CN114088157A - Molten steel liquid level detection method, system, equipment and medium - Google Patents

Molten steel liquid level detection method, system, equipment and medium Download PDF

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CN114088157A
CN114088157A CN202111368360.3A CN202111368360A CN114088157A CN 114088157 A CN114088157 A CN 114088157A CN 202111368360 A CN202111368360 A CN 202111368360A CN 114088157 A CN114088157 A CN 114088157A
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distance
slag
steel slag
diameter
steel
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CN114088157B (en
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龚贵波
吴曼玲
刘景亚
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CISDI Research and Development Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/0007—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm for discrete indicating and measuring
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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    • G06T2207/30136—Metal

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Abstract

The invention provides a method, a system, equipment and a medium for detecting the liquid level of molten steel, the method comprises the steps of obtaining an image to be detected comprising steel slag and a slag joint, detecting and classifying a steel slag area and a slag joint area, determining a position with a preset height right above a steel slag position in the steel slag area as a first position, detecting a plurality of first inscribed circles in the slag joint area, if the diameter of each first inscribed circle is larger than a first preset threshold value, taking the diameter of the first inscribed circle as a diameter to be selected, selecting a position with a preset height right above the first circle center position of the first inscribed circle where the diameter to be selected is located as a second position, controlling a distance detection device to respectively move to the first position and/or the second position to determine the liquid level parameter of the molten steel and realize the detection of the liquid level of the molten steel, and providing a realization mode for automatically realizing the detection of the liquid level of the molten steel through a machine and reducing the operation risk of workers, the execution efficiency is high, and the accuracy is good.

Description

Molten steel liquid level detection method, system, equipment and medium
Technical Field
The invention relates to the technical field of metallurgy intellectualization, in particular to a method, a system, equipment and a medium for detecting the liquid level of molten steel.
Background
In order to reduce heat loss of molten steel and the like, steel slag with a certain thickness is covered on the liquid level of the molten steel, but due to the influence of smelting processes, such as a bottom argon blowing process and the like, the steel slag floating on the liquid level of the molten steel is blown open to form a plurality of slag gaps, and the molten steel in the slag gap area is directly exposed in the air.
The accurate measurement of the height of molten steel in a container and the thickness of steel slag is very important for the technological process of steel making operation, the height of molten steel in the container and the thickness of steel slag in each furnace are different, the distribution of steel slag on the liquid level of molten steel is often random, in the related measurement technology, the distance between the steel slag and the liquid level is measured manually respectively to obtain the height of molten steel and the thickness of steel slag, but the requirement on the operational proficiency of workers is low, and the method has high risk and execution efficiency. An intelligent and automatic molten steel level detection scheme is urgently needed.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a molten steel level detection method, system, device and medium to solve the above-mentioned technical problems.
The invention provides a molten steel liquid level detection method, which comprises the following steps:
acquiring an image to be detected comprising steel slag and a slag seam, and detecting and classifying a steel slag area and a slag seam area in the image to be detected;
controlling the distance detection device to move to a first position and/or a second position respectively to determine molten steel level parameters and realize molten steel level detection, wherein,
the molten steel liquid level parameter comprises at least one of a steel slag distance and a liquid level distance;
the liquid level distance is the distance between the distance detection device and molten steel in the slag joint, and the steel slag distance is the distance between the distance detection device and the steel slag;
the first position determining mode comprises the steps of obtaining the steel slag position of the steel slag area, and taking a position with a preset height right above the steel slag position as a first position;
the second position determining method comprises the steps of detecting a plurality of first inscribed circles in the slag joint area, obtaining the diameter of each first inscribed circle, taking the diameter of each first inscribed circle as a diameter to be selected if the diameter of each first inscribed circle is larger than a first preset threshold, and taking a position with a preset height right above the position of the first circle center of the first inscribed circle where the diameter to be selected is located as the second position.
Optionally, the method further comprises any one of:
if the diameters of the first inscribed circles are smaller than the first preset threshold value, the steel slag distance and the maximum diameter of the first inscribed circle are obtained, determining a first transfer distance and a first movable distance of the distance detection device according to the steel slag distance, a first preset threshold value and the maximum first inscribed circle diameter to obtain a preset safety distance, taking a position with a preset height right above a first circle center position of a first inscribed circle where the maximum first inscribed circle diameter is located as a second position if the first transfer distance is greater than or equal to the preset safety distance, controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag to be a target distance, determining the liquid level distance, wherein the target distance is not less than the preset safety distance and not more than the first transfer distance;
if the diameter of each first inscribed circle is smaller than the first preset threshold value, acquiring a preset emission angle, determining a minimum measurable slag joint distance according to the preset emission angle and a preset safety distance, if the diameter of each first inscribed circle is larger than or equal to the minimum measurable slag joint distance, taking the diameter of each first inscribed circle as a to-be-selected diameter, acquiring the steel slag distance and each to-be-selected diameter, determining a second transfer distance and a second movable distance of the distance detection device according to the steel slag distance, the first preset distance and each to-be-selected diameter, acquiring a preset safety distance, and if the second transfer distance is larger than or equal to the preset safety distance, taking a position with a preset height above a first circle center position of the first inscribed circle where the to-be-selected diameter is located as the second position, and controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag to be a target distance so as to determine the liquid level distance, wherein the target distance is not less than the preset safety distance and not more than the second transfer distance.
Alternatively to this, the first and second parts may,
the manner of determining the first movable distance includes,
Figure BDA0003361434320000021
wherein D ismove1Is a first movable distance, DbDistance of steel slag, MaxdW0 is a first predetermined threshold value at the maximum first inscribed circle diameter;
the minimum measurable slag gap distance is determined in a manner that,
Figure BDA0003361434320000022
wherein, WminTo the minimum measurable slag gap distance, MinsafedSetting a preset safety distance, and setting alpha as a preset emission angle;
the second movable distance is determined in a manner that includes,
Figure BDA0003361434320000031
wherein D ismove2Is a second movable distance, DbThe distance is the steel slag distance, Mchoosed is the diameter to be selected, and W0 is a first preset threshold;
the first preset threshold is determined in a manner that,
Figure BDA0003361434320000032
wherein W0 is a first preset threshold value, DbIs the distance of the steel slag, and alpha is a preset emission angle.
