| Changes in the tilt angle of the blast furnace outlet center sleeve can have an adverse effect on the long-term stable operation of the blast furnace and even reduce the quality of steel production,so the change in the tilt angle of the air outlet center sleeve needs to be detected regularly during the daily inspection.For the current problems of labor intensity and low efficiency of manual inspection,as well as the high maintenance cost and high price of laser scanning inspection,this paper designs a new type of air outlet tilt angle inspection robot based on a low-cost 3D laser scanner developed independently,which has the functions of autonomous navigation,remote control,3D modeling and human-computer interaction,and has been successfully applied in the online inspection system of the air outlet center set tilt angle of No.1blast furnace of Maanshan.It has been successfully applied in the online tilt angle inspection system of No.1 blast furnace of Ma Steel.In this paper,the system is studied from the following aspects.First of all,the rotating model in the point cloud data acquisition is analyzed,and based on the clarification of the model-related coordinate systems and their interconversion relationships,a hybrid filtering algorithm combining voxel downsampling and statistical filtering is proposed through the analysis of common filtering algorithms in 3D point clouds,which achieves the goal of both reducing the number of point clouds and filtering the noise points in the point clouds,and improves the efficiency of subsequent plane extraction.In addition,the planes of the wind mouths collected by the 3D laser scanner are extracted by the improved RANSAC(Random Sample Comsensus)algorithm,and the inclination angle of the wind mouths is calculated using the relationship between the normal vectors of the planes.Secondly,the 3D laser scanner with 2D LIDAR and rotating motor as the core was developed independently,and the peripheral circuits of the three major processing units related to the field information acquisition and processing,motion control,and power remote control of the windbreak inclination inspection robot carrier were designed.Integrating the communication protocols among hardware devices and further improving the hardware communication system,the platform uses multi-sensor devices to obtain the basic information of the blast furnace wind mouth and the robot body,so as to improve the functional integrity of the inspection system.Subsequently,the magnetic navigation system is used to realize the trajectory tracking and wind-port positioning of the inspection robot.The robot-related software system is designed,and the important function interfaces in the system are analyzed to realize the data interaction between software and hardware.A multi-threaded approach is used to complete the human-computer interaction interface of the upper computer.The concept of parameter server is proposed to enhance the robustness of the tilt detection system.Finally,the experimental platform of the inspection robot is built and the key parts of the robot,such as magnetic navigation offset,stability of 3D laser scanner,and external sensor data acquisition,are tested experimentally.The experimental results show that the maximum offset distance of the magnetic navigation of the inspection robot is 10 mm,which satisfies the requirements of trajectory tracking under repeated manual interference;the vertical scanning frequency of the 3D laser scanner is up to24.9Hz,which is close to the horizontal scanning frequency of 25 Hz,which satisfies the requirements of point cloud data acquisition;the data of each external sensor are within the normal range.The test results of blast furnace air outlet tilt angle in real scenarios show that the inspection robot tilt angle detection system is comparable in accuracy compared with manual inspection,but 11% higher in time efficiency,with good prospects for industrial applications. |
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