基于近红外视觉的排渣机械手高温炉渣定位方法

High-temperature Furnace Slag Positioning Method for Slag Discharging Manipulator Based on Near-infrared Vision

针对金属冶炼排渣机械手对炉渣位置定位的问题,本文提出了一种基于近红外视觉的高温目标定位方法。使用红外阵列传感器和CMOS摄像头结构光三维重建视野标定后搭建出一套近红外视觉系统。用蜡烛光模拟高温炉渣,将红外阵列传感器采集的温度点阵数据绘制出伪彩色温度分布图,利用仿射不变性原理将其与彩色图像配准融合,生成高温炉渣及其周围环境的红外-可见光融合图像。最后,利用红外阵列传感器横、纵视野角分量投影的方法得到高温炉渣的三维坐标。实验结果表明,红外阵列传感器定位高温炉渣的方法是可行的。定位得到高温炉渣的三维坐标为机械手提供目标期望给定,机械手可进一步完成排渣任务。

A high-temperature target positioning method based on a near-infrared vision system is proposed for the slag positioning for the manipulator in metal smelting and slagging.A near-infrared vision system is built by infrared array sensors and a complementary metal-oxide-semiconductor(CMOS)camera after performing directional calibration of structured light three-dimensional reconstruction.Candle light is used to simulate the high-temperature slag,and the temperature lattice data collected by the infrared array sensor are plotted as a pseudocolor temperature distribution map.The affine invariance principle is used to align the pseudocolor temperature distribution map with the color image to generate an infrared-visible fusion image of the high-temperature slag and its surrounding environment.Finally,the three-dimensional coordinates of the high-temperature slag are obtained by the infrared array sensors'transverse and longitudinal viewing angle proportion projection.The experimental results show that the method of positioning high-temperature slag by an infrared array sensor is viable.The three-dimensional coordinates of the high-temperature slag gained by positioning could provide an objective expectation for the manipulator,helping the manipulator to complete slagging.