nozzle or connect the first nozzle and the second nozzle based on the position difference information, depending on whether the condition is satisfied.

[0074] For example, the control unit (150) can engage the first nozzle and the second nozzle when the position difference information meets a preset standard.

[0075] For another example, the control unit (150) may move the first nozzle in the direction of the second nozzle based on the position difference information if the position difference information does not meet a preset criterion. Additionally, the first nozzle may be gripped by the manipulator, and the first nozzle may be moved in the direction of the second nozzle based on the movement of the manipulator.

[0076] The meaning of manipulating is described later with reference to FIG. 2, and the control operation of the control unit (150) is described later with reference to FIG. 4. Hereinafter, the detailed operation of the nozzle fastening device will be described using FIGS. 2 to 4.

[0077]

[0078] FIG. 2 is a diagram illustrating an operation for calculating location information according to one embodiment. FIG. 3 is a diagram illustrating an operation for calculating location difference information according to one embodiment.

[0079] According to FIG. 2, the first nozzle (240) or shroud nozzle can be gripped on the manipulator (241). Additionally, the second nozzle (230) or collector nozzle can be gripped on the ladle (231).

[0080] In this case, the ladle (231) may refer to a container for storing molten steel made by melting iron ore. However, the present embodiment is not limited thereto, and the ladle (231) may refer to a container for storing various materials. For convenience of explanation, the ladle (231) will be described below using the definition of a container for storing molten steel.

[0081] The second nozzle (230) may be positioned and secured to the lower portion of the ladle (231) to move the molten steel. The molten steel stored in the ladle (231) may be moved along the second nozzle (230). Depending on the judgment result of the judgment unit, the second nozzle (230) may be connected to the first nozzle (240). In this case, the molten steel may be moved in the order of the ladle (231), the second nozzle (230), and the first nozzle (240).

[0082] The first nozzle (240) can be held by a manipulator (241). The manipulator (241) may refer to a device for variably manipulating the first nozzle (240) so that it can be smoothly connected to the second nozzle (230). Accordingly, the manipulator (241) may include a communication module and a PLC (Programmable Logic Controller) to be variably manipulated or remotely manipulated. The PLC may control the movement of the manipulator (241). That is, the first nozzle (240) may be held by the manipulator (241), and its movement may be controlled based on the movement of the manipulator (241).

[0083] According to FIG. 2, the first camera (210) is equipped with a first optical filter (211) and is positioned in a direction facing the first nozzle (240) and the second nozzle (230). However, the direction in which the first camera (210) is positioned is not limited to the present embodiment.

[0084] The first camera (210) may be positioned at a certain distance from the first nozzle (240) and the second nozzle (230). In addition, first image information regarding the first nozzle (240) and second image information regarding the second nozzle (230) may be received using the first camera (210). Based on the first image information, first position information (212), which is position information of the first nozzle, may be calculated. Based on the second image information, second position information (213), which is position information of the second nozzle, may be calculated. In this case, the formats of the first position information (212) and the second position information (213) may include an x-coordinate, a y-coordinate, and a z-coordinate, respectively, in a three-dimensional coordinate format.

[0085] Again, according to FIG. 2, the second camera (220) is equipped with a second optical filter (221) and is positioned in a direction facing the first nozzle (240) and the second nozzle (230). The second camera (220) may be positioned at a certain distance away from the first nozzle (240) and the second nozzle (230). In addition, the second camera (220) may be positioned at a different certain distance away from the first camera (210). However, the direction in which the second camera is positioned is not limited to the present embodiment.

[0086] Additionally, third image information about the first nozzle (240) and fourth image information about the second nozzle can be received using the second camera (220). Third position information (222), which is position information about the first nozzle, can be calculated based on the third image information. Fourth position information (223), which is position information about the second nozzle, can be calculated based on the fourth image information. In this case, the formats of the third position information (222) and the fourth position information (223) can include x-coordinate, y-coordinate, and z-coordinate, respectively, in a three-dimensional coordinate format.

[0087] As described above, the location information generating unit can select one or more pieces of image information including the same feature point using the first camera (210) and the second camera (220) and calculate the coordinates of the feature point using trigonometry. In addition, the coordinates of the feature point may refer to the center coordinates (320) of the first nozzle (240) and the center coordinates (310) of the second nozzle (230), respectively.

