Method of Cleaning Identification and Positioning of Coal Bunker Based on TOF Camera
In the context of the traditional manufacturing industry's commitment to automation and intelligent upgrading,a TOF camera based method for identifying and locating foreign objects in the preparation coal bin cleaning process in the steel industry is proposed to address the complex production environment,long work cycles,and high risks involved.Firstly,the TOF camera is used to obtain the depth image of the coal preparation bin discharge port and project the depth image into a two-dimensional image.Secondly,use preprocessing algorithms to enhance the image and obtain clear binary images.Then use spot detection to calculate the center coordinates of the gap between the material discharge port railing.Further calculate the gap coordinates of the center point of the foreign object to achieve foreign object localization.Finally,experiments have shown that this method can accurately identify the position of foreign objects at the feeding port,guiding the robot to complete the grasping and cleaning of various foreign objects.
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