[1]冯 帆,辛大欣,华 瑾,等.基于近红外视觉的排渣机械手高温炉渣定位方法[J].红外技术,2019,41(2):194-201.[doi:10.11846/j.issn.1001_8891.2019020015]
 FENG Fan,XIN Daxin,HUA Jin,et al. High-temperature Furnace Slag Positioning Method for Slag Discharging Manipulator Based on Near-infrared Vision[J].Infrared Technology,2019,41(2):194-201.[doi:10.11846/j.issn.1001_8891.2019020015]
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基于近红外视觉的排渣机械手高温炉渣定位方法
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《红外技术》[ISSN:1001-8891/CN:CN 53-1053/TN]

卷:
41卷
期数:
2019年第2期
页码:
194-201
栏目:
出版日期:
2019-02-22

文章信息/Info

Title:
 High-temperature Furnace Slag Positioning Method for Slag Discharging Manipulator Based on Near-infrared Vision
文章编号:
1001-8891(2019)02-0194-08
作者:
冯 帆辛大欣华 瑾刘 鹏
西安工业大学 电子信息工程学院,陕西 西安 710021
Author(s):
FENG FanXIN DaxinHUA JinLIU Peng
School of Electronic Information Engineering, Xi’an Technological University, Xi’an 710021, China
关键词:
近红外视觉高温目标定位红外阵列传感器仿射不变性视野角
Keywords:
near-infrared visionhigh temperature target positioninginfrared array sensorsaffine invarianceviewing angle
分类号:
TP391
DOI:
10.11846/j.issn.1001_8891.2019020015
文献标志码:
A
摘要:
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。
Abstract:
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.

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备注/Memo

备注/Memo:
收稿日期:2018-07-19;修订日期:2018-10-12.
作者简介:冯帆(1994-),男,硕士研究生,主要研究方向为机器人控制。E-mail:983455667@qq.com。
通信作者:辛大欣(1966-),男,副教授,硕士研究生导师,研究方向为人工智能、计算机控制。E-mail:842376947@qq.com。
基金项目:陕西省科技厅工业领域项目(2017GY-027)。
更新日期/Last Update: 2019-02-21