CN112207820B - Intelligent slag salvaging control method and device - Google Patents

Intelligent slag salvaging control method and device Download PDF

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CN112207820B
CN112207820B CN202010935634.1A CN202010935634A CN112207820B CN 112207820 B CN112207820 B CN 112207820B CN 202010935634 A CN202010935634 A CN 202010935634A CN 112207820 B CN112207820 B CN 112207820B
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slag
salvaging
zinc
dragging
path
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CN112207820A (en
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陈刚
彭炜
周诗正
宫贵良
刘傲
李金�
杨芃
唐华
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Wuhan Iron and Steel Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
    • C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
    • C23C2/04—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor characterised by the coating material
    • C23C2/06—Zinc or cadmium or alloys based thereon
    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
    • C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
    • C23C2/34—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor characterised by the shape of the material to be treated
    • C23C2/36—Elongated material
    • C23C2/40—Plates; Strips

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Abstract

The invention relates to the technical field of hot galvanizing, in particular to an intelligent slag salvaging control method and device. The method comprises the following steps: obtaining the thickness of the zinc dross in all dross salvaging areas on the liquid surface in the zinc pot; determining a slag dragging area needing slag dragging operation; taking slag dragging areas needing slag dragging operation as path nodes, and constructing a path node set; traversing a path node set, and constructing a slag dragging path set; acquiring an evaluation index of each slag dragging path according to the total length of each slag dragging path in the slag dragging path set and the weight of zinc slag; and controlling the slag dragging mechanical arm to drag the slag according to the slag dragging path corresponding to the maximum evaluation index in the slag dragging path set. According to the slag salvaging control method, the slag salvaging control of the slag salvaging mechanical arm is converted into the problem of how to realize the shortest path and the maximum slag salvaging quality optimal path on the premise that the upper limit exists in the single slag salvaging capacity, and the slag salvaging path with the maximum evaluation index is used for controlling the slag salvaging mechanical arm to carry out slag salvaging operation, so that the efficiency of the slag salvaging mechanical arm for carrying out slag salvaging operation is improved.

Description

Intelligent slag salvaging control method and device
Technical Field
The invention relates to the technical field of hot galvanizing, in particular to an intelligent slag salvaging control method and device.
Background
The zinc slag is the most common defect on the surface of a continuous hot-dip galvanized strip steel coating, and the generation reason is mainly that the iron-aluminum-zinc three-phase balance in a zinc pot is broken due to the change of factors such as strip steel temperature, zinc pot temperature, product specification and the like, so that intermetallic compounds with different components are generated, and three forms of surface slag, suspension scum and bottom slag are respectively presented according to different specific gravities of the intermetallic compounds. Effectively controlling the suspension scum in the zinc liquid, timely removing the surface scum in the V-shaped area of the zinc pot and the zinc scum at other hot-dip affected positions, and preventing the bottom scum and the suspension scum in the hot-dip area from being converted and overflowed are the key points of the unit for producing the automobile plate with high-grade surface quality.
In order to improve the efficiency of slag salvaging operation, the advanced steel enterprises of Bao steel and other parts have started the operation substitution of mechanical arm slag salvaging. The existing mechanical arm slag salvaging mainly adopts a blind salvaging operation mode, namely, the movement of a slag salvaging spoon is used as a target in a program, a fixed slag salvaging path is well programmed to cover the whole zinc pot area, and the robot adopts a fixed slag salvaging operation repeatedly in a timing mode. This method basically enables the replacement of personnel, but still has the following problems: the slag dragging efficiency is low; the ZnO layer with the protection function is taken out as zinc slag, so that the zinc consumption is obviously increased.
Therefore, how to improve the efficiency of the slag dragging operation of the slag dragging mechanical arm is a technical problem which needs to be solved at present.
Disclosure of Invention
The invention aims to provide an intelligent slag salvaging control method and device to improve the efficiency of slag salvaging operation of a slag salvaging mechanical arm.
The embodiment of the invention provides the following scheme:
in a first aspect, an embodiment of the present invention provides an intelligent slag salvaging control method, where the method includes:
obtaining the thickness of the zinc dross in all dross salvaging areas on the liquid surface in the zinc pot;
determining slag salvaging areas needing slag salvaging operation according to the thickness of the zinc slag in all the slag salvaging areas on the liquid surface in the zinc pot;
taking the slag salvaging areas needing slag salvaging as path nodes to construct a path node set;
traversing the path node set by taking the set starting point position as an origin and all path nodes in the path node set as targets to construct a slag dragging path set;
acquiring an evaluation index of each slag dragging path according to the total length of each slag dragging path in the slag dragging path set and the weight of zinc slag;
and controlling the slag dragging mechanical arm to drag the slag according to the slag dragging path corresponding to the maximum evaluation index in the slag dragging path set.
