CN105423928B - A kind of converter lining thickness measurement with laser automatic positioning equipment and automatic positioning method - Google Patents
A kind of converter lining thickness measurement with laser automatic positioning equipment and automatic positioning method Download PDFInfo
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- CN105423928B CN105423928B CN201510938207.8A CN201510938207A CN105423928B CN 105423928 B CN105423928 B CN 105423928B CN 201510938207 A CN201510938207 A CN 201510938207A CN 105423928 B CN105423928 B CN 105423928B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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Abstract
A kind of converter lining thickness measurement with laser automatic positioning equipment of present invention offer and automatic positioning method, wherein automatic positioning equipment are fixedly mounted on the sphere that converter trunnion ring includes three distributions triangular in shape；Automatic positioning method is：The spatial point cloud coordinate data for scanning automatic positioning equipment, obtaining automatic positioning equipment；Identify and fit coordinate value of three sphere centre ofs sphere in laser thickness gauge coordinate system；The conversion relation for calculating two coordinate systems is sought according to coordinate value of three sphere centre ofs sphere in laser thickness gauge coordinate system and converter coordinate system, realizes the positioning of laser thickness gauge.Since automatic positioning equipment is fixedly mounted on converter trunnion ring, it may be determined that coordinate value of three sphere centre ofs sphere in converter coordinate system；Since sphere has distinctive appearance, can guarantee scanning time point cloud data automatic identification at various locations be fitted function it is accurate realize, obtain the sphere centre of sphere laser thickness gauge coordinate system coordinate value, to obtain the transformational relation of two coordinate systems, realize the positioning of laser thickness gauge.
Description
Technical field
The present invention relates to converter steeling technology field, more particularly to a kind of converter lining thickness measurement with laser is filled with automatic positioning
It sets；Separately the invention further relates to a kind of converter lining thickness measurement with laser automatic positioning methods.
Background technology
In Converter Oxigen Blowing smelting process, the Long Term Contacts such as furnace lining and high temperature liquid iron, clinker and furnace gas and generate part invade
Lose phenomenon；Meanwhile furnace lining also local damage can be occurred by adding the operations such as steel scrap, deslagging, tapping to be influenced.With production into
Row, lining thickness can be gradually thinning；When current thickness is less than safety value, then it is easy to happen and wears the serious accidents such as steel.
Currently, with the development of lining repairing technology and the extensive use of Technology of Slag Splashingfor Furnace Maintenance, converter lining uses the longevity
Life can reach ten thousand stoves of 1-2, and the probability that steel accident is worn in converter within the expected stove labour phase is almost nil；But accurately detect converter
The depth information of furnace lining everywhere wastes caused by reducing transition repairing, converter lining is made to keep best profile pattern to prolong
Its long furnace life and reduction furnace lining are built cold repair number and are played an important roll again.Meanwhile accurately detecting converter lining depth information everywhere
Converter molten pool liquid level and tapping angle can be predicted, optimization oxygen rifle position and tapping angle, and then instruct pneumatic steelmaking.
Therefore, periodic detection convertor lining thickness situation is very necessary to ensureing STEELMAKING PRODUCTION safety, optimization process for making.
Currently, since laser measurement convertor lining thickness has the advantages that non-contact, quick, accuracy is high and strong interference immunity and extensive
Applied to converter lining thickness measurement technology field.
During being detected to convertor lining thickness using laser thickness gauge, the positioning of equipment is very important
Link, convenience, speed and the operational suitability of positioning directly affect the accurate quick progress of kiln lining thickness measuring.For using sharp
Optar and total powerstation as the converter lining laser thickness gauge of laser component for, positioning is swashed by manual operation
Three are realized with the known point of converter position relationship outside optar or total powerstation scanning converter, are operated artificial bad adaptability, are determined
The position time is long, and since anchor point is easily blocked by dust, positioning accuracy is poor.Foreign countries are made using three-dimensional laser scanner
For the converter lining laser thickness gauge of laser component, reflecting strips positioning mode is used, realizes automatic positioning, but position
With measurement it is to separate with laser with laser, cost is higher, while ash and converter lining Laser Measuring are stained in reflection bar surface
When thick instrument cannot be horizontally arranged, it will appear larger position error, and for consolidating in converter front platform setting flag point group
Positioning is set for positioning mode, and converter lining laser thickness gauge can only be fixed on several positions and measure, and it is flexible to be unfavorable for equipment
Measure the depth information of converter lining everywhere.
