基于三维激光引导的加料机械臂精准定位研究

在铁水加注等钢铁冶炼的重型生产场景中,由于作业行程远、温度高等原因均采用人工操作。设计开发了基于三维激光扫描技术的加料机械臂精准定位系统。该系统以机械臂和三维激光扫描仪为基础,采用手眼标定方式得到转换矩阵,根据所获得的靶球坐标得到下料口在机械臂坐标系下的精确位置,最终实现下料管的安装和拆卸。现场测试证明,该系统可以替代操作人员进行自动加料作业。

Research on Precise Positioning of Feeding Robot Based on 3D Laser Scanning

In heavy-duty production scenarios of iron and steel smelting,such as hot metal filling,manual operation is adopted because of the long working distance and high temperature. A precise positioning system of feeding robot based on 3 D laser scanning technology is designed and developed. Based on robot and 3 D laser scanner,the conversion matrix is obtained by hand eye calibration,and the precise position of the feeding hole in the robotic arm coordinate system is obtained according to the obtained target ball coordinate. Finally,the installation and disassembly of the feeding pipe are realized. Field test shows that the system can replace the operator to carry out automatic feeding operation.