In a possible embodiment, the determining the slag dragging area needing slag dragging operation according to the thickness of the zinc slag in all the slag dragging areas on the liquid surface in the zinc pot comprises:
calculating the comprehensive slag dragging index E of the p & ltth & gt slag dragging area on the liquid surface in the zinc potpThe specific calculation formula is as follows:
Ep＝αp+q×Dp；
wherein D ispIs the thickness of the zinc slag in the p-th slag dragging area, alphapSetting an easy-to-block index for the pth slag dragging area, wherein q is a zinc slag thickness correction coefficient;
sequencing all slag dragging areas on the liquid level in the zinc pot in the sequence of the comprehensive slag dragging indexes from large to small to obtain a slag dragging area sequence;
and taking the first number of slag salvaging areas in the slag salvaging area sequence as the slag salvaging areas needing slag salvaging operation.
In a possible embodiment, before the first number of slag fishing zones in the sequence of slag fishing zones is used as the slag fishing zone needing slag fishing operation, the method further includes:
obtaining the total weight M of the zinc dross in all dross salvaging areas on the liquid surface in the zinc pottotal；
Calculating the value N of the first quantity, wherein a specific calculation formula is as follows:
Figure GDA0003194502470000031
wherein n is0To set a reference quantity value, M0Setting the reference value of the weight sum of the zinc dross.
In a possible embodiment, the obtaining an evaluation index of each slag dragging path according to a total length of each slag dragging path in the set of slag dragging paths and a weight of zinc dross includes:
calculating the evaluation index F of the kth slag dragging path in the slag dragging path setk(ii) a Wherein, the specific calculation formula is as follows:
Figure GDA0003194502470000032
wherein L isijIs the distance length of the path from the ith path node to the jth path node, MjThe weight of the zinc dross in the dross salvaging area corresponding to the jth path node, eta is a distance weight parameter, a is a distance influence parameter, and b is a weight influence parameter.
In a possible embodiment, after obtaining the thickness of the zinc dross in all dross salvaging areas on the liquid surface in the zinc pot, the method further comprises the following steps:
judging whether the thickness of the zinc dross in the dross salvaging area corresponding to the first zinc dross push-out channel exceeds a set threshold value;
if yes, controlling the slag dragging mechanical arm to start from the set starting position and go to a slag dragging area corresponding to the first zinc slag pushing channel through a first position to drag slag; wherein the distance from the first position to the side wall of the outlet of the first zinc dross push-out channel, which is close to the furnace nose, is less than a set distance.
In a possible embodiment, after the controlling the slag dragging mechanical arm to perform the slag dragging operation from the first position to the slag dragging zone corresponding to the first zinc slag push-out channel, the method further includes:
judging whether the thickness of the zinc dross in the dross salvaging area corresponding to the second zinc dross push-out channel exceeds the set threshold value;
if the volume of the slag-fishing mechanical arm exceeds the maximum volume of the single slag-fishing capacity, judging whether the slag-fishing mechanical arm reaches the maximum volume of the single slag-fishing;
if the zinc slag is not reached, controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing-out channel through the second position to drag slag; wherein the distance from the second position to the side wall of the outlet of the second zinc dross push-out channel close to the furnace nose is less than the set distance.
In a possible embodiment, after determining whether the slag dragging mechanical arm reaches the maximum capacity of single slag dragging, the method further includes:
if the slag is reached, controlling the slag dragging mechanical arm to move from the first position to the set starting position, and carrying out slag removal operation;
and after the slag removing operation is finished, controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing-out channel through the second position to carry out slag dragging operation.
In a second aspect, an embodiment of the present invention provides an intelligent slag salvaging control device, including:
the zinc slag thickness acquisition module is used for acquiring the zinc slag thickness of all slag fishing areas on the liquid surface in the zinc pot;
the slag salvaging zone screening module is used for determining a slag salvaging zone needing slag salvaging operation according to the thickness of the zinc slag in all the slag salvaging zones on the liquid surface in the zinc pot;
the first building module is used for taking all the slag salvaging areas needing slag salvaging as path nodes and building a path node set;
the second construction module is used for traversing the path node set by taking a set starting point position as an origin and all path nodes in the path node set as targets to construct a slag dragging path set;
the evaluation index acquisition module is used for acquiring the evaluation index of each slag dragging path according to the total length and the weight of the zinc slag of each slag dragging path in the set of slag dragging paths;
and the first control module is used for controlling the slag dragging mechanical arm to drag the slag according to the slag dragging path corresponding to the maximum evaluation index.