Invention content
The positioning of laser thickness gauge during being detected to convertor lining thickness using laser thickness gauge for solution is existing
Problem complicated for operation, time loss is long, positioning accuracy is not high, the present invention provide a kind of new converter lining thickness measurement with laser use
Automatic positioning equipment and converter lining thickness measurement with laser automatic positioning method based on this automatic positioning equipment.
The present invention provides a kind of converter lining thickness measurement with laser automatic positioning equipment, is fixedly mounted on converter trunnion ring, wraps
Three positions are included to be relatively fixed and the sphere of distribution triangular in shape.
Optionally, three spheres are distributed in isosceles triangle；Two balls at isosceles triangle base angle
The centre of sphere of body is located in converter trunnion ring midline plane, positioned at the sphere of isosceles triangle vertex the centre of sphere be located at perpendicular to
Trunnion of converter axis and divide equally in the plane of revolving furnace body.
Optionally, the radius R of the sphere meets：60mm<R<80mm.
Optionally, the automatic positioning equipment also has bracket component；The bracket component is fixedly connected with converter trunnion ring；
Three spheres are fixedly mounted on the bracket component.
Optionally, the sphere is specially segment；The segment is fixed on the holder group by the threaded hole on bottom surface
On part.
Optionally, also have for preventing slag from dropping to the slag trap on the sphere and supporting the gear of the slag trap
Slag plate reinforcing rib；The slag trap and the slag trap reinforcing rib are fixedly connected with the bracket component.
Optionally, also there is bracket component reinforcing rib on the bracket component.
Converter lining thickness measurement with laser automatic positioning equipment provided by the invention, including three distributions triangular in shape of installation
Sphere, laser thickness gauge can be realized with smaller scanning angle to the quick of automatic positioning equipment in the position closer apart from converter
Scanning；Since automatic positioning equipment is fixedly mounted on converter trunnion ring, also can very easily according to automatic positioning equipment size,
Installation site and converter trunnion ring outer diameter accurately calculate three sphere centre ofs sphere in the coordinate of converter coordinate system, improve positioning accuracy；By
There is distinctive appearance in sphere, it is ensured that laser thickness gauge scans time point cloud data automatic identification and fitting function at various locations
Accurate realization, to ensure the automatic positioning of laser thickness gauge at various locations.
In the embodiment of the invention, three spheres are distributed in isosceles triangle, are located at isosceles triangle base angle
The centre of sphere of two spheres at place is in backing ring midline plane, and the centre of sphere for being located at the sphere of vertex is located at perpendicular to trunnion of converter
Axis and divide equally in the plane of revolving furnace body, be convenient for three sphere centre of sphere coordinate values in converter coordinate system calculating, also just
Point cloud data is acquired in converter lining laser thickness gauge, quickly calculates three sphere centre ofs sphere for obtaining automatic positioning equipment in laser
The coordinate value of calibrator coordinate system.
In the embodiment of the invention, automatic positioning equipment has bracket component and sphere is solid by bracket component
It is scheduled on converter trunnion ring, and also there is corresponding slag trap, slag trap reinforcing rib and bracket component reinforcing rib, converter life can be reduced
Produce the adverse effect of high temperature, more dirt and slag to automatic positioning equipment structure and shape.
The present invention also provides the converter lining thickness measurement with laser automatic positioning methods based on aforementioned automatic positioning equipment, are used for
Laser thickness gauge carries out the positioning before lining thickness measurement, including,
Step S101：The automatic positioning equipment is scanned, the spatial point cloud coordinate data of the automatic positioning equipment is obtained；
Step S102：Identify and fit three spheres in the spatial point cloud coordinate data of the automatic positioning equipment
Coordinate value of the centre of sphere in laser thickness gauge coordinate system；
Step S103：Using seven parameter model of Rodrigo, according to three sphere centre ofs sphere in the laser thickness gauge
Coordinate system and the coordinate value in the converter coordinate system seek the conversion relation for calculating two coordinate systems, realize the thickness measurement with laser
The positioning of instrument.