Optionally, the method further includes:
and if the diameters of the first inscribed circles are smaller than the minimum measurable slag seam distance, adjusting the slag seam area of the slag seam by blowing argon from the bottom until at least one first inscribed circle diameter is larger than the first preset threshold.
Optionally, the image to be detected is acquired by an image acquisition device, the image acquisition device and the distance detection device are installed at the tail end of a flange plate of the manipulator, and the method further includes at least one of the following steps:
if the image to be detected comprises a plurality of steel slag areas, the determining mode of the first position comprises the steps of obtaining device position information of the distance detection device, determining the distance of the steel slag device according to the device position information and each steel slag position, taking the position with a preset height right above a first target position as the first position, wherein the first target position is the steel slag position corresponding to the minimum steel slag device distance in each steel slag device distance, the steel slag position comprises a second circle center position of a second inscribed circle of the steel slag areas, and the diameter of the second inscribed circle is larger than or equal to the first preset threshold value;
the second position determining mode comprises the steps of obtaining device position information of the distance detection device, determining slag joint device distances according to the device position information and the first circle center positions, and taking a position with a preset height right above a second target position as the second position, wherein the second target position is the first circle center position corresponding to the minimum slag joint device distance in the slag joint device distances;
and controlling the distance detection device to move to the first position and/or the second position by adjusting the tail end of the flange plate of the manipulator.
Optionally, the determining method of the steel slag area and the slag joint area in the image to be detected includes:
acquiring an interested region in the detection image, and generating a binary image according to the image in the interested region;
and carrying out connected domain processing on the binary image to obtain a plurality of black areas and white areas, wherein the black areas are the steel slag areas, and the white areas are the slag joint areas.
Optionally, the method further comprises at least one of:
determining the thickness of the steel slag according to the steel slag distance and the liquid level distance;
the image to be detected is acquired by image acquisition equipment, and protective devices are installed on the image acquisition equipment and the distance detection device.
The invention also provides a molten steel liquid level detection system, which comprises:
the image acquisition module is used for acquiring an image to be detected comprising steel slag and slag gaps, and detecting and classifying a steel slag area and a slag gap area in the image to be detected;
the determining module is used for controlling the distance detecting device to move to the first position and/or the second position respectively so as to determine the molten steel level parameters and realize molten steel level detection, wherein,
the molten steel liquid level parameter comprises at least one of a steel slag distance and a liquid level distance;
the liquid level distance is the distance between the distance detection device and molten steel in the slag joint, and the steel slag distance is the distance between the distance detection device and the steel slag;
the first position determining mode comprises the steps of obtaining the steel slag position of the steel slag area, and taking a position with a preset height right above the steel slag position as a first position;
the second position determining method comprises the steps of detecting a plurality of first inscribed circles in the slag joint area, obtaining the diameter of each first inscribed circle, taking the diameter of each first inscribed circle as a diameter to be selected if the diameter of each first inscribed circle is larger than a first preset threshold, and taking a position with a preset height right above the position of the first circle center of the first inscribed circle where the diameter to be selected is located as the second position.
The invention also provides an electronic device, which comprises a processor, a memory and a communication bus;
the communication bus is used for connecting the processor and the memory;
the processor is configured to execute the computer program stored in the memory to implement the method according to any one of the embodiments described above.
The present invention also provides a computer-readable storage medium, having stored thereon a computer program,
the computer program is for causing the computer to perform a method as in any one of the embodiments described above.
The invention has the beneficial effects that: the invention provides a method, a system, equipment and a medium for detecting the liquid level of molten steel, which detect and classify a steel slag area and a slag seam area by obtaining an image to be detected comprising steel slag and a slag seam, determine a position with a preset height right above the steel slag position in the steel slag area as a first position, detect a plurality of first inscribed circles in the slag seam area, if the diameter of the first inscribed circle is larger than a first preset threshold value, use the diameter of the first inscribed circle as a diameter to be selected, select a position with a preset height right above the first circle center position of the first inscribed circle where the diameter to be selected is located as a second position, control a distance detection device to respectively move to the first position and/or the second position to determine the liquid level parameter of the molten steel and realize the detection of the liquid level of the molten steel, and provide a realization mode for automatically realizing the detection of the liquid level of the molten steel by a machine, the operation risk of workers is reduced, the execution efficiency is high, and the accuracy is good.
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FIG. 1 is a schematic flow chart of a molten steel level detection method according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of an image to be detected according to a first embodiment of the present invention;
fig. 3-1 is a schematic diagram illustrating a calculation relationship between an installation distance between a distance detection device and an object to be measured and a range of a measuring beam emitted to a surface of the object to be measured according to an embodiment of the present invention;
fig. 3-2 is a schematic view illustrating a distance detecting device according to an embodiment of the present invention moving downward;
fig. 3-3 are schematic diagrams illustrating a distance detecting device according to an embodiment of the present invention moving downward;
FIG. 4 is a schematic illustration of a first position and a second position provided in a first embodiment of the present invention;
FIG. 5 is a schematic view showing a configuration of a molten steel level detecting system according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
Example one
As shown in fig. 1, the present embodiment provides a molten steel level detection method including:
step S101: and acquiring an image to be detected comprising the steel slag and the slag joint, and detecting and classifying the steel slag area and the slag joint area in the image to be detected.
The image to be detected can be acquired through image acquisition equipment, and the image acquisition equipment can be a video camera, a camera and other equipment. Can shoot the molten steel liquid level through image acquisition equipment, because the slag often can have the gap, so often all can include slag and slag joint in should waiting to detect the image. Referring to fig. 2, fig. 2 is a schematic diagram of an image to be detected.