In a possible embodiment, the slag salvaging zone screening module comprises:
a first calculation module for calculating the comprehensive slag-dragging index E of the p-th slag-dragging area on the liquid surface in the zinc potpThe specific calculation formula is as follows:
Ep＝αp+q×Dp；
wherein D ispIs the thickness of the zinc slag in the p-th slag dragging area, alphapSetting an easy-to-block index for the pth slag dragging area, wherein q is a zinc slag thickness correction coefficient;
the slag salvaging zone sequence acquisition module is used for sequencing all slag salvaging zones on the liquid level in the zinc pot in the sequence of the comprehensive slag salvaging indexes from large to small to acquire a slag salvaging zone sequence;
and the slag salvaging zone determining module is used for taking the first number of slag salvaging zones in the sequence of the slag salvaging zones as the slag salvaging zones needing slag salvaging operation.
In a possible embodiment, the slag salvaging zone screening module further includes:
a zinc slag weight sum obtaining module used for obtaining the zinc slag weight sum M of all slag dragging areas on the liquid surface in the zinc pottotal；
A second calculating module, configured to calculate the value N of the first quantity, where a specific calculation formula is:
Figure GDA0003194502470000051
wherein n is0To set a reference quantity value, M0Setting the reference value of the weight sum of the zinc dross.
In a possible embodiment, the evaluation index obtaining module includes:
a third calculating module for calculating the evaluation index F of the kth slag dragging path in the set of slag dragging pathsk(ii) a Wherein, the specific calculation formula is as follows:
Figure GDA0003194502470000061
wherein L isijIs the distance length of the path from the ith path node to the jth path node, MjThe weight of the zinc dross in the dross salvaging area corresponding to the jth path nodeη is a distance weight parameter, a is a distance influence parameter, and b is a weight influence parameter.
In a possible embodiment, the apparatus further comprises:
the first judgment module is used for judging whether the thickness of the zinc dross in the dross salvaging area corresponding to the first zinc dross push-out channel exceeds a set threshold value or not after the thickness of the zinc dross in all the dross salvaging areas on the liquid level in the zinc pot is obtained;
the second control module is used for controlling the slag dragging mechanical arm to start from the set starting position and carry out slag dragging operation from the first position to the slag dragging area corresponding to the first zinc slag pushing channel when the thickness of the zinc slag in the slag dragging area corresponding to the first zinc slag pushing channel exceeds a set threshold value; wherein the distance from the first position to the side wall of the outlet of the first zinc dross push-out channel, which is close to the furnace nose, is less than a set distance.
In a possible embodiment, the apparatus further comprises:
the second judgment module is used for judging whether the thickness of the zinc dross in the slag dragging area corresponding to the second zinc dross pushing-out channel exceeds the set threshold value or not after controlling the slag dragging mechanical arm to move from the first position to the slag dragging area corresponding to the first zinc dross pushing-out channel for slag dragging;
the third judgment module is used for judging whether the slag dragging mechanical arm reaches the maximum capacity of single slag dragging when the thickness of the zinc slag in the slag dragging area corresponding to the second zinc slag pushing-out channel exceeds the set threshold;
the third control module is used for controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing-out channel through the second position to drag slag when the slag dragging mechanical arm does not reach the maximum capacity of single slag dragging; wherein the distance from the second position to the side wall of the outlet of the second zinc dross push-out channel close to the furnace nose is less than the set distance.
In a possible embodiment, the apparatus further comprises:
the fourth control module is used for controlling the slag dragging mechanical arm to move from the first position to the set starting position to carry out slag removal operation when the slag dragging mechanical arm reaches the maximum capacity of single slag dragging;
and the fifth control module is used for controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing-out channel from the second position to drag slag after the slag removing operation is finished.
In a third aspect, an embodiment of the present invention provides an intelligent slag salvaging control device, including:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the intelligent slag control method according to any one of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the intelligent slag control method according to any one of the first aspect.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the method comprises the steps of firstly determining slag salvaging areas needing slag salvaging operation at this time according to the thickness of zinc slag in the slag salvaging areas on the liquid surface in a zinc pot, then taking the slag salvaging areas as path nodes, and traversing a path node set by taking the set starting points as the starting points of the slag salvaging paths to construct a slag salvaging path line set. According to the invention, the slag salvaging control of the slag salvaging mechanical arm is converted into the optimal path problem of how to realize the shortest path and the largest slag salvaging quality on the premise that the upper limit exists in the single slag salvaging capacity, the slag salvaging efficiency of each slag salvaging path is evaluated according to the distance length and the weight of zinc slag by using the evaluation index, and finally the slag salvaging mechanical arm is controlled by using the slag salvaging path with the largest evaluation index to carry out slag salvaging operation, so that the slag salvaging operation efficiency of the slag salvaging mechanical arm is improved.
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In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an intelligent slag salvaging control method provided by the embodiment of the invention;
FIG. 2 is a schematic diagram of a slag dragging area provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a slag dragging path according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an obstacle avoidance slag dragging path according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an intelligent slag salvaging control device provided by the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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, rather than all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.
