Design of Inspection Robot Control System for Inclination Angle of Blast Furnace Tuyere
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摘要: 针对高炉出风口中套倾角人工检测效率低、劳动强度大等问题，设计一种自主检测风口倾角的巡检机器人控制系统。利用STM32单片机为控制器，通过RS485，RS232电路采集风口外壁面温度，获取电量、速度、距离等相关本体信息；采用磁导传感器检测埋于地表的磁钉实现机器人的轨迹跟踪和风口定位；基于现场覆盖的局域网传输巡检机器人与人机交互界面的数据，通过随机采样一致性(RANSAC)算法完成风口倾角的在线检测。将嵌入设计控制系统的巡检机器人置于马钢1号高炉风口平台进行实验测试，结果表明：在调整运动轨迹过程中，机器人偏离磁钉轨迹中心最大距离为10 mm，稳定跟踪时偏移量基本为0，磁导航效果良好；机器人取得了与人工巡检相当的检测精度，且时间效率提高了11%，设计的控制系统可替代人工进行风口中套倾角的检测。Abstract: Aiming at the problems of low efficiency and high labor intensity in manual inspection of tuyere middle sleeve inclination angle at the outlet of blast furnace, an inspection robot control system was designed to detect the inclination angle of the tuyere independently. Using STM32 single chip microcomputer as the controller, the temperature of outer wall of tuyere was collected by RS485 and RS232 circuits, and the related body information such as electric quantity, speed and distance was obtained. The magnetic conductivity sensor was used to detect magnetic nails buried in the ground to realize robot trajectory tracking and tuyere positioning. The data of the inspection robot and human-computer interaction interface were transmitted by the local area network covered by the site, and the online detection of tuyere inclination angle was accomplished by a random sample consensus (RANSAC) algorithm. The inspection robot embedded in the designed control system was placed on the tuyere platform of No. 1 blast furnace of Masteel for experimental test. The results show that in the process of adjusting the motion trajectory, the maximum distance of deviating from the centre of the magnetic nail trajectory is 10 mm, the offset is basically 0 when tracking stably, and the magnetic navigation effect is good. The robot’s detection accuracy is equivalent to that of the manual inspection, and the time efficiency is improved by 11%. The designed inspection robot control system can replace the manual detection of the inclination angle of the blast furnace tuyere.
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