Optionally, before acquiring the image to be detected, the method further includes:
the image acquisition equipment acquires a plurality of initial images, the initial images are detected through a preset slag seam detection model, and if the initial images comprise steel slag and slag seams, the initial images are used as images to be detected.
The preset slag seam detection model can form a training set by acquiring a plurality of sample images including slag seams, and a basic model is trained. The specific training mode of the preset slag seam detection model can be selected by the person skilled in the art.
Optionally, before acquiring the image to be detected, the method further includes:
the image acquisition equipment acquires a plurality of initial images, displays each initial image on a preset display screen, acquires an image selection signal, and selects one initial image as an image to be detected according to an initial image identifier included in the image selection signal.
In one embodiment, the detection and classification manner of the steel slag area and the slag joint area in the image to be detected comprises the following steps:
acquiring an interested area in a detection image, and generating a binary image according to the image in the interested area;
and performing connected domain processing on the binary image to obtain a plurality of black areas and white areas, wherein the black areas are steel slag areas, and the white areas are slag seam areas.
Optionally, the manner of generating the binarized image from the image in the region of interest may be: and performing gray histogram statistical analysis on the image in the region of interest, and performing binarization operation by adopting a dynamic threshold value or a self-adaptive percentage threshold value and other modes to obtain a binarized image.
Optionally, the connected component processing method for the binarized image may be implemented by a method known by those skilled in the art, and is not limited herein. After the connected component processing is completed, the binarized image is converted into an image including a plurality of black regions and a plurality of white regions. Since the molten steel in the slag gap is exposed to the air, the brightness is high, and the molten steel appears as a white area in the image. Since the material constituting the steel slag does not emit light and has poor light transmittance, the region where the steel slag is located is a black region in the image. Therefore, the black area is the steel slag area, and the white area is the slag seam area.
By the method, the area where the steel slag is located in the image to be detected, the area where the slag seam is located, namely the area of the liquid level of the molten steel can be determined, so that distance detection can be performed in a targeted mode subsequently.
Step S102: and controlling the distance detection device to move to the first position and/or the second position respectively to determine the molten steel level parameters so as to realize molten steel level detection.
The molten steel liquid level parameter comprises at least one of a liquid level distance and a steel slag distance, the liquid level distance is a distance between the distance detection device and molten steel in the slag joint, and the steel slag distance is a distance between the distance detection device and the steel slag.
The distance detection device is controlled to move to a first position for detection, so that the distance between the steel slag and the steel slag can be obtained; and controlling the distance detection device to move to a second position for detection to obtain the liquid level distance.
Since the distance detection means is located above the molten steel, a person skilled in the art can determine the position of the distance detection means in various ways, and also can obtain the bottom position of the vessel containing the molten steel, and based on the position of the distance detection means, the distance of the steel slag, the distance of the liquid level, and the bottom position, the person skilled in the art can obtain the thickness of the steel slag and the height of the liquid level of the molten steel.
In one embodiment, the method further comprises at least one of:
determining the thickness of the steel slag according to the distance of the steel slag and the distance of the liquid level;
the image to be detected is acquired by image acquisition equipment, and protective devices are installed on the image acquisition equipment and the distance detection device.
The protective device is used for preventing the equipment from being directly damaged by the heat radiation of the molten steel.
Optionally, the image acquisition device and the distance detection device may form a sensor module, the sensor module is mounted at the tail end of the flange of the six-axis manipulator, and the distance detection device is controlled to move to the first position and/or the second position by adjusting the flange of the six-axis manipulator.
Optionally, the image acquisition device is a camera or the like, and the distance detection device is a radar level gauge or the like.
In one embodiment, an exemplary manner of controlling the distance detection device to move to the first position and/or the second position, respectively, may be:
calibrating a first relative position relation between an image coordinate system of the image acquisition equipment and a robot coordinate system where the robot is located in a checkerboard mode and the like;
calibrating a second relative position relationship between a device coordinate system of the distance detection device and a robot coordinate system;
and obtaining a third relative position relationship between the distance coordinate system and the image coordinate system according to the first relative position relationship and the second relative position relationship, so that the first position and the second position determined based on the image coordinate system can be converted into a device coordinate system, and the distance detection device is moved to the first position and/or the second position through a manipulator of the robot.
In one embodiment, the distance detection device comprises a radar level gauge, and if the radar level gauge is used for detection, part of the radar beam is emitted to steel slag, and part of the radar beam is emitted to molten steel in a white area, so that data is unstable or inaccurate, and therefore, a certain distance around the detection position (the first position and the second position) of the distance detection device is required to be ensured to be a steel slag area or a slag seam area.
In one embodiment, the determining of the first position comprises:
and acquiring the steel slag position of the steel slag area, and taking a projection point of the steel slag position on the working surface of the distance detection device as a first position.
In one embodiment, the determining of the first position comprises:
and acquiring the steel slag position of the steel slag area, and taking the position with a preset height right above one steel slag position as a first position.
Wherein the steel slag position is one or more positions inside each steel slag area. Optionally, the steel slag position may be determined by detecting a plurality of inscribed circles (second inscribed circles) in each steel slag region, where the direction of the second inscribed circle is greater than or equal to the first preset threshold, and the center of each second inscribed circle is used as the steel slag position. Optionally, an inscribed circle with the largest diameter may be obtained by detecting in each steel slag area as a second inscribed circle, and if the diameter of the second inscribed circle is greater than or equal to the first preset threshold, the center of each second inscribed circle is used as the steel slag position.
In one embodiment, if the image to be detected includes a plurality of steel slag regions, the determining of the first position includes:
the method comprises the steps of obtaining device position information of a distance detection device, determining steel slag device distances according to the device position information and the steel slag positions, and taking a position with a preset height right above a first target position as a first position, wherein the first target position is a steel slag position corresponding to the minimum steel slag device distance in the steel slag device distances, the steel slag position comprises a second circle center position of a second inscribed circle in a steel slag area, and the diameter of the second inscribed circle is larger than or equal to a first preset threshold value.