After the inventor of the invention carries out deep investigation and analysis on the slag salvaging operation of the zinc pot, the upper limit of the slag salvaging capacity of the slag salvaging mechanical arm each time is considered, if the quality of the zinc slag of each slag salvaging area is not considered, the slag salvaging operation is carried out on the slag salvaging areas needing slag salvaging in sequence, and the problem that the mechanical arm needs to repeatedly return to a slag collecting area for slag cleaning possibly occurs, so that the overall efficiency of slag salvaging in the zinc pot is not high, therefore, the inventor of the invention converts the slag salvaging control of the slag salvaging mechanical arm into the optimal path problem of how to realize the shortest path and the maximum slag salvaging quality on the premise that the upper limit of the single slag salvaging capacity exists, and hopes to improve the overall efficiency of slag salvaging in the zinc pot by the following scheme.
Referring to fig. 1, fig. 1 is a flowchart of an intelligent slag salvaging control method according to an embodiment of the present invention, including steps 11 to 16.
And 11, acquiring the thickness of the zinc dross in all dross salvaging areas on the liquid surface in the zinc pot.
Specifically, the liquid level region of the zinc pot includes a slag dragging region and a slag collecting region, and the slag dragging region can be divided into a plurality of slag dragging regions according to a rectangular region, as shown in fig. 2, which is a schematic view of the slag dragging region provided in this embodiment, and certainly, the slag dragging region can be divided into different slag dragging regions in other dividing manners, which is not described herein again.
Specifically, a 3D scanner can be used to scan the surface of the molten zinc to obtain surface topography data of the zinc dross, thereby obtaining the thickness of the zinc dross in each dross salvaging area; the surface of the zinc liquid can be sampled by using a thermal imaging camera or a CCD camera to obtain the thickness of the zinc dross in each dross salvaging area. Here, the thickness of the zinc dross means a thickness from the upper surface of the zinc dross to the surface of the molten zinc.
And 12, determining slag salvaging areas needing slag salvaging operation according to the thickness of the zinc slag in all the slag salvaging areas on the liquid surface in the zinc pot.
Specifically, a plurality of slag dragging areas with the largest thickness of the zinc slag can be selected as the slag dragging areas needing slag dragging operation.
Considering that the areas where the zinc dross is easy to deposit and block exist on the path where the zinc dross enters the zinc pot from the zinc dross push-out channel, and once the areas are easy to deposit and block, the areas will have serious influence on the galvanizing production, therefore, the thickness of the zinc dross in each slag dragging area and the difficulty of blocking the zinc dross need to be comprehensively considered in the process of determining the slag dragging area needing slag dragging operation, therefore, the invention also provides the following better scheme for determining the slag dragging area needing slag dragging operation, and the scheme is specifically as follows:
step 21, calculating the comprehensive slag salvaging index E of the pth slag salvaging area on the liquid surface in the zinc potpThe specific calculation formula is as follows:
Ep＝αp+q×Dp；
wherein D ispIs the thickness of the zinc slag in the p-th slag dragging area, alphapAnd setting an easy-to-block index for the pth slag dragging area, wherein q is a zinc slag thickness correction coefficient.
Specifically, the closer the slag salvaging area is to the zinc slag pushing channel, the more easily zinc slag deposition and blockage occur, the higher the set easy-blockage index is, and of course, the highest set easy-blockage index of the slag salvaging area corresponding to the zinc slag pushing channel is.
Specifically, the zinc dross thickness correction coefficient q is set according to the calculation weight of the zinc dross thickness in the formula, and when the influence of the zinc dross thickness on the comprehensive slag salvaging index is large, the value of the zinc dross thickness correction coefficient q is larger.
And step 22, sequencing all slag dragging areas on the liquid surface in the zinc pot in the sequence of the comprehensive slag dragging indexes from large to small to obtain a slag dragging area sequence.
And step 23, taking the first number of slag salvaging areas in the sequence of the slag salvaging areas as the slag salvaging areas needing slag salvaging operation.
Specifically, the larger the comprehensive slag salvaging index is, the higher the priority of slag salvaging in the slag salvaging area is, the first number of slag salvaging areas before the slag salvaging area is selected as the slag salvaging areas needing slag salvaging operation at this time, that is, after the slag salvaging areas needing slag salvaging operation are subjected to slag salvaging operation, the slag salvaging operation in the zinc pot at this time can be considered to be completed, and the production requirements of the zinc pot are met.
Specifically, the first quantity may be a fixed value set empirically, or may be a value that is actually determined according to the current field situation.