[0088] In this case, the location information of the first nozzle (240) may include the first location information (212) and the third location information (222). In addition, the location information of the second nozzle (230) may include the second location information (213) and the fourth location information (223).

[0089] Additionally, the first location information (212) and the third location information (222) may include the expected center coordinates of the first nozzle (240). For example, the first location information (212) may include the expected center coordinates of the first nozzle (240) calculated from the location of the first camera (210). Additionally, the third location information (222) may include the expected center coordinates of the first nozzle (240) calculated from the location of the second camera (220).

[0090] In this case, the location information generating unit can input the first location information (212) and the third location information (222) into trigonometry to derive the center coordinates (320) of the first nozzle (240), which are the coordinates of the feature point. In addition, the center coordinates (320) of the first nozzle (240) can be included in the location information of the first nozzle (240) and used when calculating location difference information.

[0091] Additionally, the second location information (213) and the fourth location information (223) may include the expected center coordinates of the second nozzle (230). For example, the second location information (213) may include the expected center coordinates of the second nozzle (240) calculated from the position of the first camera (210). Additionally, the fourth location information (223) may include the expected center coordinates of the second nozzle (230) calculated from the position of the second camera (220).

[0092] In this case, the location information generating unit can input the second location information (213) and the fourth location information (223) into trigonometry to derive the center coordinates (310) of the second nozzle (230), which are the coordinates of the feature point. In addition, the center coordinates (310) of the second nozzle (230) can be included in the location information of the second nozzle (230) and used when calculating location difference information.

[0093] Referring to FIG. 3, the position information generating unit can generate position difference information using the respective position information of the first nozzle (240) and the second nozzle (230).

[0094] For example, the location information generating unit can calculate the location information difference using the center coordinates (320) of the first nozzle (240) and the center coordinates (310) of the second nozzle (230).

[0095] Referring back to FIG. 3, the position difference information can be calculated by subtracting the center coordinate (320) of the first nozzle (240) from the center coordinate (310) of the second nozzle (230). That is, the position difference information can be calculated as how far the first nozzle (240) is positioned based on the center coordinate (310) of the second nozzle (230). Accordingly, as the position difference information increases, it can be determined that the first nozzle (240) is positioned farther away from the second nozzle (230).

[0096] However, this embodiment is not limited to this one, and position difference information can be calculated in various ways. Furthermore, while this embodiment is described based on information received using two cameras, the number of cameras is not limited, and two or more cameras can be used.

[0097]

[0098]

[0099] *Figure 4 is a flowchart for explaining the operation of the judgment unit and control unit according to one embodiment.

[0100] Referring to Fig. 4, the judgment unit can use position difference information to determine whether a preset criterion is met. (S410)

[0101] For example, the preset criterion can be set to K mm (where K is a real number greater than or equal to 0). In addition, if the x-coordinate difference, y-coordinate difference, and z-coordinate difference included in the position difference information each fall within the range of K mm, it can be determined that the preset criterion is met. For example, the judgment unit can determine whether the preset criterion is met based on whether the position difference information falls within the preset criterion of 0.5 mm.

[0102] For example, if it is determined that the position difference information satisfies a preset criterion, the control unit can engage the first nozzle and the second nozzle. (S420)

[0103] For example, the judgment unit may determine that the position difference information satisfies a preset standard if the x-coordinate difference, y-coordinate difference, and z-coordinate difference included in the position difference information are all within 0.5 mm. In this case, the control unit may engage the first nozzle and the second nozzle.

[0104] For another example, if it is determined that the position difference information does not meet the preset criteria, the control unit can move the first nozzle in the direction of the second nozzle. (S430)

[0105] For example, if any one of the x-coordinate difference, y-coordinate difference, and z-coordinate difference included in the position difference information exceeds 0.5 mm, the judgment unit may determine that the position difference information does not meet a preset standard. In this case, the control unit may move the first nozzle in the direction of the second nozzle. In this case, the first nozzle may be gripped by the manipulator, and based on the movement of the manipulator, the first nozzle may be moved in the direction of the second nozzle by the x-coordinate difference, the y-coordinate difference, and the z-coordinate difference.

[0106] However, without being limited to this embodiment, the judgment unit and the control unit can determine whether various preset criteria are met and control the first nozzle and the second nozzle in various ways.

