Metallurgical technology probe insertion calibration method employing visual measurement and insertion system thereof

A metallurgical technology probe insertion system employing visual measurement comprises:

• a cylindrical rod and a metallurgical technology probe, wherein a front end of the metallurgical technology probe is an open end along which a deep hole is provided, and wherein the metallurgical technology probe is configured to be hollow for allowing a front end of the cylindrical rod to be inserted into the deep hole of the metallurgical technology probe along the open end, and wherein the metallurgical technology probe insertion system further comprises:
• a driving device, a fixing device, two vision sensors, a controller, and a standard probe, wherein
• the driving device is configured to be connected to and fix a rear end of the cylindrical rod, and to be capable of moving a position of the cylindrical rod and adjusting a-pose of the cylindrical rod;
• the fixing device is configured to fix the metallurgical technology probe, wherein the open end of the metallurgical technology probe is aligned with the front end of the cylindrical rod;
• an insertion length of the front end of the cylindrical rod and an insertion length of the open end of the metallurgical technology probe form an agreed area;
• the two vision sensors, one is located vertically above the agreed area by a fixed bracket and another one is located on a horizontal side of the agreed area by another fixed bracket, wherein the two vision sensors respectively detect and collect physical contours of the cylindrical rod and the metallurgical technology probe in the agreed area in real time;
• the controller acquires related data measured by the vision sensors, calculates a point angular deviation between an axis of the cylindrical rod and an axis of the metallurgical technology probe, and a distance between an end cross-section of the cylindrical rod and an open end cross-section of the metallurgical technology probe, obtains an adjustment amount of the cylindrical rod, and controls the driving device to adjust the pose of the cylindrical rod according to the adjustment amount;
• and
• the standard probe manufactured by imitating the metallurgical technology probe reproduces the deep hole of the metallurgical technology probe, and in order to facilitate the abutment of the cylindrical rod during calibration, a part of the deep hole is removed and exposed to form a deep-hole cross-section.