Here, the present invention further provides a scheme for determining the value of the first quantity, specifically:
step 31, obtaining the total weight M of the zinc dross in all the dross salvaging areas on the liquid surface in the zinc pottotal。
Specifically, the weight of the zinc dross in each dross dragging area can be estimated according to the relation between the thickness and the weight of the zinc dross in the dross dragging areas, so that the total weight of the zinc dross in all the dross dragging areas is obtained. Certainly, the volume of the zinc dross can be estimated according to the thickness of the zinc dross in the dross salvaging area, and then the total weight of the zinc dross in all the dross salvaging areas can be estimated by utilizing the density of the zinc dross.
Step 31, calculating the value N of the first quantity, wherein a specific calculation formula is as follows:
Figure GDA0003194502470000101
wherein n is0To set a reference quantity value, M0Setting the reference value of the weight sum of the zinc dross.
Specifically, the first number of values N is pair
Figure GDA0003194502470000111
And carrying out rounding calculation.
Specifically, when the total weight of the zinc dross is MtotalIs more than the set zinc slag weight sum reference value M0If the total weight of the zinc dross is more than the total weight of the zinc dross, the slag dragging areas need to be selected more for slag dragging operation, so that the value of the first quantity is set to be larger. This step has realized the dynamic settlement to dragging for the sediment operation region through the dynamic settlement of first quantity, can drag for the sediment operation more accurately, avoids appearing "overshooting" the condition and appears, has reduced the emergence of dragging for sediment in-process zinc and having consumed.
And step 13, taking the slag salvaging areas needing slag salvaging as path nodes, and constructing a path node set.
Specifically, the central point position of the slag salvaging area can be used as a path node, so that the slag salvaging path is simplified into a directed node line segment conveniently, and therefore, a slag salvaging route is optimized by a mathematical method.
And step 14, traversing the path node set by taking the set starting point position as an origin and all path nodes in the path node set as targets to construct a slag dragging path set.
Specifically, as shown in fig. 3, a schematic diagram of one slag dragging path provided in this embodiment is provided, where black dots in the slag dragging area represent path nodes corresponding to the slag dragging area, and through the free combination of the path nodes, a plurality of slag dragging paths starting from a set starting point position and sequentially passing through all the path nodes are formed, so as to form a slag dragging path set.
And step 15, acquiring the evaluation index of each slag dragging path according to the total length of each slag dragging path in the slag dragging path set and the weight of zinc slag.
Here, the present invention provides a calculation scheme of an evaluation index, specifically:
step 41, calculating the evaluation index F of the kth slag dragging path in the slag dragging path setk(ii) a Wherein, the specific calculation formula is as follows:
Figure GDA0003194502470000121
wherein f isijAn evaluation index, L, corresponding to a path from the ith path node to the jth path nodeijIs the distance length of the path from the ith path node to the jth path node, MjThe weight of the zinc dross in the dross salvaging area corresponding to the jth path node, eta is a distance weight parameter, a is a distance influence parameter, and b is a weight influence parameter.
In the step, each slag dragging path is divided into directed line segments formed from one path node to the next path node, and the evaluation index of each directed line segment is obtained by counting the evaluation index of each directed line segment.
In the above calculation formula, the larger the distance between the ith path node and the jth path node is, the smaller the weight of slag required to be fished at the path node is, and the smaller the evaluation index is. Therefore, if the evaluation index of the slag dragging path is larger, it means that the slag dragging efficiency of the slag dragging path is higher.
Certainly, the capacity of slag dragging each time is limited, when the upper limit is reached in the route, the slag dragging path needs to be updated, the current path node returns to the set starting point position, the remaining path nodes which are not subjected to slag dragging operation are taken as a new path node set, and the step 14 is returned to perform path planning again.
And step 16, controlling the slag dragging mechanical arm to drag the slag according to the slag dragging path corresponding to the maximum evaluation index in the slag dragging path set.
Specifically, the evaluation index comprehensively considers the restriction of the single slag dragging capacity, the path distance and the influence of the zinc slag weight on the slag dragging efficiency, so that the slag dragging path corresponding to the maximum evaluation index in the slag dragging path set is the path with the highest current slag dragging efficiency, and finally, the slag dragging operation is efficiently performed according to the path.
In practical application, a furnace nose equipment area is also arranged between the zinc slag pushing channels in the zinc pot, the slag dragging mechanical arm directly goes to the zinc slag pushing channels to drag slag, the slag dragging mechanical arm is easily blocked by a furnace nose, and the slag dragging mechanical arm or the zinc pot equipment is damaged in serious cases.
After the thicknesses of the zinc dross in all dross salvaging areas on the liquid surface in the zinc pot are obtained, the method further comprises the following steps:
and 51, judging whether the thickness of the zinc dross in the dross salvaging area corresponding to the first zinc dross push-out channel exceeds a set threshold value.
The zinc dross pushing channel belongs to an area where zinc dross is easy to accumulate and block, so the thickness of the zinc dross at the position needs to be specially monitored.
