CN111849516A - Control method, system and device of coke dry quenching coke loading equipment - Google Patents
Control method, system and device of coke dry quenching coke loading equipment Download PDFInfo
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- CN111849516A CN111849516A CN202010739787.9A CN202010739787A CN111849516A CN 111849516 A CN111849516 A CN 111849516A CN 202010739787 A CN202010739787 A CN 202010739787A CN 111849516 A CN111849516 A CN 111849516A
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- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
- C10B39/00—Cooling or quenching coke
- C10B39/02—Dry cooling outside the oven
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
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Abstract
The embodiment of the invention provides a method, a system and a device for controlling coke dry quenching coke charging equipment, wherein the method comprises the following steps: collecting a monitoring image for the coke tank; carrying out image recognition on the monitored image, and determining the current relative position of a lifting lug of the coke tank and a lifting hook of the hoister; and if the current relative position indicates that the lifting hook safely hooks the lifting lug, controlling the lifting machine to ascend so as to move the coke tank to the designated position. The method can effectively prevent the hot red coke in the coke tank from scattering, and reduce the accident rate in the coke dry quenching and loading process.
Description
Technical Field
The invention relates to the technical field of industry, in particular to a control method, a system and a device of coke dry quenching coke charging equipment.
Background
The coke dry quenching coke loading equipment comprises a lifter and a coke tank. Wherein, the lifting machine has two lifting hooks, and the coke jar has two lugs. In the coke dry quenching coke charging process, two lifting hooks of the hoister respectively hook lifting lugs positioned on two sides of the coke tank, and the coke tank is stably charged into the dry quenching furnace for subsequent treatment processes.
In order to avoid the hot red coke in the coke tank from spilling, damaging equipment below the coke tank or causing injury and death of workers, it is very important to determine whether two lifting hooks of the dry quenching hoister hook lifting lugs on two sides of the coke tank.
Disclosure of Invention
The embodiment of the invention aims to provide a control method, a system and a device of coke dry quenching and coke loading equipment, so as to reduce the accident rate in the coke dry quenching and coke loading process. The specific technical scheme is as follows:
in order to achieve the above object, an embodiment of the present invention provides a control method for a coke dry quenching coke charging apparatus, where the coke dry quenching coke charging apparatus includes a coke tank and a hoist; the method comprises the following steps:
acquiring a monitoring image for the coke tank;
carrying out image recognition on the monitoring image, and determining the current relative positions of a lifting lug of the coke tank and a lifting hook of the lifting machine;
and if the current relative position indicates that the lifting hook safely hooks the lifting lug, controlling the lifting machine to ascend so as to move the coke tank to a specified position.
Optionally, the method further includes:
and if the current relative position indicates that the lifting hook is not hooked on the lifting lug safely, outputting an alarm.
Optionally, the step of performing image recognition on the monitoring image and determining the current relative position between the lifting lug of the coke drum and the lifting hook of the hoisting machine includes:
performing image recognition on the monitoring image to obtain a current contour of an object in a preset area in the monitoring image, and taking the current contour as the current relative position of a lifting lug of the coke tank and a lifting hook of the hoister;
if the current relative position indicates that the lifting hook safely hooks the lifting lug, the lifting machine is controlled to ascend, and the method comprises the following steps:
and if the current contour is matched with a preset contour, determining that the lifting hook safely hooks the lifting lug, and controlling the lifting machine to ascend, wherein the preset contour is an outer contour formed by the lifting hook and the lifting lug when the lifting hook safely hooks the lifting lug.
Optionally, the step of performing image recognition on the monitoring image and determining the current relative position between the lifting lug of the coke drum and the lifting hook of the hoisting machine includes:
carrying out image recognition on the monitoring image to obtain a first coordinate position of a lifting lug of the coke tank and a second coordinate position of a lifting hook of the hoister;
determining a current relative position of a lifting lug of the coke drum and a lifting hook of the hoist based on the first coordinate position and the second coordinate position.