Optionally, three are identified and are fitted in the spatial point cloud coordinate data of the automatic positioning equipment in step S102
Coordinate value of the sphere centre of sphere in laser thickness gauge coordinate system be specially：
The spatial point cloud coordinate data of automatic positioning equipment is handled using the clustering algorithm based on Euclidean distance, is obtained
To the coarse extraction point cloud data of all similar spheres；
The coarse extraction point cloud data is handled using sampling consistency algorithm to obtain intermediate extraction point cloud data；
The intermediate extraction point cloud data is handled to obtain target using the relative position relation of three spheres
Sphere point cloud data；
Calculation is asked using space spherical equation and the principle of least square, according to the target sphere point cloud data of three spheres
Coordinate value of three spheres in the laser thickness gauge coordinate system.
Optionally, the spatial point cloud coordinate data of automatic positioning equipment is filtered before the step S102；
The down-sampling filtering being filtered including carrying out successively and statistical parameter filtering.
Converter lining thickness measurement with laser automatic positioning method provided by the invention, by scan automatic positioning equipment obtained from
Dynamic positioning system point cloud data, then identify and fit three sphere centre ofs sphere in positioning device point cloud data and sat in laser thickness gauge
Mark system in coordinate, and according to coordinate of the three sphere centre ofs sphere being calculated in converter coordinate system ask calculate laser thickness gauge and
Relative position relation between converter；Laser thickness gauge at each position can be achieved in this way with respect to the automatic positioning of converter to be conducive to
Equipment flexibly measures the depth information of converter lining everywhere.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is structural schematic diagram when specific embodiment of the invention laser thickness gauge is automatically positioned；
Fig. 2 is the automatic positioning equipment topology view of the specific embodiment of the invention；
Fig. 3 is the automatic positioning equipment front view of the specific embodiment of the invention；
Fig. 4 is sphere schematic diagram in specific embodiment of the invention automatic positioning equipment；
Fig. 5 is the flow chart of specific embodiment of the invention converter lining thickness measurement with laser automatic positioning method；
In Fig. 1-Fig. 4：1- revolving furnace bodies, 2- converter trunnion rings, 3- trunnion of converters, 4- automatic positioning equipments, 41- spheres, 42-
Bracket component, 43- slag traps, 44- slag traps reinforcing rib, 45- bracket components reinforcing rib, 5- laser thickness gauges.
Specific implementation mode
The present invention provides a kind of converter lining thickness measurement with laser automatic positioning equipment, realizes converter lining laser thickness gauge
Quickly, convenient positioning.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is structural schematic diagram when specific embodiment of the invention converter lining laser thickness gauge is automatically positioned,
Fig. 2 is the automatic positioning equipment topology view of the specific embodiment of the invention, Fig. 3 is the automatic of the specific embodiment of the invention
Positioning device front view.It can be seen that the automatic positioning equipment 4 of the present invention is mounted on from Fig. 1, Fig. 2 and Fig. 3 and drive 1 turn of converter body
On dynamic converter trunnion ring 2 comprising three spheres 41；Three 41 positions of sphere are relatively fixed and are distributed in isosceles triangle, position
The centre of sphere of two spheres 41 at isosceles triangle base angle is in the midline plane of converter trunnion ring 2, another sphere 41
The centre of sphere is located at the axis perpendicular to trunnion of converter 3 and divides equally in the plane of revolving furnace body 1.
It is arranged since sphere has distinctive appearance and protruded relative to entire converter, using laser thickness gauge 5 each
When a position scanning automatic positioning equipment 4, automatic identification and the fitting of the spherical surface point cloud data of sphere 41 can be accurately realized,
It is quickly obtained coordinate value of the centre of sphere of three spheres 41 in laser thickness gauge coordinate system.