Step 52, if yes, controlling the slag dragging mechanical arm to start from the set starting position and go to a slag dragging area corresponding to the first zinc slag pushing channel from the first position to drag slag; wherein the distance from the first position to the side wall of the outlet of the first zinc dross push-out channel, which is close to the furnace nose, is less than a set distance.
Specifically, since the complex structure at the position of the dross push-out channel affects the dross dragging stroke of the mechanical arm of the dross dragging machine, this step especially provides an obstacle avoidance route for the dross dragging path of the dross push-out channel, as shown in fig. 4, which is a schematic diagram of an obstacle avoidance dross dragging path provided in this embodiment, where point a is a middle position (i.e., equal to the first position) corresponding to the dross push-out channel. The point A is positioned at the outer side of the outlet of the first zinc dross pushing channel, and meanwhile, the distance from the point A to the side wall of the outlet, close to the furnace nose, of the zinc dross pushing channel is short, so that the slag dragging mechanical arm can smoothly enter the zinc dross pushing channel at the position to drag the slag.
In practical application, there is also an application scenario that after slag salvaging operation is performed on one zinc slag push-out channel, another zinc slag salvaging operation is required, and the invention provides the following control scheme aiming at the scenario:
after the slag dragging mechanical arm is controlled to go from the first position to a slag dragging area corresponding to the first zinc slag push-out channel for slag dragging operation, the method further comprises the following steps:
and step 61, judging whether the thickness of the zinc dross in the dross salvaging area corresponding to the second zinc dross push-out channel exceeds the set threshold value.
And if the slag-removing mechanical arm does not exceed the preset starting position, the slag-removing mechanical arm is directly returned to the preset starting position from the first position.
And step 62, if the volume exceeds the preset volume, judging whether the slag dragging mechanical arm reaches the maximum capacity of single slag dragging.
Specifically, this step is considered that there is the capacity upper limit in the single sediment of dragging for, through the judgement of this step, can avoid dragging for the condition emergence that the passageway was released to the second zincilate after sediment spoon capacity is filled up, has improved the efficiency of dragging for the sediment.
Step 63, if the zinc slag is not reached, controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing channel through the second position to drag slag; wherein the distance from the second position to the side wall of the outlet of the second zinc dross push-out channel close to the furnace nose is less than the set distance.
Specifically, the second position is similar to the first position, so that the mechanical arm can conveniently enter the second zinc dross pushing channel from the position without obstruction.
In a possible embodiment, after determining whether the slag dragging mechanical arm reaches the maximum capacity of single slag dragging, the method further includes:
step 71, if the slag is reached, controlling the slag dragging mechanical arm to move from the first position to the set starting position, and performing slag removal operation;
and step 72, after the slag removal operation is finished, controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing channel from the second position to perform slag dragging operation.
Based on the same inventive concept as the method, an embodiment of the present invention further provides an intelligent slag salvaging control device, as shown in fig. 5, which is a schematic structural diagram of the embodiment of the device, and the device includes:
the zinc slag thickness obtaining module 81 is used for obtaining the zinc slag thickness of all slag dragging areas on the liquid surface in the zinc pot;
the slag salvaging zone screening module 82 is used for determining a slag salvaging zone which needs to carry out slag salvaging operation according to the thickness of the zinc slag in all the slag salvaging zones on the liquid surface in the zinc pot;
a first constructing module 83, configured to use all the slag salvaging areas that need to be subjected to slag salvaging operation as path nodes to construct a path node set;
a second constructing module 84, configured to traverse the path node set with a set starting point position as an origin and all path nodes in the path node set sequentially passing through as targets, and construct a slag dragging path set;
the evaluation index obtaining module 85 is configured to obtain an evaluation index of each slag dragging path according to the total length of each slag dragging path in the set of slag dragging paths and the weight of zinc slag;
and the first control module 86 is used for controlling the slag dragging mechanical arm to drag the slag according to the slag dragging path corresponding to the maximum evaluation index.
In a possible embodiment, the slag salvaging zone screening module comprises:
a first calculation module for calculating the comprehensive slag-dragging index E of the p-th slag-dragging area on the liquid surface in the zinc potpThe specific calculation formula is as follows:
Ep＝αp+q×Dp；
wherein D ispIs the thickness of the zinc slag in the p-th slag dragging area, alphapSetting an easy-to-block index for the pth slag dragging area, wherein q is a zinc slag thickness correction coefficient;
the slag salvaging zone sequence acquisition module is used for sequencing all slag salvaging zones on the liquid level in the zinc pot in the sequence of the comprehensive slag salvaging indexes from large to small to acquire a slag salvaging zone sequence;
and the slag salvaging zone determining module is used for taking the first number of slag salvaging zones in the sequence of the slag salvaging zones as the slag salvaging zones needing slag salvaging operation.