Optionally, the color of the lifting hook is different from the color of the coke tank body, and the color of the lifting lug is different from the color of the hoisting machine body.
In order to achieve the above object, an embodiment of the present invention further provides a control system of a coke dry quenching coke loading device, where the coke dry quenching coke loading device includes a coke tank and a hoist, and the control system includes: an image collector and a field processor;
the image collector is used for collecting a monitoring image aiming at the coke tank and sending the monitoring image to the field processor;
and the field processor is used for carrying out image recognition on the monitoring image, determining the current relative position of a lifting lug of the coke tank and a lifting hook of the lifting machine, and controlling the lifting machine to ascend if the current relative position indicates that the lifting hook safely hooks the lifting lug so as to move the coke tank to a specified position.
Optionally, the control system further includes: a remote controller;
the remote controller is used for sending a first control instruction aiming at the hoister and a second control instruction aiming at the image collector to the site processor;
the field processor is also used for controlling the lifting machine to ascend or descend according to the first control instruction; and controlling the image collector to be opened and closed according to the second control instruction.
Optionally, the system further includes: an alarm device;
the site processor is further configured to send an alarm to the alarm device if the current relative position indicates that the lifting hook does not safely hook the lifting lug;
the alarm device is used for outputting an alarm.
Optionally, the color of the lifting hook is different from the color of the coke tank body, and the color of the lifting lug is different from the color of the hoisting machine body.
In order to achieve the above object, an embodiment of the present invention further provides a control device of a coke dry quenching coke loading device, where the coke dry quenching coke loading device includes a coke tank and a hoist; the device comprises:
the acquisition module is used for acquiring a monitoring image for the coke tank;
the identification module is used for carrying out image identification on the monitoring image and determining the current relative position of the lifting lug of the coke tank and the lifting hook of the lifting machine;
and the control module is used for controlling the lifting machine to ascend if the current relative position indicates that the lifting hook safely hooks the lifting lug so as to move the coke tank to a specified position.
Optionally, the apparatus further comprises:
and the output module is used for outputting an alarm if the current relative position indicates that the lifting hook is not hooked on the lifting lug safely.
Optionally, the identification module is specifically configured to:
performing image recognition on the monitoring image to obtain a current contour of an object in a preset area in the monitoring image, and taking the current contour as the current relative position of a lifting lug of the coke tank and a lifting hook of the hoister;
the control module is specifically configured to:
and if the current contour is matched with a preset contour, determining that the lifting hook safely hooks the lifting lug, and controlling the lifting machine to ascend, wherein the preset contour is an outer contour formed by the lifting hook and the lifting lug when the lifting hook safely hooks the lifting lug.
Optionally, the identification module is specifically configured to:
carrying out image recognition on the monitoring image to obtain a first coordinate position of a lifting lug of the coke tank and a second coordinate position of a lifting hook of the hoister;
determining a current relative position of a lifting lug of the coke drum and a lifting hook of the hoist based on the first coordinate position and the second coordinate position.
In order to achieve the above object, an embodiment of the present invention further provides a site processor, where the site processor includes a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing any of the above method steps when executing a program stored in the memory.
To achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements any of the above method steps.
To achieve the above object, an embodiment of the present invention further provides a computer program, which when run on a computer, causes the computer to perform any of the above method steps.
The technical scheme provided by the embodiment of the invention has the beneficial effects that:
in the control method, the system and the device for the coke dry quenching and coke loading equipment provided by the embodiment of the invention, the monitoring image is subjected to image recognition, the current relative positions of the lifting lug of the coke tank and the lifting hook of the hoister in the monitoring image can be accurately determined, and whether the lifting hook is hooked on the lifting lug safely or not is further accurately judged. Under the condition that the lifting hook is determined to safely hook the lifting lug, the lifting machine is controlled to ascend, then the coke tank is moved to a specified position, hot red coke in the coke tank can be effectively prevented from being scattered, and the accident rate in the coke dry quenching and charging process is reduced.
Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Invention of attached drawing
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by referring to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a coke dry quenching coke charging device provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a control system of a dry quenching coke charging device provided by an embodiment of the invention;
fig. 3 is another schematic structural diagram of a control system of a coke dry quenching coke loading device provided by the embodiment of the invention;
fig. 4 is a schematic flow chart of a control method of a dry quenching coke charging device according to an embodiment of the invention;
fig. 5 is another schematic flow chart of a control method of a dry quenching coke charging device according to an embodiment of the invention;
fig. 6 is a schematic flowchart of a method for determining a current relative position according to an embodiment of the present invention;
fig. 7 is another schematic flow chart of a method for determining a current relative position according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control device of a dry quenching coke charging device provided by an embodiment of the invention;
fig. 9 is a schematic structural diagram of an on-site processor according to an embodiment of 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 making any creative effort, shall fall within the protection scope of the present invention.
The coke dry quenching coke loading equipment comprises a lifter and a coke tank. Wherein, the lifting machine has two lifting hooks, and the coke jar has two lugs. In the coke dry quenching coke charging process, red coke is placed in a coke tank, the coke tank filled with the red coke is transported to a lifting position, then a lifting hook of a lifting machine is controlled to be opened and lowered, when the lifting hook is lowered to the position of a lifting lug of the coke tank, the lifting hook part is controlled to penetrate through a through hole in the lifting lug, then the lifting hook is closed, as shown in figure 1, the lifting machine is controlled to be raised, so that the lifting machine lifts the coke tank through the lifting hook, and then the coke tank is conveyed to a dry quenching furnace for cooling.
However, in the coke dry quenching coke charging process, if the lifting hook does not safely hook the lifting lug, the hot red coke in the coke tank can be scattered, and safety accidents, such as damage to equipment below the coke tank or injury and death of workers, can occur.
In order to reduce the accident rate in the coke dry quenching and loading process, the embodiment of the invention provides a control system of coke dry quenching and loading equipment. As shown in fig. 2, the system includes an image collector 21 and a site processor 22.
And the image collector 21 is used for collecting a monitoring image for the coke tank and sending the monitoring image to the field processor 22.
And the field processor 22 is configured to receive the monitoring image sent by the image collector 21, perform image recognition on the monitoring image, determine a current relative position between the lifting lug of the coke tank and the lifting hook of the hoisting machine, and control the hoisting machine to ascend if the current relative position indicates that the lifting hook safely hooks the lifting lug so as to move the coke tank to a specified position.
In the embodiment of the present invention, the image collector 21 is connected to the site processor 22 through a data transmission line, as shown in fig. 2. After the image collector 21 collects the monitoring image, the monitoring image can be transmitted to the site processor 22 through the data transmission line. The site processor 22 processes the monitoring image after receiving the monitoring image.
In one embodiment, the color of the lifting hook is different from the color of the coke tank body, and the color of the lifting lug is different from the color of the hoister body.
In the embodiment of the invention, in order to clearly identify the lifting hook and the lifting lug in the monitoring image, paint with a color different from that of the coke tank main body can be brushed on the lifting hook, and paint with a color different from that of the main body of the hoister can be brushed on the lifting lug. The paint colors of the lifting lug and the lifting hook can be the same or different.
In one embodiment, since the coke dry quenching coke loading device is installed outdoors, in order to prevent the image collector 21 from being damaged due to water inflow of the image collector 21, the image collector 21 may be subjected to water-proof treatment.
In one embodiment, as shown in FIG. 3, the system may further include a remote controller 23.
And the remote controller 23 is used for sending a first control instruction for the elevator and a second control instruction for the image collector 21 to the site processor 22.
Based on this, the site processor 22 may also be configured to control the elevator to ascend or descend according to the first control instruction; and controlling the opening or closing of the image collector 21 according to the second control instruction.