Since position of three 41 centre ofs sphere of sphere on converter trunnion ring is fixed in automatic positioning equipment 4, can according to turn
The radius of three spheres 41 is true in position on converter trunnion ring of 2 outer diameter of stove backing ring, automatic positioning equipment 4, automatic positioning equipment 4
Fixed coordinate value of three sphere centre ofs sphere in converter coordinate system.
Then the coordinate according to three spheres 41 in 5 coordinate system of laser thickness gauge and converter coordinate system obtains two coordinates
The conversion relation of system realizes that laser thickness gauge 5 at various locations with respect to the positioning of converter, ensures the fast of follow-up furnace lining thickness measurement with laser
Fast, convenient progress.
For existing manual positioning and reflection bar positioning method, the Converter based on automatic positioning equipment 4
Lining thickness measurement with laser automatic positioning method can realize accurate positionin when laser thickness gauge 5 measures at various locations, while energy
Enough accelerate locating speed, improves the convenience of positioning.
It is contemplated that realizing that the positioning of laser thickness gauge 5 mainly obtains three sphere centre ofs sphere by the appearance of three spheres
Coordinate value in laser thickness gauge coordinate system；Consider from application principle angle, three spheres of automatic positioning equipment 4 are simultaneously unlimited
Position is fixed at aforementioned location, could be secured in a regional extent at this position, but it should ensureing actual use
Middle laser thickness gauge can obtain enough sphere point cloud datas for indicating three sphere features；Certainly, three spheres is opposite
Position relationship is not limited to form isosceles triangle, can also form the triangle of other structures, but it should reducing three as far as possible
A sphere is overlapped, close to and to the influence that obtains of sphere point cloud data.
Further, for ensure converter lining thickness measurement with laser when can successfully realize from automatic positioning equipment point cloud data
It identifies target umbilical point cloud data and fits ball sphere centre coordinate, the radius R of sphere 41 preferably meets：60mm<R<80mm；It examines
Consider the convenience of the installation of sphere 41 of actual use and ensures that sphere position protrusion, sphere 41 are arranged to segment shape, segment
High L4 preferably meets:125mm<L<145mm.Although should be noted that using segment, since segment exposed parts are still
Sphere spherical surface, therefore it is still sphere that its is apparent；Certainly, in other specific implementations, complete sphere 41 can also be used and be installed on
On bracket component 42.It shall yet further be noted that the radius of sphericity of three spheres 41 can be the same or different herein, its processing side is considered
Just its size of property is preferably identical.
In actual installation, three spheres 41 in automatic positioning equipment 4 of the present invention are not to be directly installed on converter trunnion ring 2
On, but it is fixedly mounted on realization positioning on converter trunnion ring 2 by being first installed on bracket component 42, then by bracket component 42；
It is contemplated that such mounting means can facilitate the position between sphere 41 to position, improve the convenience of installation.The present invention's
In one specific implementation, there is threaded hole, segment mode is bolted and is fixed on bracket component 42 on the bottom surface of three segments
On, very easily realize installation of the segment on bracket component 42.
In production operation, because pneumatic steelmaking slag and tapping when oxygen rifle slag can be splashed to 41 surface of sphere and holder
Change the shape of sphere 41 and bracket component 42 on component 42, influence the accurate of post laser thickness measurer of furnace liner Scan orientation
Property；For this purpose, can also be arranged on automatic positioning equipment 4 prevents slag from dropping into the slag trap 43 on sphere 41 and support slag trap
43 slag trap reinforcing rib 44, slag trap 43 and slag trap reinforcing rib 44 be respectively positioned on bracket component 42 upside, can be with holder group
Part 42 is fixedly connected, installation easy to process.In addition, to improve the structural strength of bracket component 42, can also be set on bracket component 42
Bracket component reinforcing rib 45 is set, to prevent from deforming.
In the present invention is embodied, sphere 41 can be hard aluminium alloy 2A12 materials or round steel Q235 materials, and automatic
Q235 materials or No. 45 steel materials can be used in other assemblies in positioning device 4.In addition, to prevent slag from sphere 41 being caused to become
Shape, sphere 41 are preferentially set as solid construction.