In a possible embodiment, the slag salvaging zone screening module further includes:
a zinc slag weight sum obtaining module used for obtaining the zinc slag weight sum M of all slag dragging areas on the liquid surface in the zinc pottotal；
A second calculating module, configured to calculate the value N of the first quantity, where a specific calculation formula is:
Figure GDA0003194502470000161
wherein n is0To set a reference quantity value, M0Setting the reference value of the weight sum of the zinc dross.
In a possible embodiment, the evaluation index obtaining module includes:
a third calculating module for calculating the evaluation index F of the kth slag dragging path in the set of slag dragging pathsk(ii) a Wherein, the specific calculation formula is as follows:
Figure GDA0003194502470000162
wherein L isijIs the distance length of the path from the ith path node to the jth path node, MjThe weight of the zinc dross in the dross salvaging area corresponding to the jth path node, eta is a distance weight parameter, a is a distance influence parameter, and b is a weight influence parameter.
In a possible embodiment, the apparatus further comprises:
the first judgment module is used for judging whether the thickness of the zinc dross in the dross salvaging area corresponding to the first zinc dross push-out channel exceeds a set threshold value or not after the thickness of the zinc dross in all the dross salvaging areas on the liquid level in the zinc pot is obtained;
the second control module is used for controlling the slag dragging mechanical arm to start from the set starting position and carry out slag dragging operation from the first position to the slag dragging area corresponding to the first zinc slag pushing channel when the thickness of the zinc slag in the slag dragging area corresponding to the first zinc slag pushing channel exceeds a set threshold value; wherein the distance from the first position to the side wall of the outlet of the first zinc dross push-out channel, which is close to the furnace nose, is less than a set distance.
In a possible embodiment, the apparatus further comprises:
the second judgment module is used for judging whether the thickness of the zinc dross in the slag dragging area corresponding to the second zinc dross pushing-out channel exceeds the set threshold value or not after controlling the slag dragging mechanical arm to move from the first position to the slag dragging area corresponding to the first zinc dross pushing-out channel for slag dragging;
the third judgment module is used for judging whether the slag dragging mechanical arm reaches the maximum capacity of single slag dragging when the thickness of the zinc slag in the slag dragging area corresponding to the second zinc slag pushing-out channel exceeds the set threshold;
the third control module is used for controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing-out channel through the second position to drag slag when the slag dragging mechanical arm does not reach the maximum capacity of single slag dragging; wherein the distance from the second position to the side wall of the outlet of the second zinc dross push-out channel close to the furnace nose is less than the set distance.
In a possible embodiment, the apparatus further comprises:
the fourth control module is used for controlling the slag dragging mechanical arm to move from the first position to the set starting position to carry out slag removal operation when the slag dragging mechanical arm reaches the maximum capacity of single slag dragging;
and the fifth control module is used for controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing-out channel from the second position to drag slag after the slag removing operation is finished.
Based on the same inventive concept as that in the foregoing embodiments, an embodiment of the present invention further provides an intelligent slag control device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the processor implements the steps of any one of the foregoing methods.
Based on the same inventive concept as in the previous embodiments, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of any of the methods described above.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
according to the embodiment of the invention, the spraying speed of the atomizing nozzle is determined according to the moving speed, the mounting position and the lowest liquid drop height of the strip, the nozzle flow and the liquid drop particle size are calculated according to the speed, and if the liquid drop particle size is consistent with the particle size of the on-site dust, the liquid drop sprayed by the nozzle at the moment has effective purification capacity and can effectively remove the dust on the site, so that the spraying speed of the atomizing nozzle can be used for effectively removing the dust on the site in the silicon steel hot rolling.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. An intelligent slag salvaging control method is characterized by comprising the following steps:
obtaining the thickness of the zinc dross in all dross salvaging areas on the liquid surface in the zinc pot;
determining slag salvaging areas needing slag salvaging operation according to the thickness of the zinc slag in all the slag salvaging areas on the liquid surface in the zinc pot;
taking the slag salvaging area needing slag salvaging as a path node, and constructing a path node set;
traversing the path node set by taking a set starting point as an origin and all path nodes in the path node set as targets to construct a slag dragging path set;
acquiring an evaluation index of each slag dragging path according to the total length of each slag dragging path in the slag dragging path set and the weight of zinc slag;
and controlling the slag dragging mechanical arm to drag the slag according to the slag dragging path corresponding to the maximum evaluation index in the slag dragging path set.
