基于视觉伺服定位控制技术的智能鹤管装车系统研究  

Research on Intelligent Crane Tube Loading System Based on Visual Servo Positioning Control Technology

作　　者：袁君奇 黄成勇 Yuan Junqi;Huang Chengyong(Xiangtan Iron and Steel Group Co.,Ltd.,Xiangtan 411101,Hunan)

机构地区：[1]湘潭钢铁集团有限公司,湖南湘潭411101

出　　处：《冶金设备管理与维修》2023年第6期54-57,共4页Metallurgical Equipment Management and Maintenance

摘　　要：钢铁企业中焦化附产品焦油、粗苯、氨水的油罐装车存在人工劳动强度大,罐口对位难等难题,同时油气挥发影响操作人员身心健康,易引发安全事故。本文介绍一种视觉伺服定位控制方法设计的全智能鹤管装车系统,可以快速准确地进行鹤管与罐口的自动定位及密闭装车,对装车效率的提高和安全事故的避免意义重大。Oil tank loading for coking by-products,such as tar,crude benzene and ammonia has high manual labor intensity and difficult tank mouth alignment,furthermore the oil and gas volatilization affects the physical and mental health of the operators and it is easy to cause safety accidents.In this paper,a fully intelligent crane tube system designed by visual servo positioning control method is introduced,which can quickly and accurately carry out automatic positioning and sealed loading of crane tube and tank mouth,which can improve the loading efficiency and avoid safety accidents.

关 键 词：鹤管 罐口 雅可比矩阵 图像处理 

分 类 号：TF341[冶金工程—冶金机械及自动化]