[0107]

[0108] Figure 5 is a flowchart for explaining a nozzle fastening method according to one embodiment.

[0109] Referring to FIG. 5, the nozzle fastening method may include a receiving step (S510) of receiving image information in which a preset range of wavelengths is blocked using one or more cameras, an object identification step (S520) of identifying a first nozzle and a second nozzle based on the image information, a position information calculation step (S530) of calculating position information of the first nozzle and position information of the second nozzle based on the image information and calculating position difference information based on the position information of the first nozzle and the position information of the second nozzle, a judgment step (S540) of determining whether the position difference information satisfies the preset range, and a control step (S550) of moving one of the first nozzle and the second nozzle or fastening the first nozzle and the second nozzle based on the position difference information depending on whether the range is satisfied.

[0110] The receiving step can receive image information with a preset range of wavelengths blocked using one or more cameras. (S510)

[0111] For example, the receiving step may receive image information using one or more cameras.

[0112] For example, the camera may include a film camera, a digital camera, or a thermal imaging camera. However, the present embodiment is not limited thereto, and the camera may include various types of photographing devices.

[0113] As another example, one or more cameras may be positioned in various ways relative to the first and second nozzles described below. For example, they may be positioned in a front-facing position. For another example, one camera may be positioned in a front-facing position toward the first and second nozzles, and another camera may be positioned so that the first and second nozzles are on the right. However, the present invention is not limited to this embodiment, and the orientation of one or more cameras may be set in various ways.

[0114] As another example, one or more cameras may be positioned at a distance A m (where A is a real number greater than 0) from the first nozzle and the second nozzle. For example, one or more cameras may be positioned within a range of 5 m to 7 m from the first nozzle and the second nozzle. However, the present embodiment is not limited thereto, and one or more cameras may be positioned at various locations from the first nozzle and the second nozzle.

[0115] As another example, the receiving stage can receive image information with a preset range of wavelengths blocked.

[0116] For example, the preset range may include 500 nm to 700 nm.

[0117] Typically, a camera can receive image information in the visible light range (380 nm to 780 nm). Therefore, the receiving stage can receive image information generated from wavelengths in the visible light range (380 nm to 780 nm) using one or more cameras, as long as it does not block a specific range of wavelengths.

[0118] Meanwhile, as the temperature of an object increases, wavelengths longer than 500 nm (red light) are generated according to Planck's law, and the luminescence intensity of that wavelength may increase.

[0119] For example, the temperature of the shroud nozzle included in the present disclosure is about 900 degrees or higher, and the temperature of the collector nozzle is about 150 degrees or lower due to the refractory material. Therefore, due to the temperature difference, the luminous intensity (hereinafter, luminous intensity) of light of 500 nm or higher may be higher in the shroud nozzle than in the collector nozzle. In this case, even if the camera captures the shroud nozzle and the collector nozzle simultaneously, the shroud nozzle may be clearly expressed in the image information, but the collector nozzle may be barely visible. In other words, due to the difference in luminous intensity, there may be difficulties in utilizing the image information received in the receiving stage.

[0120] Accordingly, the present embodiment blocks a preset range of wavelengths. In particular, given that the temperature of the shroud nozzle is around 900 degrees, a wavelength of 500 nm corresponding to this can be set as the lower limit of the preset range. This lower limit setting may be optimal considering the environment in which the present disclosure can be used, the temperature difference between the shroud nozzle and the collector nozzle, and the main wavelength range.

[0121] For example, a wavelength for capturing an image of a shroud nozzle having a temperature of around 900 degrees may be included, but in order to minimize interference with the collector nozzle, 500 nm, which is a wavelength that may occur at 900 degrees, may be set as the lower limit of the preset range. This provides more clear distinction between the shroud nozzle and the collector nozzle. In the case of a lower limit value lower than 500 nm, the shroud nozzle and the collector nozzle may not be captured, and in the case of a higher lower limit value, the luminous intensity of the shroud nozzle may increase, making it difficult to accurately distinguish the collector nozzle. Therefore, in one embodiment, the lower limit of the preset range may be set to 500 nm. However, this is exemplary, and the range may vary depending on the temperature of the shroud nozzle.

