CN111522294A - Automatic control system and method of slag raking machine - Google Patents
Automatic control system and method of slag raking machine Download PDFInfo
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- CN111522294A CN111522294A CN202010381486.3A CN202010381486A CN111522294A CN 111522294 A CN111522294 A CN 111522294A CN 202010381486 A CN202010381486 A CN 202010381486A CN 111522294 A CN111522294 A CN 111522294A
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- 239000002184 metal Substances 0.000 claims description 24
- 229910052751 metal Inorganic materials 0.000 claims description 24
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
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- 239000000463 material Substances 0.000 abstract description 3
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- 238000003723 Smelting Methods 0.000 description 1
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- 239000007795 chemical reaction product Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D43/00—Mechanical cleaning, e.g. skimming of molten metals
- B22D43/005—Removing slag from a molten metal surface
- B22D43/007—Removing slag from a molten metal surface by using scrapers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G06—COMPUTING; CALCULATING OR COUNTING
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/30—Reducing waste in manufacturing processes; Calculations of released waste quantities
Abstract
The automatic control system and the method are suitable for controlling all the crawler raking machines with telescopic mechanisms, pitching mechanisms and rotating mechanisms, have strong expandability, and adopt machines to control the crawler raking machines, so that manual control steps are greatly reduced, the working of operators in extreme industrial environments is avoided, the labor input of enterprises is reduced, and the safety of the operators is ensured. In addition, the state information of the working object of the slag removing machine is accurately analyzed through image acquisition, and the optimal slag removing path is calculated by combining the state information, so that the loss of metallurgical materials can be reduced to the maximum extent.
Description
Technical Field
The invention belongs to the field of ferrous metallurgy, and particularly relates to an automatic control system and method of a slag raking machine.
Background
In the field of metallurgy, there may be some impurity slag in the molten metal in a smelting tank (a device for collecting molten metal, such as a hot metal ladle), and if the slag is brought into the next converter process, the purity of metallurgy is affected, thereby reducing the quality of end products. Therefore, before the metal liquid is transported to the converter, a slagging-off process is required to remove impurity slag in the metal liquid.
Early slag skimming is usually performed manually, i.e. by manually lifting a skimming plate. The manual slag removing mode has long slag removing time, serious waste of metallurgical metal materials and even great accident potential. Based on the defects of the manual slag-raking process, the slag-raking machine is operated, and workers operate the slag-raking machine to rake slag, so that the labor intensity of the workers is effectively reduced, and the slag-raking efficiency and the quality of the smelted metal are improved.
Although the method for carrying out the slag-raking process by the slag-raking machine is superior to a manual slag-raking method, the control of the existing slag-raking machine is mainly realized by manual operation, and the slag-raking effect is very dependent on the manual operation level. Under the control mode, for the steel-making process, the iron loss rate and the scraping rate can not be guaranteed, the quality of downstream molten iron is easy to reduce, and the benefit of a steel mill is reduced.
Disclosure of Invention
In view of the above, the invention provides an automatic control system and method for a slag removing machine, which are used for solving the problems of high iron loss rate and low cleaning rate caused by manual control of the slag removing machine in the prior art.
An automatic control system of a slag raker for raking off slag in a metallic liquid in a metallurgical vessel, the automatic control system comprising:
the vision system module is used for identifying the distribution of the slag according to the in-tank image of the metallurgical tank, planning and outputting a slag-raking path of the slag-raking machine according to the distribution of the slag,
a liquid level height acquisition module for acquiring the liquid level height of the metal liquid in real time,
the slag-raking action executing mechanism information acquisition module is used for acquiring each action information of each slag-raking action executing mechanism in real time,
and the control module controls the actions of each slag-raking executing mechanism according to the slag-raking path, the liquid level height and the currently acquired action information.
Preferably, the slag-raking action executing mechanism of the slag-raking machine comprises a pitching mechanism, a telescopic mechanism and a rotating mechanism,
the slag raking action actuating mechanism information acquisition module comprises:
a pitching angle acquisition module used for acquiring the pitching angle of the pitching mechanism in real time,
a telescopic length acquisition module for acquiring the telescopic length of the telescopic mechanism in real time,
a rotation angle acquisition module for acquiring the rotation angle of the rotation mechanism in real time,
and the control module is used for respectively controlling the pitching action of the pitching mechanism, the stretching action of the stretching mechanism and the rotating action of the rotating mechanism according to the slag raking path, the liquid level and the currently acquired pitching angle, stretching length and rotating angle, so that the slag raking machine carries out slag raking according to the slag raking path.