It is contemplated that as a result of above safeguard structure and location structure, automatic positioning equipment 4 has preferable anti-
Deformability, the position stabilization of 41 centre of sphere of sphere, are effectively ensured stability of 41 centre of sphere of sphere in converter coordinate system, Neng Goushi
The adverse circumstances for answering converter scene high temperature, more dirt meet convenient, the functional need of converter lining thickness measurement with laser.
Foregoing automatic positioning equipment 4 should be mounted on converter trunnion ring 2, below with regard to how by automatic positioning equipment 4
A simple introduction is done on converter trunnion ring 2：First, midline position that is flat and marking converter trunnion ring 2 is shaken into converter, makes certainly
The centre of sphere of two spheres 41 in downside is located at this position in dynamic positioning system 4, then makes one, top ball using horizon rule measurement
The centre of sphere of body 41 is located at the symmetrical position of converter；It is welded to converter after thereby determining that 4 installation site of automatic positioning equipment
On backing ring 2 (this section needs the statement with front to be consistent).
It is to determine because of the radius of the size of automatic positioning equipment 4, installation site and converter trunnion ring 2, according to corresponding
Size just can determine coordinate value of three 41 centre ofs sphere of sphere in converter coordinate system.For convenience of 41 sphere centre coordinate of sphere is determined, have
Body application in can by the axis of trunnion of converter 3 and perpendicular to trunnion of converter 3 axis and divide equally revolving furnace body 1 plane intersection point
As origin, using converter screw mandrel as z-axis, using the axis of trunnion of converter 41 as x-axis, with perpendicular to xz axial planes and process
The straight line of origin is y-axis；Certainly, the sphere center position that other coordinate systems demarcate three spheres 41 can also be used.
In addition to providing the above converter lining thickness measurement with laser automatic positioning equipment, the present invention also provides a kind of converter linings to swash
Flash ranging thickness automatic positioning method.If Fig. 4, Fig. 4 are specific embodiment of the invention furnace lining thickness measurement with laser automatic positioning method
Flow chart, this method includes the following steps：
Step S101：The automatic positioning equipment on converter trunnion ring 2 is scanned, the spatial point cloud coordinate of automatic positioning equipment is obtained
Data.
Since automatic positioning equipment 4 is mounted on converter trunnion ring 2, laser thickness gauge 5 can be arranged closer from converter
Position (generally 2-3m) is scanned automatic positioning equipment 4 with smaller horizontal field of view angle (generally 25 ° -30 °) face, is obtained
Spatial point cloud coordinate data including automatic positioning equipment 4.
Step S102：Three sphere centre ofs sphere in the spatial point cloud coordinate data of automatic positioning equipment are identified and fit to swash
Coordinate value in light calibrator coordinate system.
The step for spatial point cloud coordinate data carry out data processing, extract three spheres in automatic positioning equipment 4
41 umbilical point cloud coordinate data, and the centre of sphere of three spheres 41 is calculated in thickness measurement with laser using umbilical point cloud coordinate data
Coordinate value in 5 coordinate system of instrument.
In the specific implementation of the present invention, three spheres 41 are obtained according to the spatial point cloud data of automatic positioning equipment 4
Sphere centre coordinate be specifically divided into it is following step by step：
(1) at using the clustering algorithm based on Euclidean distance to the spatial point cloud coordinate data of automatic positioning equipment 4
Reason, obtains the coarse extraction point cloud data of all similar spheres.
(2) coarse extraction point cloud data is handled using sampling consistency algorithm to obtain intermediate extraction point cloud data.
In point cloud data after coarse extraction in addition to comprising three target sphere point cloud datas, also there is more similar sphere point
Cloud data, these can be to asking calculation sphere centre coordinate to have an impact similar to sphere point cloud data using target sphere point cloud data, and adopts
With sampling consistency algorithm after can exclude most spheroidal point cloud data.
(3) it uses the position relationship of three spheres 41 to handle centre extraction point cloud data again, obtains three targets
Sphere point cloud data；
Because intermediate extract still suffers from the point cloud data of non-targeted sphere in point cloud data, and these non-targeted spheres
Point cloud data is located at except three spheres 41, is produced a very large impact to spherical ball scheming.Due to the position between three spheres 41
What the relationship of setting was to determine, therefore non-targeted sphere point cloud data can be excluded by the position relationship of three spheres.