In the embodiment of the present invention, the remote controller 23 may be an electronic device such as a mobile terminal, a personal computer, a tablet computer, and the like. The worker can input the first control instruction and the second control instruction to the remote controller 23; the remote controller 23 may also generate the first control instruction and the second control instruction. The remote controller 23 can control the elevator to ascend or descend and control the image collector 21 to be turned on or off through the site processor 22. The worker can realize the remote control of the elevator and the image collector 21 through the remote controller 23.
In an embodiment of the present invention, the site processor 22 may be connected to the remote controller 23 via a data transmission line, as shown in fig. 3. The site processor 22 may also be configured to transmit the acquired monitoring image to the remote controller 23 via a data transmission line, and based on this, the remote controller 23 may also be configured to display the acquired monitoring image, so that the staff may observe the working conditions of the coke tank and the elevator through the remote controller 23.
Based on the control system of the coke dry quenching coke loading equipment, the embodiment of the invention provides a control method of the coke dry quenching coke loading equipment. As shown in FIG. 4, the dry quenching coke charging apparatus includes a coke drum and a hoist, and the method may be applied to an on-site processor 22 as shown in FIG. 2, and includes the following steps.
In the embodiment of the invention, the image collector in the control system takes the scene of the lifting position of the coke tank as a monitoring scene, monitors the monitoring scene in real time and collects the monitoring image aiming at the coke tank. After the image collector collects the monitoring image, the monitoring image is sent to the site processor, and the site processor acquires the monitoring image.
And 402, carrying out image recognition on the monitoring image, and determining the current relative positions of the lifting lug of the coke tank and the lifting hook of the lifting machine.
In the embodiment of the invention, after the monitoring image is obtained, the field processor extracts the characteristics of the lifting lug of the coke tank and the lifting hook of the lifting machine from the monitoring image, and identifies the characteristics to obtain the current relative positions of the lifting lug of the coke tank and the lifting hook of the lifting machine. Wherein the current relative position may be used to indicate the connection state between the lifting hook and the lifting lug. The current relative position can include three states of the lifting hook safely hooking the lifting lug, the lifting hook being completely opened, the lifting hook hooking deviating, and the like.
In one embodiment, the image collector sends the monitoring image collected in real time to the site processor. And the field processor identifies the monitoring image, and if the coke tank is determined to be positioned at the lifting position, the lifting machine is controlled to descend so that the lifting hook hooks the lifting lug. And after controlling the elevator to descend, identifying the monitoring image by the field processor, and determining the current relative position of the lifting lug of the coke tank and the lifting hook of the elevator.
And 403, if the current relative position indicates that the lifting hook safely hooks the lifting lug, controlling the lifting machine to ascend so as to move the coke tank to a specified position.
In the implementation example of the invention, after the site processor obtains the current relative position between the lifting lug and the lifting hook, if the current relative position indicates that the lifting hook safely hooks the lifting lug, the site processor can determine that the current lifting machine rises, the coke tank can stably rise along with the lifting machine, and the problem of hot red coke scattering cannot occur, so that the site processor controls the lifting machine to rise, and moves the coke tank to the designated position for subsequent processing. Wherein, the designated position can be for carrying out the dry quenching stove of cooling treatment to the red burnt carbon in the coke drum.
According to the control method of the coke dry quenching coke loading equipment, the monitoring image is subjected to image recognition, so that the current relative positions of the lifting lug of the coke tank and the lifting hook of the hoister in the monitoring image can be accurately determined, and whether the lifting hook is hooked on the lifting lug safely or not can be accurately judged. Under the condition that the lifting hook is determined to safely hook the lifting lug, the lifting machine is controlled to ascend, then the coke tank is moved to a specified position, hot red coke in the coke tank can be effectively prevented from being scattered, and the accident rate in the coke dry quenching and charging process is reduced.
In one embodiment, as shown in FIG. 5, the method may further include the following step 404 after determining the current relative positions of the lifting lug of the coke drum and the lifting hook of the hoist at step 402.
And step 404, if the current relative position indicates that the lifting hook is not hooked on the lifting lug safely, outputting an alarm.