[0122] Meanwhile, conventional cameras can capture images using light in the visible light range. For example, typical RGB cameras use wavelengths of approximately 380 to 780 nm. Capturing shorter or longer wavelengths requires specialized cameras, such as infrared cameras. The present disclosure requires simultaneous imaging of two imaging objects with very large temperature differences: the shroud nozzle and the collector nozzle.

[0123] Therefore, to clearly distinguish between the two objects due to the temperature difference, a preset range of wavelengths is blocked. In particular, in the case of the collector nozzle, the wavelength according to the luminous intensity can appear long below about 150 degrees (Wien's law). In the case of such long wavelengths, clear separation and imaging are possible when using special cameras such as near-infrared cameras. However, near-infrared cameras are very expensive and difficult to manage in harsh environments such as industrial sites with dust.

[0124] Considering these points, the upper limit of the preset range according to one embodiment may be set to 700 nm. This is because it is below 780 nm, which is the wavelength that can be captured by a general camera, enabling imaging of relatively low-temperature objects such as a collector nozzle while also addressing the degradation of recognition due to the high temperature of the shroud nozzle. However, the upper limit of the preset range is exemplary and may be set to a value that allows imaging with a general camera, thereby addressing economic and environmental issues. This value may be set in conjunction with the camera installation environment, collector nozzle temperature, etc.

[0125] Additionally, the preset range is not limited to the present embodiment, and may be set to various ranges, and may include various ranges of wavelengths as well as wavelengths corresponding to red light.

[0126] Additionally, a preset range of wavelengths may be blocked by controlling the camera itself or by using an optical filter mounted on the camera.

[0127]

[0128] As another example, one or more cameras may each be equipped with an optical filter to block a preset range of wavelengths.

[0129] Additionally, the optical filter may include an absorbing glass that transmits visible light and absorbs wavelengths greater than 500 nm. For example, the absorbing glass may include blue glass with a pigment such as copper ions dispersed therein.

[0130] Additionally, the optical filter may include a blocking coat that transmits visible light and reflects wavelengths greater than 500 nm. For example, the blocking coat may include a dielectric multilayer film formed by alternately laminating high-refractive-index materials such as TiO2, ZrO2, Ta2O5, Nb2O5, and low-refractive-index materials such as SiO2, MgF2, on a transparent substrate, in dozens of layers.

[0131] However, while this embodiment focuses on an optical filter that blocks wavelengths greater than 500 nm, optical filters that block a wide range of wavelengths may be installed. Furthermore, various filters that perform the same function, in addition to the optical filter that blocks a preset range of wavelengths, may be installed.

[0132] As another example, the image information may include not only the object including the first nozzle and the second nozzle described above, but also information about the outer boundary of the object, color information, brightness information, and three-dimensional position information. However, the present invention is not limited to this embodiment, and the image information may include various types of information.

[0133]

[0134] The object identification step can identify the first nozzle and the second nozzle based on image information. (S520)

[0135] For example, the first nozzle may correspond to a shroud nozzle, and the second nozzle may correspond to a collector nozzle. Additionally, without being limited to the present embodiment, the first nozzle and the second nozzle may include various nozzles.

[0136] For another example, the object identification step can identify the first nozzle and the second nozzle using color information and brightness information included in the image information.

[0137] For example, if the temperature of the first nozzle is about 900 degrees and the temperature of the second nozzle is about 150 degrees, the brightness of the first nozzle may be higher than that of the second nozzle in the image information. Therefore, the first nozzle and the second nozzle can be distinguished by using the difference in brightness. In addition, if the temperature of the first nozzle is about 900 degrees and the temperature of the second nozzle is about 150 degrees, the color of the first nozzle may be expressed as red in the image information, and the color of the second nozzle may be expressed as a red close to black. Therefore, the first nozzle and the second nozzle can be distinguished by using the difference in color. However, the temperature of the first nozzle and the temperature of the second nozzle in the present embodiment are exemplary expressions, and are not limited to the present embodiment, and the object identification step can identify the object by using a configuration capable of identifying various temperatures, colors, brightnesses, and other objects included in the object.

[0138] As another example, the object identification step can identify the first nozzle and the second nozzle using a deep learning model (YOLO, SSD, Faster R-CNN), a machine learning model (SVM, Haar Cascade Classifier, Random Forest), or a computer vision technique and algorithm (SIFT, SURF, HOG, MSER, Template matching, feature extraction technique).