The preset height may be a distance from the steel slag of the distance detection device (that is, when the distance detection device is moved to the first position, the height may be kept unchanged, and the distance detection device may be translated to the first position). The preset height may be a height range, and when the distance detection device is moved to the first position, the preset height may be moved to the first position while maintaining the height of the preset height within a certain height range.
Because the steel slag zones are often not symmetrical zones and the area of the steel slag zones is often large, when there are multiple steel slag zones, each steel slag area may have a plurality of second inscribed circles, so in order to reduce the occupation of computing resources and save computing power, before the position of the steel slag is determined, the device position information of the current distance detection device can be obtained in advance, taking a steel slag area positioned in a certain preset range of the distance detection device as a preferable steel slag area, a plurality of second inscribed circles are detected in the preferred steel slag area, each second inscribed circle may be tangent or have a certain range of overlap, and then, taking the projection point of the second center position of one of the second inscribed circles (the second center closest to the detection device, if a plurality of second centers are equal in distance, one second center is selected according to the rule set by the person skilled in the art) on the working surface of the detection device as the first position.
In one embodiment, to reduce the occupation of computational resources, during the detection process, the first inscribed circle and the second inscribed circle may also be detected only by using a first preset threshold as the diameter, or by using a certain value larger than the first preset threshold as the diameter, or by directly detecting the inscribed circle with the maximum diameter in each steel slag region or slag gap region, etc.
It should be noted that, in the process of determining whether the diameter of the second inscribed circle meets the requirement, a second preset threshold different from the first preset threshold may also be selected, and the second preset threshold needs to be greater than the first preset threshold.
Optionally, the preset range may be a circular area formed by taking the position of the distance detection device as a circle center and taking a preset multiple of the first preset threshold as a diameter. The preset multiple is greater than 1. The circular area is still located within the image area of the image to be detected.
In another embodiment, if there are multiple steel slag zones, the determining the first location comprises:
respectively obtaining a first width of each steel slag area, if the first width is greater than a first preset threshold value, obtaining a second width of the steel slag area along the vertical direction of the first width, if the second width is also greater than the first preset threshold value, drawing a circle by taking the intersection point of line segments where the second width and the first width are located as the center of the circle and the first preset threshold value (or the length greater than the first preset threshold value) as the radius, and if the area where the circle is located in the same steel slag area, taking the center of the circle as the position of the steel slag;
and acquiring the position of the steel slag closest to the detection device as a first position.
Optionally, when the first width is determined, a steel slag area within a preset range around the distance detection device may be selected first, and if each steel slag area does not meet the requirement, the steel slag area is expanded to other steel slag areas.
In one embodiment, the second location is determined by:
detecting a plurality of first inscribed circles in the slag joint area, acquiring the diameter of each first inscribed circle, taking the diameter of each first inscribed circle as a diameter to be selected if the diameter of each first inscribed circle is larger than a first preset threshold, and taking a position with a preset height right above the position of the first circle center of the first inscribed circle where the diameter to be selected is located as a second position.
In this embodiment, the direction directly above is the opposite direction of the gravity direction. The preset height may be directly constant as described above, or may be a height range where the height of the distance detection device is kept, and may be specifically selected by a person skilled in the art as needed.
In one embodiment, the manner of determining the second position includes:
acquiring device position information of a distance detection device;
determining the distance of the slag joint device according to the device position information and the positions of all the first circle centers;
and taking the position with the preset height right above the second target position as a second position, wherein the second target position is a first circle center position corresponding to the minimum slag joint device distance in the slag joint device distances.
As each white area (slag seam area) is a closed polygonal irregular area, each white area is provided with a plurality of first inscribed circles, and the first inscribed circle with the largest diameter of each white area detection area can be detected, so that the number of the inscribed circles can be effectively reduced, and the calculation force is saved. And when the diameter of the first inscribed circle is larger than a first preset threshold value, judging that the radar beam can penetrate through the area to reach the surface of the molten steel, measuring the distance to the molten steel, directly taking the first inscribed circle as a diameter to be selected, and directly taking the first circle center of the first inscribed circle with the diameter of the first inscribed circle as a second position if only one first inscribed circle is the diameter to be selected.
When the maximum inscribed circle diameter of the white areas is larger than a first preset threshold value, calculating the Euclidean distance from the center of the first inscribed circle meeting the conditions to the position of the distance detection device, selecting the first center of the first inscribed circle with the minimum Euclidean distance as a second position, converting the second position into coordinates under a robot coordinate system according to a first relative relation between the image coordinate system and the robot coordinate system, moving the distance detection device to the second position through the manipulator, and driving the distance detection device to move to the position through the manipulator so as to measure the liquid level distance of the molten steel.
The first preset threshold may be a value set by a person skilled in the art.
Referring to fig. 3-1, fig. 3-1 is a schematic diagram illustrating a calculation relationship between an installation distance between a distance detection device and an object to be measured and a size of a range of a measurement beam emitted to a surface of the object to be measured, where a first preset threshold may also be a diameter value of a beam surface of the beam emitted by the distance detection device, where the beam surface is located on a steel slag plane, determined based on a current position of the distance detection device and a preset emission angle of the beam emitted by the distance detection device, and the diameter value is used as the first preset threshold.
Optionally, a determination manner of the first preset threshold includes:
Figure BDA0003361434320000101
wherein W0 is a first preset threshold value, DbIs the distance of the steel slag, and alpha is a preset emission angle.
In one embodiment, the method further comprises:
if the first inscribed circle diameters are smaller than a first preset threshold value, the steel slag distance and the largest first inscribed circle diameter in the first inscribed circle diameters are obtained, the first transfer distance and the first movable distance of the distance detection device are determined according to the steel slag distance, the first preset threshold value and the largest first inscribed circle diameter, the preset safety distance is obtained, if the first transfer distance is larger than or equal to the preset safety distance, the position of the preset height right above the first circle center position of the first inscribed circle where the largest first inscribed circle diameter is located is used as the second position, the distance detection device is controlled to move to the second position, and the distance between the distance detection device and the steel slag is controlled to be the target distance, so that the liquid level distance is determined, and the target distance is not smaller than the preset safety distance and not larger than the first transfer distance.