(4) it is asked using space spherical equation and the principle of least square, according to the target sphere point cloud data of three spheres 41
Calculate coordinate value of the centre of sphere of three spheres in laser thickness gauge coordinate system.
It should be noted that the precision that the identification of sphere point cloud data is realized with centre of sphere fitting algorithm depends on sphere 41 with success rate
Radius and sphere 41 height.In order to enable fitting success rate is more than 99%, on aforementioned setpoint distance, the radius of sphere 41
R preferably meets：60mm<R<80mm；Consider that the sphere of actual use is segment, the high L of segment preferably meets:125mm<L<
145mm。
The purpose of calculation process is that rapid extraction goes out the point cloud data of three spheres 41 and then obtains ball in above each step
The sphere centre coordinate of body 41；Certainly, it is not limited in algorithm above processing sequence and algorithm types in other specific implementation modes,
It is alternatively other Processing Algorithms well known by persons skilled in the art.
After obtaining coordinate of three spheres 41 in laser thickness gauge 5 and converter coordinate system, so that it may carry out step S103：
Using seven parameter model of Rodrigo, the coordinate according to three sphere centre ofs sphere in laser thickness gauge coordinate system and converter coordinate system
Value seeks the conversion relation for calculating two coordinate systems, realizes the positioning of the laser thickness gauge.
Centre of sphere coordinate in converter coordinate system and laser thickness gauge 5 coordinate system of this step with specific reference to three spheres 41
Value, three of numerical value conversion between 5 coordinate system of laser thickness gauge and converter coordinate system are acquired using seven parameter model of Rodrigo
The spin matrix R and a dimensional variation parameter lambda that translational movement (△ x, △ y, △ z), three rotation amounts form, determine two coordinates
The positioning of relative position relation, realization laser thickness gauge 5 between system.
In step S101, the spatial point cloud data data volume that the scanning automatic positioning equipment 4 of laser thickness gauge 5 obtains is very
Greatly, while there is noise spot, is likely to result in that the follow-up success rate for automatically extracting sphere point cloud data is low, the time is longer.For solution
Certainly caused by data volume is very big and data noise, sphere point cloud data success rate of extracting is low, extraction time longer problem,
Can be also filtered before step S102, is filtered and may include that the down-sampling carried out successively is filtered and counts
Parametric filtering；Wherein down-sampling filtering by the point cloud data of automatic positioning equipment 4 for being diluted to rational density, statistical parameter filter
Wave is used to eliminate the trailing noise in point cloud data；Certainly, in other specific implementation modes, people in the art can also be used
Other algorithms that member is contemplated that are filtered the spatial point cloud data of automatic positioning equipment 4.
Automatic positioning equipment 4 more than and automatic positioning method, can be in each position of converter front platform in practical application
The place of setting is automatically positioned, can the depth information of the measurement of flexible modulation laser thickness gauge 5 converter lining everywhere；It is examined by practice
It tests, each positioning time is less than 30s, effectively reduces positioning and uses the time.
Above in the embodiment of the present invention converter lining thickness measurement with laser automatic positioning equipment and automatic positioning method into
It has gone and has been discussed in detail.Applying specific case herein, principle and implementation of the present invention are described, above example
Explanation be merely used to help understand the core idea of the present invention, without departing from the principles of the present invention, can also be to this hair
Bright some improvement and modification can also be carried out, these improvement and modification are also fallen within the scope of the present invention.
Claims (7)
1. a kind of converter lining thickness measurement with laser automatic positioning equipment is fixedly mounted on converter trunnion ring (2), it is characterised in that：
It is relatively fixed including three positions and the sphere of distribution triangular in shape (41), wherein three spheres are in isosceles triangle point
Cloth；The centre of sphere of two spheres (41) at isosceles triangle base angle is located at plane where the center line of converter trunnion ring (2)
The centre of sphere of the sphere (41) upper, positioned at isosceles triangle vertex is located to be turned perpendicular to trunnion of converter (3) axis and dividing equally
In the plane of furnace body (1)；Further include bracket component (42)；The bracket component (42) is fixedly connected with converter trunnion ring (2)；Three
A sphere (41) is fixedly mounted on the bracket component (42)；Further comprise for preventing slag from dropping to the ball
The slag trap reinforcing rib (44) of slag trap (43) and the support slag trap (43) on body (41)；The slag trap (43) and institute
Slag trap reinforcing rib (44) is stated to be fixedly connected with the bracket component (42).