[0139] However, without being limited to the present embodiment, the object identification step may identify the first nozzle and the second nozzle using an algorithm and technique capable of identifying an object.

[0140]

[0141] Meanwhile, the position information calculation step can calculate position information of the first nozzle and position information of the second nozzle based on image information, and can calculate position difference information based on the position information of the first nozzle and position information of the second nozzle. (S530)

[0142] For example, multiple feature points can be extracted from the image information screen in the position information generation step. In this case, the feature points may correspond to the corners, center points, or other various feature points of the first and second nozzles existing within the image information screen. The embodiments of the present disclosure are described using the SURF (Speeded Up Robust Features) feature point detection algorithm, but the feature point detection algorithm is not limited thereto.

[0143] Additionally, the position information generation step may utilize one or more cameras to select one or more different image data containing the same feature point, and use trigonometry to derive the coordinates of the same feature point. However, since the method of calculating coordinates using trigonometry is already widely known, a detailed description thereof will be omitted. Furthermore, for convenience of explanation, the coordinates of the feature point include the position information of the first nozzle and the position information of the second nozzle.

[0144] For example, the position information generation step may generate position information of the first nozzle and position information of the second nozzle based on one or more pieces of image information. In this case, the position information of the first nozzle and the position information of the second nozzle may be generated in a three-dimensional (x, y, z) format.

[0145] Additionally, the position information of the first nozzle may include the center coordinates of the first nozzle. The center may refer to the exact center point of the nozzle. Additionally, the center coordinates of the first nozzle may refer to coordinates in a three-dimensional format. That is, the center coordinates of the first nozzle may include an x-coordinate, a y-coordinate, and a z-coordinate.

[0146] Additionally, the position information of the second nozzle may include the center coordinates of the second nozzle. In this case, the center coordinates of the second nozzle may refer to coordinates in a three-dimensional format. That is, the center coordinates of the second nozzle may include an x-coordinate, a y-coordinate, and a z-coordinate.

[0147] Here, the position difference information can be calculated as the difference between the center coordinates of the first nozzle and the center coordinates of the second nozzle. In addition, the position difference information can be calculated in a three-dimensional format. That is, the position difference information can include the x-coordinate difference, y-coordinate difference, and z-coordinate difference between the center coordinates of the first nozzle and the center coordinates of the second nozzle.

[0148] In addition, without being limited to this embodiment, the operation of calculating location information and location difference information in the location information calculation step can be set in various ways.

[0149]

[0150] The judgment step can determine whether the position difference information satisfies preset criteria. (S540)

[0151] For example, the preset criterion may be set to K mm (where K is a real number greater than or equal to 0). In addition, if the x-coordinate difference, y-coordinate difference, and z-coordinate difference included in the position difference information are each within the range of K mm, it may be determined that the preset criterion is met.

[0152] For example, the preset criterion may be set to 0.5 mm. The judgment step may determine that the preset criterion is met if the x-coordinate difference is 0.5 mm, the y-coordinate difference is 0.4 mm, and the z-coordinate difference is 0.5 mm.

[0153] However, the present invention is not limited to this embodiment and various preset criteria may be set.

[0154] The control step can move one of the first nozzle and the second nozzle or engage the first nozzle and the second nozzle based on the position difference information, depending on whether the condition is satisfied. (S550)

[0155] For example, the control step can engage the first nozzle and the second nozzle when the position difference information meets a preset criterion.

[0156] For another example, the control step may move the first nozzle toward the second nozzle based on the position difference information if the position difference information does not meet a preset criterion. Additionally, the first nozzle may be gripped by the manipulator, and the first nozzle may be moved toward the second nozzle based on the movement of the manipulator.

[0157] The above description is merely an example of the technical idea of ​​the present disclosure, and those skilled in the art to which the present disclosure pertains will appreciate that various modifications and variations can be made without departing from the essential characteristics of the technical idea of ​​the present disclosure. In addition, the present embodiments are not intended to limit the technical idea of ​​the present disclosure but rather to explain it, and therefore the scope of the technical idea of ​​the present disclosure is not limited by these embodiments. The scope of protection of the present disclosure should be interpreted by the claims below, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of the rights of the present disclosure.