With continued reference to fig. 3-1, it is possible that the first inscribed circle diameter of each slag gap is smaller than the first preset threshold, that is, in the current state, if the distance detection device is directly used for distance detection, a part of the beams may be emitted onto the steel slag, and a part of the beams are emitted onto the steel slag in the white area, which causes data instability or inaccuracy, so that the distance detection device may be attempted to be moved downward to adapt to the current slag gap width as much as possible. However, considering the influence of the heat radiation of the molten steel on the distance detection device and other sensors, it is necessary to preset the minimum safe distance between the distance detection device and the steel slag as the preset safe distance MinsafedTherefore, the first transfer distance is limited to be greater than or equal to the preset safe distance, and the target distance is not less than the preset safe distance, so that the normal operation of the distance detection device and other equipment is ensured.
In one embodiment, referring to fig. 3-2, the first movable distance is determined in a manner including:
Figure BDA0003361434320000102
wherein D ismove1Is a first movable distance, DbDistance of steel slag, MaxdW0 is a first predetermined threshold for the maximum first inscribed circle diameter.
In one embodiment, if the first transfer distance is less than the preset safety distance, the slag joint area is adjusted by bottom argon blowing or the like until the first inscribed circle diameter of the first inscribed circle of at least one slag joint area is greater than a first preset threshold.
Accurate distance detection can be achieved by controlling the distance detection means to move down by a height not exceeding the first movable distance.
In one embodiment, with continued reference to fig. 3-2, the first transfer distance is determined in a manner comprising:
Figure BDA0003361434320000111
wherein D isZ1Is a first transfer distance, DbDistance of steel slag, MaxdW0 is a first predetermined threshold for the maximum first inscribed circle diameter.
The distance detection can be realized by controlling the distance detection device to move downwards, and the final position of the distance detection device is lower than or equal to the first transfer distance.
In another embodiment, sometimes, the slag joint distances are all small, it may be found through a series of operations that each first transfer distance is smaller than the preset safe distance, at this time, a bottom argon blowing operation and other modes are required, which wastes computational resources. One possible way is as follows:
if the diameters of the first inscribed circles are smaller than a first preset threshold value, acquiring a preset emission angle, determining a minimum measurable slag seam distance according to the preset emission angle and a preset safety distance, if the diameters of the first inscribed circles are larger than or equal to the minimum measurable slag seam distance, taking the diameters of the first inscribed circles as diameters to be selected, acquiring a steel slag distance and each diameter to be selected, determining a second transfer distance and a second movable distance from a detection device according to the steel slag distance, the first preset distance and each diameter to be selected, acquiring the preset safety distance, if the second transfer distance is larger than or equal to the preset safety distance, taking a position with a preset height right above a first circle center position of the first inscribed circle where the diameter to be selected is located as a second position, controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag to be a target distance so as to determine a liquid level distance, the target distance is not less than the preset safety distance and not greater than the second transfer distance.
In one embodiment, the minimum measurable slag gap distance is determined by,
Figure BDA0003361434320000112
wherein, WminMinimum measurable slag gap distance, MinsafedAlpha is a preset emission angle for a preset safety distance.
In one embodiment, referring to fig. 3-3, the second movable distance is determined in a manner including,
Figure BDA0003361434320000113
wherein D ismove2Is a second movable distance, DbThe distance is the steel slag distance, Mchoosed is the diameter to be selected, and W0 is a first preset threshold value.
In one embodiment, with continued reference to fig. 3-3, the second transfer distance is determined in a manner comprising:
Figure BDA0003361434320000121
wherein D isZ2Is a second transfer distance, DbThe distance is the steel slag distance, Mchoosed is the diameter to be selected, and W0 is a first preset threshold value.
In one embodiment, the method further comprises:
if the diameter of each first inscribed circle is smaller than the minimum measurable slag seam distance, the slag seam area of the slag seam is adjusted in a mode of blowing argon from the bottom and the like until at least one first inscribed circle diameter is larger than a first preset threshold value.
It should be appreciated that the skilled person may also achieve an increase in the slag gap area in other known ways.
The working plane of the distance detection device may be a plane on which the distance detection device is translated, a robot moving plane on which the distance detection device is mounted on the robot, or a working plane or a working space set by a person skilled in the art.
The first position can be a projection point of the steel slag position on the working surface of the distance detection device, and the second position can also be a projection point of the first circle center position on the working surface of the distance detection device. The first position and the second position may both be above the liquid level, and the first position and the second position may be on a movable horizontal plane from the detection device.
The projection point of the first circle center position on the working surface of the distance detection device and the projection point of the steel slag position information on the working surface of the distance detection device can be orthographic projection or other projection modes set by a person skilled in the art. The two kinds of projection points can also realize the determination of the first position and the second position by means of relative position relation transformation (matrix transformation) and the like.
The distance detection device may include one distance detection device or two or more distance detection devices, and when a plurality of distance detection devices are included, each distance detection device may be the same or different, for example, the distance detection device a detects the distance between the liquid level and the distance detection device B detects the distance between the steel slag.
In an embodiment, the plurality of first positions and/or the plurality of second positions may be respectively determined (to-be-detected images of other positions of the molten steel liquid level in the same container are captured, or other first positions and other second positions are selected from the current to-be-detected image), the plurality of steel slag distances and/or the plurality of liquid level distances are respectively obtained, an average value of the steel slag distances is taken as a final steel slag distance, and an average value of the steel slag gap distances is taken as a final steel slag gap distance, so as to further improve accuracy of an output result of the method provided by the embodiment.