Preferably, the pitch angle acquisition module comprises an inclination angle sensor, the telescopic length acquisition module comprises a stay cord encoder, the acquired rotation angle acquisition module comprises an angle sensor, and the control module comprises a PLC module.
Preferably, the control module calculates the slag-raking depth of the slag-raking machine according to the liquid level height and the pitching angle of the pitching mechanism, and controls the actions of each slag-raking executing mechanism according to the slag-raking path and the slag-raking depth.
Preferably, the calculation model formula for calculating the slagging-off depth of the slagging-off machine by the control module according to the liquid level height and the pitching angle of the pitching mechanism is as follows:
the height of the oil cylinder of the pitching mechanism is H40, the starting position of the pitching oil cylinder and the relative height of a slag-raking arm of the slag-raking machine are H40, the horizontal distance from the position of a fixed point of the slag-raking arm in the slag-raking machine to the end position of the pitching oil cylinder is S40, and theta 5 is the pitching angle of the pitching mechanism.
Preferably, the control module outputs corresponding position and state data to each slag-raking action executing mechanism in real time through the hydraulic proportional valve plate so as to control each slag-raking action executing mechanism to execute corresponding actions.
Preferably, the vision system module comprises an image acquisition module for acquiring the in-tank image in real time and an image processing module for processing the in-tank image,
the image processing module identifies a skimming area in the in-tank image, divides the skimming area into a plurality of equally divided areas, calculates the skimming weight of each equally divided area, and plans the current skimming path according to each skimming weight.
Preferably, the metallurgical tank is a hot metal ladle, the molten metal is molten iron, and the image acquisition module is a camera.
An automatic control method of a slag raker for raking off slag in a metallic liquid in a metallurgical vessel, the automatic control method comprising:
when the metallurgical tank is in place, an automatic control system of the slag-raking machine is awakened, and the slag-raking machine is put in place,
after the slag raking machine is in place, acquiring images in the metallurgical tank, sending the images in the metallurgical tank to an industrial personal computer for processing by an image processing module so as to plan a slag raking path of the current slag raking machine,
collecting the liquid level height of the metal liquid, collecting the action information of each slag-raking action executing mechanism, transmitting each collected information to a control module,
the control module respectively outputs relevant control information for controlling each slag-raking action executing mechanism so as to control the slag-raking machine to carry out slag-raking action,
and after the slag raking path is output, controlling the slag raking machine to return to the original position.
Preferably, the image processing module plans the slag-raking path according to the slag-raking weight of each equally divided area in the slag-raking identification area in the in-tank image,
and the slag-raking action executing mechanism comprises a pitching mechanism, and the action of the pitching mechanism is controlled according to the position information and the pitching angle of the pitching mechanism and the liquid level height so as to control the slag-raking depth of the slag raking machine.
Therefore, the automatic control system and the corresponding control method for the crawler loader provided by the invention are suitable for controlling all crawler loaders with telescopic, pitching and rotating mechanisms, can properly adjust the position and the control instruction of each information acquisition sensor according to the structure and the working mode of the crawler loader, have strong expandability, and adopt a machine to control the crawler loader, thereby greatly reducing the manual control steps, avoiding the working of operators in extreme industrial environments, namely improving the working efficiency, reducing the labor input of enterprises and ensuring the safety of the operators. In addition, the automatic control system accurately analyzes the state information of the metallurgical tank of the working object of the slag removing machine by image acquisition, calculates the optimal slag removing path by combining the state information of the metallurgical tank to control the slag removing path by combining the slag removing path, and realizes the purpose of reducing the loss of metallurgical materials to the maximum extent. The automatic control system of the slag-raking machine provided by the invention adopts the sensors to accurately analyze the action states of each actuating mechanism of the slag-raking machine, calculates the optimal slag-raking action by combining the state information of the metallurgical tank, and realizes the purpose of shortening the slag-raking action time to the maximum extent.
Drawings
Fig. 1 is a block diagram of an automatic control system of a slag raking machine according to the present invention;
fig. 2 is a schematic structural diagram of a pitch cylinder stroke calculation model according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any creative effort, shall fall within the protection scope of the present invention. It should be noted that "…" in this description of the preferred embodiment is only for technical attributes or features of the present invention.
The invention provides an automatic control system of a slag raking machine, wherein the slag raking machine is used for raking off slag in metal liquid in a metallurgical tank in a steel-making process, for example, the metallurgical tank is a hot metal tank, the metal liquid is molten iron, and the slag is sulfur slag and the like. The automatic control system of the slag raking machine mainly comprises a vision system module, a liquid level height acquisition module, a slag raking action execution mechanism information acquisition module and a control module, wherein the main functions and structures of the modules are described as follows:
and the visual system module is used for identifying the distribution of the slag according to the in-tank image of the metallurgical tank, planning and outputting a slag-raking path of the slag-raking machine according to the distribution of the slag.