2. converter lining thickness measurement with laser automatic positioning equipment according to claim 1, which is characterized in that the sphere
(41) radius R meets：60mm<R<80mm.
3. converter lining thickness measurement with laser automatic positioning equipment according to claim 2, it is characterised in that：The sphere
(41) it is specially segment；The segment is fixed on by the threaded hole on bottom surface on the bracket component (42).
4. converter lining thickness measurement with laser automatic positioning equipment according to claim 3, it is characterised in that：The holder group
Also there is bracket component reinforcing rib (45) on part (42).
5. a kind of converter lining thickness measurement with laser automatic positioning method, which is characterized in that including,
Step S101：Automatic positioning equipment (4) is scanned, the spatial point cloud coordinate data of automatic positioning equipment (4) is obtained；
Step S102：Automatic identification is handled the spatial point cloud coordinate data of automatic positioning equipment (4) with fitting algorithm, from
It is dynamic to identify and fit coordinate of three sphere (41) centre ofs sphere in laser thickness gauge (5) coordinate system in automatic positioning equipment (4)
Value；
Step S103：Using seven parameter model of Rodrigo, according to three spheres (41) laser thickness gauge (5) coordinate system and
Coordinate value in converter coordinate system seeks the numerical relation for calculating two coordinate systems, realizes the positioning of laser thickness gauge (5).
6. converter lining thickness measurement with laser automatic positioning method according to claim 5, which is characterized in that in step S102
Three sphere (41) centre ofs sphere exist in automatic identification and the spatial point cloud coordinate data for fitting the automatic positioning equipment (4)
Coordinate value in laser thickness gauge (5) coordinate system, specially：
Using the clustering algorithm based on Euclidean distance to the spatial point cloud coordinate data of the automatic positioning equipment (4) at
Reason, obtains the coarse extraction point cloud data of all similar spheres；
The coarse extraction point cloud data is handled using sampling consistency algorithm to obtain intermediate extraction point cloud data；
The intermediate extraction point cloud data is handled to obtain target using the relative position relation of three spheres (41)
Sphere point cloud data；
Calculation is asked using space spherical equation and the principle of least square, according to the target sphere point cloud data of three spheres (41)
Coordinate value of three sphere (41) centre ofs sphere in the laser thickness gauge (5) coordinate system.
7. converter lining thickness measurement with laser automatic positioning method according to claim 6, it is characterised in that：In the step
The spatial point cloud coordinate data of the automatic positioning equipment (4) is filtered before S102；It is described be filtered including according to
The down-sampling filtering and statistical parameter filtering of secondary progress.
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| CN108257222B (en) * | 2018-01-31 | 2019-01-22 | 杭州中科天维科技有限公司 | The automatic blending algorithm of steel stove converter three-dimensional laser point cloud |
| CN113751934B (en) * | 2021-10-15 | 2024-05-28 | 安迅捷智能机器人(宁夏)有限责任公司 | Positioning system, welding method and welding deformation measuring method |
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| CN201059963Y (en) * | 2007-06-19 | 2008-05-14 | 湖南华菱涟源钢铁有限公司 | Positioning apparatus for measuring ladle packing lining thickness by laser thickness gage |
| CN101067550A (en) * | 2007-07-05 | 2007-11-07 | 吴保国 | Rotary furnace laser pachymeter furnace body fast positioning method |
| CN103308019A (en) * | 2013-06-26 | 2013-09-18 | 中冶长天国际工程有限责任公司 | Peeled rotary kiln furnace lining thickness detecting method and device |
| CN205448978U (en) * | 2015-12-15 | 2016-08-10 | 湖南镭目科技有限公司 | Converter lining is automatic positioning device for thickness measurement with laser |
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