HALcon软件在宝钢连铸机浇铸机器人中的应用

Application of binocular vision for casting robot of continuous casting at Baosteel by HALcon software

机器人作为智能制造最具代表性的装备,在宝钢连铸机上已经实施。连铸机浇铸机器人在进行大包滑动水口油缸安装、大包介质管线连接和大包长水口更换等作业时,工件和机器人相对位置姿态会发生改变,而双目视觉定位系统可以引导机器人重新定位。介绍了双目视觉定位系统的基本原理,以及如何利用HALcon机器视觉软件开发宝钢连铸机浇铸机器人双目视觉定位系统。实践表明,双目视觉定位系统可有效计算出大包坐包和回转过程中的偏移,实现机器人精确定位。

Robot as the most representative intelligent manufacturing equipment has been used in Baosteel continuous caster.As the robots work through the process,such as to assemble/disassemble the ladle nozzle slide-gate cylinder,media coupling or the ladle shroud,the target object must be positioned for guiding the robots.The basic principle of binocular vision and how to develope binocular vision system by the machine vision software HALcon for guiding the robots is introduced.Practice shows that the binocular vision positioning system can effectively calculate the ladle position deviation because of dropping off and turning to guide the robot.