The visual system module mainly comprises an image acquisition module and an image processing module, wherein the image acquisition module is used for acquiring in-tank images of the metallurgical tank in real time, and the image processing module is a software module running in an industrial personal computer and is mainly used for processing the in-tank images. Wherein, the image acquisition module comprises a camera. And the step of the image processing module processing the in-can image comprises:
step 1: background thresholds of the in-tank image are analyzed to identify a skippable area, such as a skippable molten iron area, therefrom.
Step 2: equally dividing the slag skimming region into n equally divided regions, and calculating the slag skimming weight of each equally divided region. The slag skimming weight is related to the slag content, the position and the previous slag skimming path of the area, so that the slag skimming weight of each equal area needs to be obtained by analyzing the slag content of each equal area, calculating according to the position of the area, and finally obtaining the final slag skimming weight of the area by referring to the last slag skimming path. Specifically, the distribution of the slag may be determined by identifying the gray level of pixels in the image in the tank.
And step 3: and calculating and planning a slag-raking path according to the slag-raking weight of each equally divided area. The slag skimming weight is related to the slag content, the position and the previous slag skimming path of the corresponding equal partition area.
The liquid level height acquisition module is used for acquiring the liquid level height of the metal liquid in real time, so that the control module can calculate the thickness of the slag according to the liquid level height information. Specifically, as shown in a block diagram of an automatic control system of a slag-raking machine shown in fig. 1, the liquid level height acquisition module may be a radar range finder, and liquid level height information measured by the radar range finder is output to the control module, so that a slag thickness calculation model in the control module calculates the thickness of the slag according to the liquid level height, and the control module selects a suitable slag-raking path according to the thickness of the slag as the currently output slag-raking path of the slag-raking machine.
The slag-raking action executing mechanism information acquisition module is used for acquiring each action information of each slag-raking action executing mechanism in real time,
and the control module controls the actions of each slag-raking executing mechanism according to the slag-raking path, the liquid level height and the currently acquired action information. The slag raking action executing mechanism belongs to a part of the slag raking machine, and as shown in fig. 1, the slag raking action executing mechanism comprises a pitching mechanism, a telescopic mechanism and a rotating mechanism. The information acquisition module of the slag raking action execution mechanism comprises a pitching angle acquisition module, a telescopic length acquisition module and a rotation angle acquisition module. The device comprises a pitching angle acquisition module, a telescopic length acquisition module and a rotation angle acquisition module, wherein the pitching angle acquisition module is used for acquiring the pitching angle of the pitching mechanism in real time, the telescopic length acquisition module is used for acquiring the telescopic length of the telescopic mechanism in real time, and the rotation angle acquisition module is used for acquiring the rotation angle of the rotation mechanism in real time. And each slag-raking action executing mechanism information acquisition module is also used for acquiring the position information of the corresponding module.
And the control module is used for respectively controlling the pitching action of the pitching mechanism, the stretching action of the stretching mechanism and the rotating action of the rotating mechanism according to the slag raking path, the liquid level and the currently acquired pitching angle, stretching length and rotating angle, so that the slag raking machine carries out slag raking according to the slag raking path. Specifically, the control module can be a PLC module, the pitching angle acquisition module comprises an inclination angle sensor, the telescopic length acquisition module comprises a stay cord encoder, and the acquired rotation angle acquisition module comprises an angle sensor. The position and state information output by the control module and used for controlling each slag-raking action executing mechanism respectively acts on each corresponding slag-raking action executing mechanism through a hydraulic proportional valve plate so as to control the corresponding action of each slag-raking action executing mechanism, for example, the control module outputs the stroke of an oil cylinder to a pitching mechanism to control the pitching action, outputs a rotating angle to a rotating mechanism to control the rotating action, and outputs the length to a telescopic mechanism to control the telescopic action. When the control module outputs the coarse slag-raking path to carry out slag-raking action, the rotating mechanism rotates for a certain angle, the telescopic mechanism extends out of the slag-raking plate, the pitching mechanism controls the slag-raking plate to be lowered to the liquid level of the metal liquid, and then the pitching mechanism lowers the slag-raking plate while the telescopic mechanism retracts to execute the slag-raking action. And after the slag skimming plate reaches the slag outlet, the pitching mechanism lifts the slag skimming plate, the rotating mechanism rotates for a certain angle, and the next slag skimming action is executed, and the operation is circulated in sequence.