The molten steel level detection method provided by the embodiment includes obtaining an image to be detected including steel slag and slag seams, detecting and classifying the image to obtain a steel slag area and a slag seam area, determining a position with a preset height right above a steel slag position in the steel slag area as a first position, detecting a plurality of first inscribed circles in the slag seam area, if the diameter of the first inscribed circle is larger than a first preset threshold value, taking the diameter of the first inscribed circle as a diameter to be selected, selecting a position with a preset height right above a first circle center position of the first inscribed circle where the diameter to be selected is located as a second position, controlling the distance detection device to move to the first position and/or the second position respectively to determine molten steel level parameters to realize molten steel level detection, and providing an implementation mode for automatically realizing molten steel level detection through a machine, reducing the operation risk of workers, and having high execution efficiency, the accuracy is good.
The above method is exemplified below by taking the distance detection device as a radar level gauge and the image to be detected is collected by a camera.
A sensor module consisting of a camera and a radar level meter is arranged at the tail end of a flange plate of a six-axis manipulator, and a protection device is arranged on the sensor module to prevent the sensor module from being directly damaged by the heat radiation of molten steel.
The camera is used for acquiring an image to be detected of the liquid level surface of the molten steel containing the steel slag and the slag joint, detecting and classifying the image to be detected, distinguishing the positions of the steel slag and the slag joint, and obtaining a steel slag area and a slag joint area.
The camera is used for calibrating a first relative relation between the image coordinate system and the robot coordinate system through the checkerboard calibration plate in advance.
The radar level meter can select the type with a smaller radar emission angle, the radar emission angle is fixed, the farther the radar is away from the measured object, the larger the wave beam range when the radar reaches the surface of the measured object, and when the wave beam range of the radar reaching the slag gap area is smaller than the width of the slag gap area, the radar wave beam can completely and directly penetrate through the slag gap and directly reach the surface of molten steel, and the distance from the radar to the liquid level of the molten steel is measured.
And respectively calibrating a camera tool coordinate system (an image coordinate system) and a radar level gauge tool coordinate system (a device coordinate system), wherein the camera tool coordinate system and the radar level gauge tool coordinate system are used for accurately guiding a radar level gauge at the tail end of the manipulator to move to a position right above a steel slag area and a slag seam area after the steel slag area and the slag seam area are detected. Specifically, after the first position and the second position are determined, the radar level gauge at the tail end of the mechanical arm is guided to move to the first position and the second position, and therefore detection of the distance between the steel slag and the liquid level is achieved.
Referring to fig. 4, when the manipulator moves to a position above the molten steel level as position 1, after a detection command is sent, the camera collects an image of the molten steel level (an image to be detected) and performs detection classification.
Setting an interested region in an image to be detected, performing gray histogram statistical analysis on the image in the interested region, and performing binarization operation by adopting a dynamic threshold value or self-adaptive percentage threshold value mode to obtain a binarization image.
And performing connected domain analysis on the binary image to obtain a plurality of black areas and white areas, wherein the black areas are steel slag areas, the white areas are slag seam areas, molten steel in slag seams is exposed in the air, so that the molten steel is high in brightness and appears as white areas in the image, the black areas represent steel slag areas, and the white areas represent molten steel areas in slag seams.
Calculating a second target position (first position) of the movement of the manipulator, and detecting the steel slag distance:
calculating the positions of the steel slag for the black areas respectively, and calculating the positions of the steel slag according to the positionsConverting the steel slag position coordinate of each black area into the robot coordinate system according to the first relative relation between the image coordinate system and the robot coordinate system, calculating the steel slag position with the shortest Euclidean distance from the current position 1 where the manipulator is located as the second target position (first position) to be moved by the manipulator, marking the position as position 2, measuring the distance to the black area through a radar after the manipulator moves to the position, and marking the distance as the steel slag distance Db. If the steel slag area is a symmetrical figure, the steel slag position can be the geometric center of the steel slag area, and if the steel slag area is an asymmetrical figure, the steel slag position can be a position in the steel slag area, wherein the distance between the steel slag area and each edge is larger than a first preset threshold value.
Wherein, after moving the manipulator to target position 2, detect the distance of steel slag face through radar level meter, include:
the measured steel slag distance can be used as the absolute distance between a radar and a steel slag surface, and the distance between the radar and a robot coordinate system can also be obtained through the conversion of a radar tool coordinate system.
Calculating a third target position (second position) of the movement of the manipulator, and detecting a liquid level distance:
as shown in FIG. 3-1, the distance D from the steel slag to the steel slag is measured according to a radar level gaugebAnd a preset emission angle α of the radar, one way of calculating the width of the radar beam reaching the object under test (first preset threshold) comprises:
Figure BDA0003361434320000141
wherein W0 is a first preset threshold value, DbAnd alpha is the preset emission angle for the current steel slag distance.
And when the diameter of the first inscribed circle is larger than W0, the radar beam is judged to penetrate through the area to reach the surface of the molten steel, so that the liquid level distance to the molten steel is measured.
When the maximum inscribed circle diameter of the white areas is larger than W0, calculating the Euclidean distance from the center of the first inscribed circle meeting the condition to the position of the current radar level gauge, selecting the white area to which the first inscribed circle with the minimum Euclidean distance belongs as a target position, converting the center of the first inscribed circle at the target position into coordinates under a robot coordinate system according to a first relative relation between an image coordinate system and the robot coordinate system, using the coordinates as a third target position (a second position) to be moved by the manipulator, and marking the position as position 3, wherein the purpose of the manipulator moving to the position is to measure the liquid level distance of molten steel.
