CCD相机高温环境感知机器人设计

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摘要：在钢铁行业中，钢铁是通过一系列大规模的工艺制造出的，包括炼铁、炼钢、轧钢、表面处理等工艺，与其他行业相比，钢铁行业的过程测量往往在更苛刻的条件下进行，如庞大的制造设施，高温，振动和灰尘等。此过程各类测量是必需的，如温度测量，形状、尺寸测量，位置检测，物体识别，速度测量和厚度测量等。在这些测量中，温度监测是非常重要的过程控制手段，它和产品质量管理以及节约能源直接相关。在钢铁行业中使用的现场仪表常应用于赤热物体的测量。由于测量技术在钢铁行业有很长的发展历史，各种工业传感器技术已经相当成熟。但是，在炼铁和炼钢过程中没有足够的测量装置测量高温熔融金属，对其工艺现象的解释和模型化也没有充分达成。在此过程中，主要依靠熟练工的经验知识进行生产，研究开发新的测量技术有很多问题需要克服。在此背景下，本研究主要集中研究炼铁工艺新的测量技术。42334

本研究的测量对象是超过1000℃高温的熔融金属或耐火材料。在这个温度范围内，根据物体的Planck辐射定律，物体发出的热辐射从可见光到红外波长区域。一般使用热红外相机观测热分布，对于赤热高温物体，短波长的光观测到温度相对于辐射亮度变化很大变大。因此，利用具有在可见区域光谱灵敏度的固态成像装置进行CCD摄像。温度分布测量的科学领域和产业领域开始使用CCD相机检测器，把CCD相机作为辐射温度计来使用的方法还没有普及。本论文介绍了CCD照相机的图像亮度温度，温度校正方法以及温度测量的不确定因素和图像两地的再现性，像素的灵敏度的不均匀性定量化处理的方法。

本研究以焦炭炉的高温炉壁的图像诊断为例，设计了高温环境感知机器人模型，介绍了一种在工艺信息不足的炼铁炼钢过程中对高炉、焦炭炉等有效的测量技术。

毕业论文关键词：焦炭炉；高温测量技术；CCD相机

Perception robot developed to explore the high temperature environment

Abstract：In the steel industry, iron and steel through a series of large-scale technology to manufacture, including iron, steel, rolled steel, surface treatment technology, compared with other industries, the process of measuring the steel industry are often under more severe conditions such as large manufacturing facilities, heat, vibration and dust. This

procedure is necessary to measure all kinds, such as temperature measurement, the shape measurement and size measurement, position detection, object recognition, velocity measurement and thickness measurement. In these measurements, temperature monitoring is a very important means of process control, quality management, and it is directly related to energy saving. Used in the steel industry in the field instrument is often used to measure red-hot objects. Since the measurement technology in the steel industry has a long history of development, industrial sensor technology is already quite mature. However, no adequate measuring device which measures temperature of the molten metal in the iron and steelmaking process, the process of its interpretation and modeling of the phenomenon has not fully reached. In this process, mainly rely on the experience of skilled knowledge production, research and development of new measurement techniques have a lot of problems to overcome. In this context, this study focused on the new iron making process measuring technology.

In this study, the measurement object is higher than 1000 ℃ high temperature molten metal or refractory material. In this temperature range, the object according to Planck's radiation law, objects emit thermal radiation from the visible to the infrared wavelength region. Generally used thermal infrared camera observations heat distribution for red hot hot object, short wavelength optical observations with respect to the temperature of the radiation changes in brightness becomes large. Thus, the use of solid-state imaging device having a spectral sensitivity in the visible region were CCD camera. Science and art temperature distribution measurement industry began to use CCD camera detector, the CCD camera as a method of radiation thermometer to be used is not yet universal. This paper describes a method for the quantitative treatment unevenness of the CCD camera image brightness temperature, and temperature correction method of temperature measurement uncertainties and image reproducibility of the two places, the pixel sensitivity.