[0158]

[0159] CROSS-REFERENCE TO RELATED APPLICATION

[0160] This patent application claims priority under 35 USC § 119(a) to Korean Patent Application No. 10-2024-0114705, filed in Korea on August 27, 2024, the entire contents of which are incorporated herein by reference. Furthermore, this patent application claims priority in countries other than the United States for the same reasons, the entire contents of which are incorporated herein by reference.

Claims

1. A receiving unit that receives image information with a preset range of wavelengths blocked using one or more cameras; An object identification unit that identifies the first nozzle and the second nozzle based on the above image information; A position information calculation unit that calculates position information of the first nozzle and position information of the second nozzle based on the image information, and calculates position difference information based on the position information of the first nozzle and the position information of the second nozzle; A judgment unit that determines whether the above location difference information satisfies a preset standard; and A nozzle fastening device including a control unit that moves one of the first nozzle and the second nozzle or fastens the first nozzle and the second nozzle based on the position difference information, depending on whether the above is satisfied.

2. In paragraph 1, The above preset range is, A nozzle fastening device comprising a range of 500 nm to 700 nm.

3. In paragraph 1, One or more of the above cameras, A nozzle fastening device comprising an optical filter for blocking a wavelength within the preset range.

4. In paragraph 1, The above first nozzle corresponds to a shrouder nozzle, The above second nozzle is a nozzle fastening device corresponding to a collector nozzle.

5. In paragraph 1, The above object identification part is, A nozzle fastening device that identifies the first nozzle and the second nozzle using color information and brightness information included in the image information.

6. In paragraph 1, The position information of the first nozzle includes the center coordinates of the first nozzle, The position information of the second nozzle includes the center coordinates of the second nozzle, A nozzle fastening device in which the above position difference information is calculated as the difference between the center coordinates of the first nozzle and the center coordinates of the second nozzle.

7. In paragraph 1, The above control unit, If the above location difference information meets the above preset criteria, A nozzle fastening device for fastening the first nozzle and the second nozzle.

8. In paragraph 1, The above control unit, If the above location difference information does not meet the above preset criteria, A nozzle fastening device that moves the first nozzle in the direction of the second nozzle based on the position difference information.

9. In paragraph 8, The above first nozzle is gripped on the manipulator, A nozzle fastening device in which the first nozzle moves in the direction of the second nozzle based on the movement of the manipulator.

10. A receiving step of receiving image information with a preset range of wavelengths blocked using one or more cameras; An object identification step for identifying a first nozzle and a second nozzle based on the above image information; A position information calculation step for calculating position information of the first nozzle and position information of the second nozzle based on the image information, and calculating position difference information based on the position information of the first nozzle and the position information of the second nozzle; A judgment step for judging whether the above location difference information satisfies a preset standard; and A nozzle fastening method including a control step of moving one of the first nozzle and the second nozzle or fastening the first nozzle and the second nozzle based on the position difference information, depending on whether the above is satisfied.

11. In paragraph 10, The above preset range is, A nozzle fastening method comprising 500 nm to 700 nm.

12. In paragraph 10, One or more of the above cameras, A nozzle fastening method comprising an optical filter for blocking a wavelength in the above preset range.

13. In paragraph 10, The above first nozzle corresponds to a shrouder nozzle, The above second nozzle is a nozzle fastening method corresponding to a collector nozzle.

14. In paragraph 10, The above object identification step is, A nozzle fastening method for identifying the first nozzle and the second nozzle using color information and brightness information included in the image information.

15. In paragraph 10, The position information of the first nozzle includes the center coordinates of the first nozzle, The position information of the second nozzle includes the center coordinates of the second nozzle, A nozzle fastening method in which the above position difference information is calculated as the difference between the center coordinates of the first nozzle and the center coordinates of the second nozzle.

16. In paragraph 10, The above control step is, If the above location difference information meets the above preset criteria, A nozzle fastening method for fastening the first nozzle and the second nozzle.

17. In paragraph 10, The above control step is, If the above location difference information does not meet the above preset criteria, A nozzle fastening method for moving the first nozzle in the direction of the second nozzle based on the position difference information.

18. In paragraph 17, The above first nozzle is gripped on the manipulator, A nozzle fastening method in which the first nozzle moves in the direction of the second nozzle based on the movement of the manipulator.

Images