When the diameters of the maximum inscribed circles of the calculated white area calculation areas are all smaller than the beam width W0 of the radar, the radar is guided by the manipulator to move vertically downwards to realize the detection of the liquid level distance, and the realization mode comprises the following steps:
if radar is used for detection, part of the beam of the radar is emitted to the steel slag, and part of the beam of the radar is emitted to the steel slag in the white area, so that the data is unstable or inaccurate, and in this case, the following calculation can be performed:
the method comprises the following steps: calculating the maximum inscribed circle of each white area as the first inscribed circle of the slag seam area, and finding out the maximum value of the diameters of the maximum inscribed circles of the plurality of white areas (the maximum first inscribed circle diameter Max)d) A white area corresponding to a first inscribed circle with the largest first inscribed circle diameter is taken as a candidate target position 3, but the diameter of the first inscribed circle still does not satisfy the condition of being larger than the beam width W0 of the radar, so that the distance between the radar and the white area needs to be reduced by moving the manipulator, and the beam width W0 of the radar needs to be reduced;
step two: moving the radar level gauge at the tail end of the manipulator to a candidate target position 3, and considering the influence of molten steel heat radiation on the sensor, presetting the minimum safe distance (preset safe distance Min) between the radar level gauge and the steel slagsafed) In order to ensure the safety of the sensor module, the maximum distance that the manipulator can vertically move downwards is Db-Minsafed；
Step three: after the radar level meter moves downwards, the width of the radar beam projected to the measured object is MaxdAs a condition, the distance that the robot arm guides the radar to move vertically downward is calculated
Figure BDA0003361434320000151
When D is presentmove<MinsafedAnd judging that the radar level meter is driven by the manipulator to vertically move downwards so as to meet the condition that the beam width of a radar beam emitted into a white area is equal to the maximum first inscribed circle diameter Max of the inscribed circledIn this condition, the robot is guided to move the radar level gauge vertically downwards DmoveAnd as position 3;
step four: when D is presentmove<MinsafedAnd judging that the test condition cannot be met by moving the manipulator, considering that argon blowing at the bottom or other modes increase the size of the steel slag seam, and sending a detection command to detect the liquid level of the molten steel again until the test condition is met. The test condition being that there is at least one first inscribed circle diameter greater than a first preset threshold, or a recalculated Dmove＞Minsafed。
Optionally, after the mechanical arm drives the radar level gauge to move to the position 3, the radar level gauge detects a liquid level distance of molten steel, including:
the measured liquid level distance can be used as the absolute distance between the radar level gauge and the steel slag surface, and the distance between the radar level gauge and the steel slag surface in a robot coordinate system can also be obtained through conversion of a radar tool coordinate system.
And detecting the distance between the radar and the slag surface and the position of molten steel by using the radar level meter to obtain the distance between the steel slag and the liquid surface, and calculating the difference between the distance and the liquid surface, namely the steel slag thickness with accurate position. Namely the thickness of the steel slag is the distance between the liquid level and the steel slag.
In the molten steel level detection method provided by the embodiment, the combined sensor module of the multiple sensors (the radar level gauge, the camera and the sensors for controlling the movement of the manipulator) is driven by the manipulator to detect the molten steel level, classification detection is performed on the to-be-detected signals collected by the camera, and the radar level gauge at the tail end of the flange of the manipulator is accurately guided to perform classification measurement on classified steel slag and molten steel, so that the purpose of accurately measuring the distance of the molten steel and the thickness of the steel slag is achieved, and support is provided for intelligent steel making.
Example two
Referring to fig. 5, the present embodiment provides a molten steel level detecting system, including:
the image acquisition module 501 is used for acquiring an image to be detected comprising steel slag and slag gaps, and detecting and classifying a steel slag area and a slag gap area in the image to be detected;
a determining module 502, configured to control the distance detecting device to move to the first position and/or the second position, respectively, to determine molten steel level parameters, so as to achieve molten steel level detection, wherein,
the molten steel liquid level parameter comprises at least one of steel slag distance and liquid level distance;
the liquid level distance is the distance between the distance detection device and molten steel in the slag joint, and the steel slag distance is the distance between the distance detection device and the steel slag;
the first position determining mode comprises the steps of obtaining steel slag position information of a steel slag area, and taking a position with a preset height right above the steel slag position information as a first position;
the second position determining mode comprises the steps of detecting a plurality of first inscribed circles in the slag seam area, obtaining the diameter of each first inscribed circle, taking the diameter of each first inscribed circle as a diameter to be selected if the diameter of each first inscribed circle is larger than a first preset threshold, and taking a position with a preset height right above the position of the first circle center of the first inscribed circle where the diameter to be selected is located as a second position.
In this embodiment, the system is substantially provided with a plurality of modules for executing the method in the above embodiments, and specific functions and technical effects are only required by referring to the first embodiment, which is not described herein again.
Referring to fig. 6, an embodiment of the present invention further provides an electronic device 600, which includes a processor 601, a memory 602, and a communication bus 603;
a communication bus 603 is used to connect the processor 601 and the memory 602;
the processor 601 is configured to execute the computer program stored in the memory 602 to implement the method according to one or more of the first embodiment.
Embodiments of the present invention also provide a computer-readable storage medium, having a computer program stored thereon,
the computer program is for causing a computer to perform the method as in any one of the above embodiments one.
Embodiments of the present application also provide a non-transitory readable storage medium, where one or more modules (programs) are stored in the storage medium, and when the one or more modules are applied to a device, the device may execute instructions (instructions) included in an embodiment of the present application.
It should be noted that the computer readable medium of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. A molten steel level detection method, characterized by comprising:
acquiring an image to be detected comprising steel slag and a slag seam, and detecting and classifying a steel slag area and a slag seam area in the image to be detected;
controlling the distance detection device to move to a first position and/or a second position respectively to determine molten steel level parameters and realize molten steel level detection, wherein,
the molten steel liquid level parameter comprises at least one of a steel slag distance and a liquid level distance;
the liquid level distance is the distance between the distance detection device and molten steel in the slag joint, and the steel slag distance is the distance between the distance detection device and the steel slag;
the first position determining mode comprises the steps of obtaining the steel slag position of the steel slag area, and taking a position with a preset height right above the steel slag position as a first position;
the second position determining method comprises the steps of detecting a plurality of first inscribed circles in the slag joint area, obtaining the diameter of each first inscribed circle, taking the diameter of each first inscribed circle as a diameter to be selected if the diameter of each first inscribed circle is larger than a first preset threshold, and taking a position with a preset height right above the position of the first circle center of the first inscribed circle where the diameter to be selected is located as the second position.
