Automatic brazing rod changing method based on machine vision

Abstract

The invention discloses an automatic brazing rod changing method based on machine vision. The automatic brazing rod changing method comprises the following steps of: mounting an industrial camera and an embedded type processor, wherein an image acquisition area of the industrial camera covers an area of a mechanical hand and a brazing rod; processing the brazing rod according to an image acquired by the industrial camera, and separating the position of the brazing rod from background and detecting the position of the brazing rod by utilizing steps such as Gaussian filter, sharpening, edge detecting and linear detecting; judging whether the brazing rod is in place or not; detecting the position of a mechanical gripping arm by utilizing a target-detecting and target-tracking algorithm, tracking a motion state of the mechanical hand in real time, judging a relative position relationship of the mechanical hand and the brazing rod, and judging whether the mechanical hand is in place or not according to shielding degree of the mechanical hand and the brazing rod; and transmitting detected and analyzed results to a field controller, and controlling each part of an automatic brazing rod changing device. The automatic brazing rod changing method based on machine vision disclosed by the invention meets generation requirements of automatic equipment, and improves mechanical and automatic level of casthouse equipment.

Description

technical field [0001] The invention is an automatic brazing method based on machine vision, which belongs to the technical field of machine vision in the technical field of metallurgical equipment. Background technique [0002] The taphole machine is a common equipment in ironworks, and its function is mainly to open the blast furnace taphole by steel brazing. With the development of large-scale blast furnaces and the requirements of Industry 4.0, the requirements for the mechanization and automation of furnace equipment are getting higher and higher. And in the current blast furnace steelmaking plant, what still adopt mostly is to manually change / unload the steel brazing machine, and the automatic brazing machine that a few large-scale steelmaking plants adopt has the following 3 problems in the process of using: (1) due to the Factors such as unbalanced length and weight distribution lead to skewing of the drill rod, which prevents the mechanical gripping arm from proper...

AI Technical Summary

Problems solved by technology

And in the current blast furnace steelmaking plant, what still adopt mostly is to manually change / unload the steel brazing machine, and the automatic brazing machine that a few large-scale steelmaking plants adopt has the following 3 problems in the process of using: (1) due to the Factors such as unbalanced length and weight distribution lead to skewing of the drill rod, which prevents the mechanical gripper arm from properly gripping the drill rod

(2) Affected by the harsh environment on site, the mechanical grabbing arm may not be able to operate properly and there will be empty grabbing

(3) Whether the automatic brazing machine performs the brazing operation or unloading operation, manual judgment is still used at present, and comprehensive automation and intelligence have not been realized.

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