高炉风口巡检机器人控制系统设计与实现  

Design and Implementation of Control System for Blast Furnace tuyere Inspection Robot

作　　者：李岩 彭诚 马义德 LI Yan;PENG Cheng;MA Yide(Benxi Steel Plate Co.,Ltd.,Benxi 117000,China;Benxi Beiying Iron and Steel(Group)Co.,Ltd.,Ironmaking Plant,Benxi 117000,China;Beihua Aerospace Industry College,Langfang 065000,China)

机构地区：[1]本钢板材股份有限公司,辽宁本溪117000 [2]本溪北营钢铁(集团)股份有限公司炼铁总厂,辽宁本溪117000 [3]北华航天工业学院,河北廊坊065000

出　　处：《传感器世界》2024年第9期1-7,共7页Sensor World

摘　　要：针对钢铁行业中高炉风口设备人工巡检存在的效率低下、图像数据采集质量差等问题,设计并实现了一种基于机器人的自动化巡检控制系统,旨在提升检测效率并保障设备安全稳定运行。系统采用HollySys嵌入式平台作为核心控制器,并基于机器人操作系统SCADA构建软件平台。通过集成红外热成像、视觉采集、煤气检测和声音监测等传感器,实现了对高炉风口区域的实时监控和数据采集。利用ModBus TCP协议,实现了机器人与远程管理平台的高效通信。通过图像算法处理,图像清晰度和亮度显著提升,导航定位精度达到10 mm级别,且巡检周期缩短至10 min,时间效率较人工巡检提升3倍。In response to the problems of low efficiency and poor image data acquisition quality in manual inspection of blast furnace tuyere equipment in the steel industry,this paper designs and implements an automated inspection control system based on robots,aiming to improve detection efficiency and ensure the safe and stable operation of equipment.The system adopts the HollySys embedded platform as the core controller and builds a software platform based on the robot operating system SCADA.By integrating sensors such as infrared thermal imaging,visual acquisition,gas detection,and sound monitoring,real-time monitoring and data acquisition of the blast furnace tuyere area have been achieved.By utilizing the ModBus TCP protocol,efficient communication between robots and remote management platforms has been achieved.Through image algorithm processing,significant improvements in image clarity and brightness have been achieved,navigation and positioning accuracy has reached the level of 10 mm,and the inspection cycle has been shortened to 10 min,with a time efficiency three times higher than manual inspection.

关 键 词：机器人控制系统 图像算法设计 激光SLAM导航建图像 热成像温度获取 实验验证 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]