2. The molten steel level detection method according to claim 1, further comprising any one of:
if the diameters of the first inscribed circles are smaller than the first preset threshold value, the steel slag distance and the maximum diameter of the first inscribed circle are obtained, determining a first transfer distance and a first movable distance of the distance detection device according to the steel slag distance, a first preset threshold value and the maximum first inscribed circle diameter to obtain a preset safety distance, taking a position with a preset height right above a first circle center position of a first inscribed circle where the maximum first inscribed circle diameter is located as a second position if the first transfer distance is greater than or equal to the preset safety distance, controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag to be a target distance, determining the liquid level distance, wherein the target distance is not less than the preset safety distance and not more than the first transfer distance;
if the diameter of each first inscribed circle is smaller than the first preset threshold value, acquiring a preset emission angle, determining a minimum measurable slag joint distance according to the preset emission angle and a preset safety distance, if the diameter of each first inscribed circle is larger than or equal to the minimum measurable slag joint distance, taking the diameter of each first inscribed circle as a to-be-selected diameter, acquiring the distance between the steel slags and each to-be-selected diameter, determining a second transfer distance and a second movable distance of the distance detection device according to the distance between the steel slags, the first preset distance and each to-be-selected diameter, acquiring a preset safety distance, and if the second transfer distance is larger than or equal to the preset safety distance, taking a position with a preset height right above a first circle center position of the first inscribed circle where the to-be-selected diameter is located as the second position, and controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag to be a target distance so as to determine the liquid level distance, wherein the target distance is not less than the preset safety distance and not more than the second transfer distance.
3. The molten steel level detection method according to claim 2, wherein the molten steel level detection unit detects the molten steel level,
the manner of determining the first movable distance may include,
Figure FDA0003361434310000021
wherein D ismove1Is a first movable distance, DbDistance of steel slag, MaxdW0 is a first predetermined threshold value at the maximum first inscribed circle diameter;
the minimum measurable slag gap distance is determined in a manner that,
Figure FDA0003361434310000022
wherein, WminMinimum measurable slag gap distance, MinsafedSetting a preset safety distance, and setting alpha as a preset emission angle;
the second movable distance is determined in a manner that includes,
Figure FDA0003361434310000023
wherein D ismove2Is a second movable distance, DbThe distance is the steel slag distance, Mchoosed is the diameter to be selected, and W0 is a first preset threshold;
the first preset threshold is determined in a manner that,
Figure FDA0003361434310000024
wherein W0 is a first preset threshold value, DbIs the distance of the steel slag, and alpha is a preset emission angle.
4. The molten steel level detection method according to claim 2, further comprising:
and if the diameters of the first inscribed circles are smaller than the minimum measurable slag seam distance, adjusting the slag seam area of the slag seam by blowing argon from the bottom until at least one first inscribed circle diameter is larger than the first preset threshold.
5. The molten steel level detection method according to any one of claims 1 to 4, wherein the image to be detected is acquired by an image acquisition device, the image acquisition device and the distance detection means are mounted on a distal end of a flange of a robot, and the method further comprises at least one of:
if the image to be detected comprises a plurality of steel slag areas, the determining mode of the first position comprises the steps of obtaining device position information of the distance detection device, determining the distance of the steel slag device according to the device position information and each steel slag position, taking the position with a preset height right above a first target position as the first position, wherein the first target position is the steel slag position corresponding to the minimum steel slag device distance in each steel slag device distance, the steel slag position comprises a second circle center position of a second inscribed circle of the steel slag areas, and the diameter of the second inscribed circle is larger than or equal to the first preset threshold value;
the second position determining mode comprises the steps of obtaining device position information of the distance detecting device, determining slag joint device distances according to the device position information and the first circle center positions, and taking a position with a preset height right above a second target position as the second position, wherein the second target position is the first circle center position corresponding to the minimum slag joint device distance in the slag joint device distances;
and controlling the distance detection device to move to the first position and/or the second position by adjusting the tail end of the flange plate of the manipulator.
6. The molten steel level detection method according to any one of claims 1 to 4, wherein the determination of the slag region and the slag gap region in the image to be detected includes:
acquiring an interested region in the detection image, and generating a binary image according to the image in the interested region;
and carrying out connected domain processing on the binary image to obtain a plurality of black areas and white areas, wherein the black areas are the steel slag areas, and the white areas are the slag joint areas.
7. The molten steel level detection method according to any one of claims 1 to 4, further comprising at least one of:
determining the thickness of the steel slag according to the steel slag distance and the liquid level distance;
the image to be detected is acquired by image acquisition equipment, and protective devices are installed on the image acquisition equipment and the distance detection device.
8. A molten steel level detection system, comprising:
the image acquisition module is used for acquiring an image to be detected comprising steel slag and slag gaps, and detecting and classifying a steel slag area and a slag gap area in the image to be detected;
the determining module is used for controlling the distance detecting device to move to the first position and/or the second position respectively so as to determine the molten steel level parameters and realize molten steel level detection, wherein,
the molten steel liquid level parameter comprises at least one of a steel slag distance and a liquid level distance;
the liquid level distance is the distance between the distance detection device and molten steel in the slag joint, and the steel slag distance is the distance between the distance detection device and the steel slag;
the first position determining mode comprises the steps of obtaining the steel slag position of the steel slag area, and taking a position with a preset height right above the steel slag position as a first position;
the second position determining method comprises the steps of detecting a plurality of first inscribed circles in the slag joint area, obtaining the diameter of each first inscribed circle, taking the diameter of each first inscribed circle as a diameter to be selected if the diameter of each first inscribed circle is larger than a first preset threshold, and taking a position with a preset height right above the position of the first circle center of the first inscribed circle where the diameter to be selected is located as the second position.
9. An electronic device comprising a processor, a memory, and a communication bus;
the communication bus is used for connecting the processor and the memory;
the processor is configured to execute a computer program stored in the memory to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, having stored thereon a computer program,
the computer program is for causing the computer to perform the method of any one of claims 1-7.
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