In addition, the control module also calculates the slag-raking depth of the slag-raking machine according to the liquid level height and the pitching angle and position information of the pitching mechanism, and controls the actions of each slag-raking executing mechanism according to the slag-raking path and the slag-raking depth. Specifically, the control module comprises a slag skimming depth calculation module for calculating the slag skimming depth, the slag skimming depth calculation module calculates according to the liquid level height information and the pitching angle and position information of the pitching mechanism, and the calculation model is as shown in fig. 2. The action direction of the pitching mechanism is irrelevant to the Z axis, the coordinate point of the slag removing plate is (X0, Y0, 0), (X12, Y12, Z12) is the coordinate of the fixed point of the slag removing arm, S41 represents the stroke of the cylinder of the pitching mechanism, and the stroke determines the slag removing depth, namely, the calculation of the stroke of the cylinder of the pitching mechanism is equivalent to the calculation of the slag removing depth. Theta 5 represents the angle of the pitching mechanism, and the Y0 value is constant because the height of the metal liquid surface is unchanged before and after default slag skimming considering that the slag is only one layer of the metal liquid surface. H40 represents the pitch ram start position and the relative height of the slag raking arm. And S40 represents the horizontal distance between the slag removing arm fixing point and the pitching cylinder end point position. From the schematic diagram of fig. 2, the slag-raking plate motion height H41 of the slag-raking machine can be obtained as follows:
H41＝Y12-Y0
the pitch angle θ 5 can be measured by a tilt sensor, or can be calculated by the following formula:
according to the cosine law, the slag skimming depth calculation model can calculate and obtain the slag skimming depth according to the following formula, namely the stroke S41 of the pitching oil cylinder:
the formula for calculating the stroke of the pitching oil cylinder by combining the formulas can also be as follows:
the height of the oil cylinder of the pitching mechanism is H40, the starting position of the pitching oil cylinder and the relative height of a slag-raking arm of the slag-raking machine are H40, the horizontal distance from the position of a fixed point of the slag-raking arm in the slag-raking machine to the end position of the pitching oil cylinder is S40, and theta 5 is the pitching angle of the pitching mechanism.
In addition, the invention also provides an automatic control method of the automatic control system of the slag raking machine, which mainly comprises the following steps:
step 11: and when the metallurgical tank is in place, awakening an automatic control system of the slag raking machine and enabling the slag raking machine to be in place.
Step 12: and after the slag raking machine is in place, acquiring images in the metallurgical tank, and sending the images in the metallurgical tank to an industrial personal computer for processing by an image processing module so as to plan a slag raking path of the current slag raking machine.
Step 13: and collecting the liquid level of the metal liquid, collecting the action information of each slag-raking action executing mechanism, and transmitting each collected information to a control module, such as a PLC (programmable logic controller).
Step 14: the PLC controller respectively outputs relevant control information for controlling each slag-raking action executing mechanism so as to control the slag-raking machine to carry out slag-raking action,
step 15: and after the slag raking path is output, controlling the slag raking machine to return to the original position.
Therefore, the automatic control system and the corresponding control method for the crawler loader provided by the invention are suitable for controlling all crawler loaders with telescopic, pitching and rotating mechanisms, can properly adjust the position and the control instruction of each information acquisition sensor according to the structure and the working mode of the crawler loader, have strong expandability, and adopt a machine to control the crawler loader, thereby greatly reducing the manual control steps, avoiding the working of operators in extreme industrial environments, namely improving the working efficiency, reducing the labor input of enterprises and ensuring the safety of the operators. In addition, the automatic control system accurately analyzes the state information of the metallurgical tank of the working object of the slag removing machine by image acquisition, and calculates the optimal fine slag removing path by combining the state information of the metallurgical tank to control the slag removing path by combining the coarse slag removing path, thereby reducing the loss of metallurgical materials to the maximum extent. The automatic control system of the slag-raking machine provided by the invention adopts the sensors to accurately analyze the action states of each actuating mechanism of the slag-raking machine, calculates the optimal slag-raking action by combining the state information of the metallurgical tank, and realizes the purpose of shortening the slag-raking action time to the maximum extent.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. An automatic control system of a slag raker for raking off slag in a molten metal in a metallurgical vessel, comprising:
the vision system module is used for identifying the distribution of the slag according to the in-tank image of the metallurgical tank, planning and outputting a slag-raking path of the slag-raking machine according to the distribution of the slag,
a liquid level height acquisition module for acquiring the liquid level height of the metal liquid in real time,
the slag-raking action executing mechanism information acquisition module is used for acquiring each action information of each slag-raking action executing mechanism in real time,
and the control module controls the actions of each slag-raking executing mechanism according to the slag-raking path, the liquid level height and the currently acquired action information.
