Abstract: A metallurgical technology probe insertion calibration method employing visual measurement and an insertion system thereof are provided. A vision sensor (5), a cylindrical rod (1), and a metallurgical technology probe (2) are used to construct an agreed region (6). In the agreed region (6), the vision sensor (5) acquires relative positions and orientations of the cylindrical rod (1) and the metallurgical technology probe (2), and an acquired position and orientation result is used to control a driving device (3) to insert the cylindrical rod (1) into the metallurgical technology probe (2). To improve the accuracy and reliability of the insertion, a standard probe (7) and a fixing device (4) are used together to perform effective calibration on an initial position, orientation, and axis in the insertion.

Abstract: A method for calibrating an elongated metallurgical tool based on a laser distance sensor (6).

Abstract: Disclosed in the present invention is a method for plugging/unplugging a probe of a metallurgical automatic sublance. A laser distance sensor is mounted on an end-effector of a drive device; the drive device drives the laser distance sensor to scan the automatic sublance according to setting areas; position and orientation information of the automatic sublance is calculated by a calculation unit; according to the position and orientation information of the automatic sublance, a gripper on the end-effector implements a process of plugging/unplugging the probe of the automatic sublance. According to the present invention, an existing automatic sublance does not need to be improved, and only external sensors need to be used for plugging/unplugging detection, so that the plugging/unplugging process can be accurately carried out.

Abstract: A metallurgical technology probe insertion calibration method employing visual measurement and an insertion system thereof are provided. A vision sensor (5), a cylindrical rod (1), and a metallurgical technology probe (2) are used to construct an agreed region (6). In the agreed region (6), the vision sensor (5) acquires relative positions and orientations of the cylindrical rod (1) and the metallurgical technology probe (2), and an acquired position and orientation result is used to control a driving device (3) to insert the cylindrical rod (1) into the metallurgical technology probe (2). To improve the accuracy and reliability of the insertion, a standard probe (7) and a fixing device (4) are used together to perform effective calibration on an initial position, orientation, and axis in the insertion.