If the lifting hook is not safely hooked by the current relative position indication lifting hook, the field processor can determine that the current lifting machine rises, the problem that hot red coke is scattered can be generated, and then an alarm is output, so that the worker can timely handle the lifting hook, adjust the position of the lifting hook and the like, and avoid accidents.
In one embodiment, the site processor may send an alert to the remote controller, which displays the alert. So as to remind the staff: the lifting hook does not safely hook the lifting lug.
In another embodiment, the system may further comprise an alarm device. If the current relative position indicates that the lifting hook is not hooked on the lifting lug safely, the site processor can send an alarm to the alarm device; the alarm device outputs an alarm. Here, the alarm device may include, but is not limited to, an alarm bell, a warning light, and the like.
In one embodiment, as shown in FIG. 6, step 402 may be refined to step 4021 and step 403 may be refined to step 4031.
The preset area is an area containing the connecting position of the lifting hook and the coke tank in the image. The preset area may be determined based on the elevation position and the height of the lifting lug on the coke drum.
In one embodiment, the site processor may perform image recognition on the entire monitored image to obtain a current contour of the object included in the preset region in the monitored image. In another embodiment, the site processor may perform image recognition on a preset region of the monitored image to obtain a current contour of an object included in the preset region in the monitored image. To reduce the computational load of the site processor.
In one embodiment, to reduce the probability that the identified current contour is an invalid contour, either only the hook or only the lifting lug is included in the current contour. The site processor may obtain a current contour of an object included in a preset area in the monitored image for a preset time period. The preset time period may be a time period from the moment when the lifting hook starts to contact with the lifting lug to the moment when the lifting hook completely hooks the lifting lug theoretically.
Because the size of the through hole matched with the lifting hook on the lifting hook is basically attached to the size of the lifting hook, when the lifting hook completely hooks the lifting hook, the appearance contour of the lifting hook and the appearance contour of the lifting hook are very easy to determine, whether the lifting hook safely hooks the lifting hook is judged based on the current contour of the lifting hook and the lifting hook, the judgment complexity is reduced, and the judgment accuracy is improved.
In the embodiment of the invention, the preset profile is a profile formed by the lifting hook and the lifting lug when the lifting hook safely hooks the lifting lug. And after obtaining the current contour, the field processor compares the current contour with a preset contour to obtain the similarity between the current contour and the preset contour. And if the similarity is greater than the preset similarity threshold, determining that the current contour is matched with the preset contour, and further determining that the lifting hook safely hooks the lifting lug. And if the similarity is less than or equal to the preset similarity threshold, determining that the current contour is not matched with the preset contour, and further determining that the lifting hook is not hooked on the lifting lug safely.
The preset similarity threshold may be set according to an actual situation, for example, the preset similarity threshold is 90%, 95%, or the like. The embodiment of the present invention is not particularly limited thereto.
In one embodiment, as shown in FIG. 7, step 402 may also be refined into steps 4022 and 4023.
And step 4023, determining the current relative position of the lifting lug of the coke tank and the lifting hook of the lifting machine based on the first coordinate position and the second coordinate position.
In the embodiment of the present invention, the first coordinate position and the second coordinate position may be world coordinate positions or image coordinate positions, which is not limited specifically.
Take the first coordinate position and the second coordinate position as world coordinate positions as an example. The site processor determines an x-coordinate difference in the x-direction, a y-coordinate difference in the y-direction, and a z-coordinate difference in the z-direction for the first coordinate position relative to the second coordinate position based on the first coordinate position and the second coordinate position, respectively.
The field processor respectively calculates a first deviation value of the x coordinate difference value and a preset x coordinate difference value, a second deviation value of the y coordinate difference value and a preset y coordinate difference value, and a third deviation value of the z coordinate difference value and a preset z coordinate difference value. And when the first deviation value, the second deviation value and the third deviation value are all smaller than a preset difference threshold value, the lifting hook is determined to safely hook the lifting lug.