2. The intelligent slag salvaging control method according to claim 1, wherein the determining of the slag salvaging areas needing slag salvaging operation according to the thickness of the zinc slag in all the slag salvaging areas on the liquid surface in the zinc pot comprises:
calculating the comprehensive slag dragging index E of the p & ltth & gt slag dragging area on the liquid surface in the zinc potpThe specific calculation formula is as follows:
Ep＝αp+q×Dp；
wherein D ispIs the thickness of the zinc slag in the p-th slag dragging area, alphapSetting an easy-to-block index for the pth slag dragging area, wherein q is a zinc slag thickness correction coefficient;
sequencing all slag dragging areas on the liquid level in the zinc pot in the sequence of the comprehensive slag dragging indexes from large to small to obtain a slag dragging area sequence;
and taking the first number of slag salvaging areas in the slag salvaging area sequence as the slag salvaging areas needing slag salvaging operation.
3. The intelligent slag control method according to claim 2, wherein the first number of slag salvaging zones in the slag salvaging zone sequence is used as the slag salvaging zone needing slag salvaging operation, and the method further comprises:
obtaining the total weight M of the zinc dross in all dross salvaging areas on the liquid surface in the zinc pottotal；
Calculating the value N of the first quantity, wherein a specific calculation formula is as follows:
Figure FDA0003194502460000021
wherein n is0To set a reference quantity value, M0Setting the reference value of the weight sum of the zinc dross.
4. The intelligent slag salvaging control method according to claim 1, wherein the obtaining of the evaluation index of each slag salvaging path according to the total length and the weight of the zinc slag of each slag salvaging path in the set of slag salvaging paths comprises:
calculating the evaluation index F of the kth slag dragging path in the slag dragging path setk(ii) a Wherein, the specific calculation formula is as follows:
Figure FDA0003194502460000022
wherein L isijIs the distance length of the path from the ith path node to the jth path node, MjThe weight of the zinc dross in the dross salvaging area corresponding to the jth path node, eta is a distance weight parameter, a is a distance influence parameter, and b is a weight influence parameter.
5. The intelligent slag salvaging control method according to claim 1, wherein after the obtaining of the thickness of the zinc dross in all slag salvaging areas on the liquid surface in the zinc pot, the method further comprises the following steps:
judging whether the thickness of the zinc dross in the dross salvaging area corresponding to the first zinc dross push-out channel exceeds a set threshold value;
if yes, controlling the slag dragging mechanical arm to start from the set starting position and go to a slag dragging area corresponding to the first zinc slag pushing channel through a first position to drag slag; wherein the distance from the first position to the side wall of the outlet of the first zinc dross push-out channel, which is close to the furnace nose, is less than a set distance.
6. The intelligent slag salvaging control method as claimed in claim 5, wherein after controlling the slag salvaging mechanical arm to go from the first position to the slag salvaging area corresponding to the first zinc slag push-out channel for slag salvaging operation, the method further comprises:
judging whether the thickness of the zinc dross in the dross salvaging area corresponding to the second zinc dross push-out channel exceeds the set threshold value;
if the volume of the slag-fishing mechanical arm exceeds the maximum volume of the single slag-fishing capacity, judging whether the slag-fishing mechanical arm reaches the maximum volume of the single slag-fishing;
if the zinc slag is not reached, controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing-out channel through the second position to drag slag; wherein the distance from the second position to the side wall of the outlet of the second zinc dross push-out channel close to the furnace nose is less than the set distance.
7. The intelligent slag salvaging control method according to claim 6, wherein after judging whether the slag salvaging mechanical arm reaches the maximum capacity of single slag salvaging, the method further comprises the following steps:
if the slag is reached, controlling the slag dragging mechanical arm to move from the first position to the set starting position, and carrying out slag removal operation;
and after the slag removing operation is finished, controlling the slag dragging mechanical arm to start from the first position and go to a slag dragging area corresponding to the second zinc slag pushing-out channel through the second position to carry out slag dragging operation.
8. An intelligent slag control device, characterized in that, the device includes:
the zinc slag thickness acquisition module is used for acquiring the zinc slag thickness of all slag fishing areas on the liquid surface in the zinc pot;
the slag salvaging zone screening module is used for determining a slag salvaging zone needing slag salvaging operation according to the thickness of the zinc slag in all the slag salvaging zones on the liquid surface in the zinc pot;
the first building module is used for taking all the slag salvaging areas needing slag salvaging as path nodes and building a path node set;
the second construction module is used for traversing the path node set by taking a set starting point position as an origin and all path nodes in the path node set as targets to construct a slag dragging path set;
the evaluation index acquisition module is used for acquiring the evaluation index of each slag dragging path according to the total length and the weight of the zinc slag of each slag dragging path in the set of slag dragging paths;
and the first control module is used for controlling the slag dragging mechanical arm to drag the slag according to the slag dragging path corresponding to the maximum evaluation index.
9. The utility model provides an intelligent sediment controlgear that drags for which characterized in that includes:
a memory for storing a computer program;
a processor for executing the computer program to carry out the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, is adapted to carry out the steps of the method of any one of claims 1 to 7.
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