一种基于机器视觉的高炉铁口深度检测方法  

A method for detecting blast furnace taphole depth based on machine vision

作　　者：王玉涛[1] 郑宗鹏 苏志祁 杨钢[1] 王大阳 郝乐 WANG Yutao;ZHENG Zongpeng;SU Zhiqi;YANG Gang;WANG Dayang;HAO Le(School of Information Science and Engineering,Northeastern University,Shenyang 110819,China;Ironmaking Department,Shougang Jingtang United Iron and Steel Co.,Ltd.,Tangshan 063210,China;Liugang Dongxin Technology Company Limited,Liuzhou 545002,China)

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110819 [2]首钢京唐钢铁联合有限责任公司炼铁作业部,河北唐山063210 [3]柳钢东信科技有限公司,广西柳州545002

出　　处：《冶金自动化》2022年第2期118-124,共7页Metallurgical Industry Automation

基　　金：国家重点研发计划项目(2018YFB1307400)。

摘　　要：维持稳定的高炉铁口深度对高炉安全生产以及高炉长寿具有重要意义。目前,高炉铁口深度检测是利用开铁口机的行程标尺或速度编码器,而铁口环境恶劣,具有高温、强腐蚀、多尘、多振动等特点,难以实现低成本、高效率测量。对此,提出了一种基于ArUco标记的机器视觉测距技术,针对ArUco标记,研究了快速、准确提取ArUco标记特征点的方法;针对铁口打开时机难以人工判断的情况,提出基于图像颜色变化的铁口打开判据,实现铁口深度的自动测量。实验表明,在实验室景深5 m、量程4.3 m的条件下,移动距离的测量相对误差小于1%;在现场环境下,该方法可以实时有效提取标记区域,检测速度可以达到20 fps,满足炉前区域高炉铁口深度的持续、准确测量需求。A stable blast furnace taphole depth is of great significance to the safety of production and the longevity of the blast furnace.Currently,the taphole depth has been measured by tapping machine stroke scale or speed encoder.However,the harsh environment of high temperature,high corrosion,dusty and vibration around the taphole,and it is difficult to achieve low-cost and high-efficiency measurement.A machine vision ranging technology based on ArUco marker is proposed to realize the automatic measurement of taphole depth.The extraction method of feature points is studied to rapid and accurate detection of ArUco marker pose.The tap opening criterion based on the image color change is proposed in view of the situation that it is difficult to judge the opening timing of the taphole manually.Experiments show that the relative error of the moving distance is less than 1%with a depth of 5 m and a measuring range of 4.3 m.In the field environment,the method proposed can effectively extract the marked area in real time,and the detection speed can reach 20 fps,which can meet the continuous and accurate measurement requirements of blast furnace taphole depth in the front of the furnace.

关 键 词：高炉铁口 机器视觉 ArUco标记 姿态估计 深度检测 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TF546.1[自动化与计算机技术—计算机科学与技术]