The preset difference threshold may be set according to an actual situation, which is not limited in the embodiment of the present invention. Presetting an x coordinate difference value as a coordinate difference value between the position coordinate of the lifting hook and the position coordinate of the lifting lug in the x direction when the lifting hook safely hooks the lifting lug; the preset y coordinate difference is a coordinate difference between the position coordinate of the lifting hook and the position coordinate of the lifting lug in the y direction when the lifting hook safely hooks the lifting lug; and the z-coordinate difference is a coordinate difference between the position coordinate of the lifting hook and the position coordinate of the lifting lug in the z direction when the lifting hook safely hooks the lifting lug.
In order to reduce the accident rate in the coke dry quenching and coke loading process, an embodiment of the present invention further provides a control device of a coke dry quenching and coke loading apparatus, as shown in fig. 8, the device includes:
and an obtaining module 801, configured to obtain a monitoring image for the coke tank.
And the identification module 802 is used for carrying out image identification on the monitoring image and determining the current relative position of the lifting lug of the coke tank and the lifting hook of the lifting machine.
And the control module 803 is used for controlling the lifting machine to ascend if the current relative position indicates that the lifting hook safely hooks the lifting lug so as to move the coke tank to a specified position.
In one embodiment, the apparatus may further include:
and the output module is used for outputting an alarm if the current relative position indicates that the lifting hook is not hooked on the lifting lug safely.
In an embodiment, the identifying module 802 may be specifically configured to:
and carrying out image recognition on the monitored image to obtain the current contour of the object in the preset area in the monitored image, and taking the current contour as the current relative position of the lifting lug of the coke tank and the lifting hook of the lifting machine.
The control module 803 may be specifically configured to:
and if the current contour is matched with the preset contour, determining that the lifting hook safely hooks the lifting lug, and controlling the lifting machine to ascend, wherein the preset contour is the contour formed by the lifting hook and the lifting lug when the lifting hook safely hooks the lifting lug.
In an embodiment, the identifying module 802 may be specifically configured to:
and carrying out image recognition on the monitoring image to obtain a first coordinate position of a lifting lug of the coke tank and a second coordinate position of a lifting hook of the lifting machine.
And determining the current relative position of the lifting lug of the coke tank and the lifting hook of the lifting machine based on the first coordinate position and the second coordinate position.
An embodiment of the present invention further provides an on-site processor, as shown in fig. 9, including a processor 901, a communication interface 902, a memory 903 and a communication bus 904, where the processor 901, the communication interface 902, and the memory 903 complete mutual communication through the communication bus 904.
A memory 903 for storing computer programs.
The processor 901 is configured to implement the steps of any one of the methods for controlling a dry quenching coke charging apparatus described above when executing the program stored in the memory 903.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
In still another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any one of the above-mentioned control methods of the dry quenching coke charging apparatus.
In still another embodiment provided by the present invention, there is also provided a computer program which, when run on a computer, causes the computer to execute the method of controlling any one of the dry quenching coke charging apparatuses in the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system, the apparatus, the site processor, the computer readable storage medium and the computer program are substantially similar to the method embodiments, so that the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (13)
1. A control method of coke dry quenching coke loading equipment is characterized in that the coke dry quenching coke loading equipment comprises a coke tank and a lifter; the method comprises the following steps:
acquiring a monitoring image for the coke tank;
carrying out image recognition on the monitoring image, and determining the current relative positions of a lifting lug of the coke tank and a lifting hook of the lifting machine;
and if the current relative position indicates that the lifting hook safely hooks the lifting lug, controlling the lifting machine to ascend so as to move the coke tank to a specified position.
2. The method of claim 1, further comprising:
and if the current relative position indicates that the lifting hook is not hooked on the lifting lug safely, outputting an alarm.