2. The automatic control system of claim 1, wherein the slag-raking action executing mechanism of the slag-raking machine comprises a pitching mechanism, a telescopic mechanism and a rotating mechanism,
the slag raking action actuating mechanism information acquisition module comprises:
a pitching angle acquisition module used for acquiring the pitching angle of the pitching mechanism in real time,
a telescopic length acquisition module for acquiring the telescopic length of the telescopic mechanism in real time,
a rotation angle acquisition module for acquiring the rotation angle of the rotation mechanism in real time,
and the control module is used for respectively controlling the pitching action of the pitching mechanism, the stretching action of the stretching mechanism and the rotating action of the rotating mechanism according to the slag raking path, the liquid level and the currently acquired pitching angle, stretching length and rotating angle, so that the slag raking machine carries out slag raking according to the slag raking path.
3. The automatic control system of claim 2, wherein the pitch angle acquisition module comprises a tilt sensor, the telescoping length acquisition module comprises a pull rope encoder, the obtained rotation angle acquisition module comprises an angle sensor, and the control module comprises a PLC module.
4. The automatic control system of claim 2, wherein the control module calculates a slag raking depth of the slag raking machine according to the liquid level and the pitch angle of the pitch mechanism, and controls the actions of each slag raking execution mechanism according to the slag raking path and the slag raking depth.
5. The automatic control system of claim 4, wherein the control module calculates a calculation model formula of the slagging-off depth of the slagging-off machine according to the liquid level and the pitch angle of the pitch mechanism as follows:
the height of the oil cylinder of the pitching mechanism is H40, the starting position of the pitching oil cylinder and the relative height of a slag-raking arm of the slag-raking machine are H40, the horizontal distance from the position of a fixed point of the slag-raking arm in the slag-raking machine to the end position of the pitching oil cylinder is S40, and theta 5 is the pitching angle of the pitching mechanism.
6. The automatic control system of claim 1, wherein the control module outputs corresponding position and state data to each slag-raking action execution mechanism in real time through a hydraulic proportional valve plate to control each slag-raking action execution mechanism to execute corresponding actions.
7. The automated control system of claim 4, wherein the vision system module comprises an image acquisition module for acquiring the in-tank image in real-time and an image processing module for processing the in-tank image,
the image processing module identifies a skimming area in the in-tank image, divides the skimming area into a plurality of equally divided areas, calculates the skimming weight of each equally divided area, and plans the current skimming path according to each skimming weight.
8. The automatic control system of claim 1, wherein the metallurgical tank is a hot metal tank, the molten metal is molten iron, and the image acquisition module is a camera.
9. An automatic control method of a slag raker for raking off slag in a metal liquid in a metallurgical tank, the automatic control method comprising:
when the metallurgical tank is in place, an automatic control system of the slag-raking machine is awakened, and the slag-raking machine is put in place,
after the slag raking machine is in place, acquiring images in the metallurgical tank, sending the images in the metallurgical tank to an industrial personal computer for processing by an image processing module so as to plan a slag raking path of the current slag raking machine,
collecting the liquid level height of the metal liquid, collecting the action information of each slag-raking action executing mechanism, transmitting each collected information to a control module,
the control module respectively outputs relevant control information for controlling each slag-raking action executing mechanism so as to control the slag-raking machine to carry out slag-raking action,
and after the slag raking path is output, controlling the slag raking machine to return to the original position.
10. The automatic control method according to claim 9,
the image processing module plans the slag-raking path according to the slag-raking weight of each equally divided area in the slag-raking identification area in the in-tank image,
and the slag-raking action executing mechanism comprises a pitching mechanism, and the action of the pitching mechanism is controlled according to the position information and the pitching angle of the pitching mechanism and the liquid level height so as to control the slag-raking depth of the slag raking machine.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112150421A (en) * | 2020-09-14 | 2020-12-29 | 武汉钢铁有限公司 | Ladle slag-raking path determining method and device and slag-raking machine |
| CN112795727A (en) * | 2020-12-25 | 2021-05-14 | 鞍钢股份有限公司 | Three-dimensional positioning method for automatically slagging off desulfurized molten iron |
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| CN115156518A (en) * | 2022-07-12 | 2022-10-11 | 哈尔滨工业大学 | Automatic molten steel slag skimming device and method, fault processing device and loss degree acquisition method and device |
| CN115156518B (en) * | 2022-07-12 | 2024-03-08 | 哈尔滨工业大学 | Automatic molten steel slag removing device, method, fault processing device, loss degree obtaining method and device |
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