3. The method of claim 1, wherein the step of image recognizing the monitor image to determine a current relative position of the lifting lug of the coke drum and the lifting hook of the hoist comprises:
performing image recognition on the monitoring image to obtain a current contour of an object in a preset area in the monitoring image, and taking the current contour as the current relative position of a lifting lug of the coke tank and a lifting hook of the hoister;
if the current relative position indicates that the lifting hook safely hooks the lifting lug, the lifting machine is controlled to ascend, and the method comprises the following steps:
and if the current contour is matched with a preset contour, determining that the lifting hook safely hooks the lifting lug, and controlling the lifting machine to ascend, wherein the preset contour is an outer contour formed by the lifting hook and the lifting lug when the lifting hook safely hooks the lifting lug.
4. The method of claim 1, wherein the step of image recognizing the monitor image to determine a current relative position of the lifting lug of the coke drum and the lifting hook of the hoist comprises:
carrying out image recognition on the monitoring image to obtain a first coordinate position of a lifting lug of the coke tank and a second coordinate position of a lifting hook of the hoister;
determining a current relative position of a lifting lug of the coke drum and a lifting hook of the hoist based on the first coordinate position and the second coordinate position.
5. The method of claim 1, wherein the hook is a different color than the body of the coke drum and the lifting lug is a different color than the body of the hoist.
6. A control system of dry quenching coke loading equipment is characterized in that the dry quenching coke loading equipment comprises a coke tank and a hoist, and the control system comprises: an image collector and a field processor;
the image collector is used for collecting a monitoring image aiming at the coke tank and sending the monitoring image to the field processor;
and the field processor is used for carrying out image recognition on the monitoring image, determining the current relative position of a lifting lug of the coke tank and a lifting hook of the lifting machine, and controlling the lifting machine to ascend if the current relative position indicates that the lifting hook safely hooks the lifting lug so as to move the coke tank to a specified position.
7. The system of claim 6, further comprising: a remote controller;
the remote controller is used for sending a first control instruction aiming at the hoister and a second control instruction aiming at the image collector to the site processor;
the field processor is also used for controlling the lifting machine to ascend or descend according to the first control instruction; and controlling the image collector to be opened and closed according to the second control instruction.
8. The system of claim 6, further comprising: an alarm device;
the site processor is further configured to send an alarm to the alarm device if the current relative position indicates that the lifting hook does not safely hook the lifting lug;
the alarm device is used for outputting an alarm.
9. The system of claim 6, wherein the hook is a different color than the body of the coke drum and the lifting lug is a different color than the body of the hoist.
10. A control device of coke dry quenching coke loading equipment is characterized in that the coke dry quenching coke loading equipment comprises a coke tank and a hoister; the device comprises:
the acquisition module is used for acquiring a monitoring image for the coke tank;
the identification module is used for carrying out image identification on the monitoring image and determining the current relative position of the lifting lug of the coke tank and the lifting hook of the lifting machine;
and the control module is used for controlling the lifting machine to ascend if the current relative position indicates that the lifting hook safely hooks the lifting lug so as to move the coke tank to a specified position.
11. The apparatus of claim 10, further comprising:
and the output module is used for outputting an alarm if the current relative position indicates that the lifting hook is not hooked on the lifting lug safely.
12. The apparatus of claim 10, wherein the identification module is specifically configured to:
performing image recognition on the monitoring image to obtain a current contour of an object in a preset area in the monitoring image, and taking the current contour as the current relative position of a lifting lug of the coke tank and a lifting hook of the hoister;
the control module is specifically configured to:
and if the current contour is matched with a preset contour, determining that the lifting hook safely hooks the lifting lug, and controlling the lifting machine to ascend, wherein the preset contour is an outer contour formed by the lifting hook and the lifting lug when the lifting hook safely hooks the lifting lug.
13. The apparatus of claim 10, wherein the identification module is specifically configured to:
carrying out image recognition on the monitoring image to obtain a first coordinate position of a lifting lug of the coke tank and a second coordinate position of a lifting hook of the hoister;
determining a current relative position of a lifting lug of the coke drum and a lifting hook of the hoist based on the first coordinate position and the second coordinate position.
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