CN114807587A - Automatic slab steel loading control method and system - Google Patents
Automatic slab steel loading control method and system Download PDFInfo
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- CN114807587A CN114807587A CN202210647488.1A CN202210647488A CN114807587A CN 114807587 A CN114807587 A CN 114807587A CN 202210647488 A CN202210647488 A CN 202210647488A CN 114807587 A CN114807587 A CN 114807587A
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/70—Furnaces for ingots, i.e. soaking pits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
Abstract
The application provides a slab automatic steel loading control method and a system, which comprise the following steps: identifying the slab number at the feeding roller way, and if the slab number is consistent with slab information of pre-feeding, executing slab feeding; conveying the loaded plate blank to a weighing roller way, and acquiring first detection information of the plate blank on the weighing roller way, wherein the first detection information comprises weight, temperature, length and width; comparing the first detection information with the issued slab plan information, determining that the first detection information is within a preset deviation range, and allocating a heating furnace number and a slab type number to the corresponding slab to obtain next-stage information to be issued; and conveying the corresponding plate blank to the front of a distributed heating furnace according to the next-stage information to be issued to position the plate blank, and finishing steel charging according to the positioning information. The method and the device can effectively improve the accuracy of the information tracking of the plate blank of the heating furnace, reduce the dependence of steel loading control on manual operation, and improve the automation control level and the steel loading efficiency of the plate blank.
Description
Technical Field
The application relates to the field of intelligent steel production application, in particular to a method and a system for controlling automatic steel loading of a plate blank.
Background
The steel loading control of the plate blank of the existing hot continuous rolling production line is realized by manual operation, after the steel loading plate blank is hung to a loading roller way, loading plate blank information in a rolling plan is manually selected by an operator, the plate blank is manually weighed and checked by the operator after reaching the weighing roller way, the actual length and the actual width of the plate blank cannot be detected, and after the plate blank is checked, the plate blank is manually conveyed to a corresponding heating furnace by the operator to be positioned and the steel loading is finished. The slab feeding, checking, positioning and steel loading in the existing slab steel loading process are all manually operated by operators, the steel loading efficiency is low, the operation is repetitive, the physical object of the slab feeding and the information are inconsistent, the slab positioning is completed, the information is repeated, and the like, and the operators cannot find the slab mixing accident in time.
Content of application
In view of the problems in the prior art, the application provides a method and a system for controlling automatic steel loading of a slab, and mainly solves the problems that the existing steel loading control is high in manual dependence, low in slab steel loading efficiency, large in repetitive labor intensity of operators, and inconsistent in steel loading material object and information.
In order to achieve the above and other objects, the present application adopts the following technical solutions.
The application provides a slab automatic steel loading control method, which comprises the following steps:
identifying the slab number at the feeding roller way, and if the slab number is consistent with slab information of pre-feeding, executing slab feeding;
conveying the loaded plate blank to a weighing roller way, and acquiring first detection information of the plate blank on the weighing roller way, wherein the first detection information comprises weight, temperature, length and width;
comparing the first detection information with the issued slab plan information, determining that the first detection information is within a preset deviation range, and allocating a heating furnace number and a slab type number to the corresponding slab to obtain next-stage information to be issued;
and conveying the corresponding plate blank to the front of a distributed heating furnace according to the next-stage information to be issued to position the plate blank, and finishing steel charging according to the positioning information.
In an embodiment of the present application, the steel loading operation is completed according to the positioning information, including:
after the positioning of the plate blank is finished, outputting a positioning finishing signal;
and after the positioning completion signal is received, if a steel loading vacancy exists in the current heating furnace, outputting a steel loading instruction to start a steel loading machine and a steel loading furnace door, and executing steel loading action.
In an embodiment of the present application, the automatic slab charging control method according to claim 2, wherein the determination manner of the charging vacancy includes:
calculating a steel filling vacancy variable, if the steel filling vacancy variable is smaller than zero, judging no steel filling vacancy, and judging the steel filling vacancy after the next walking beam action is finished;
if the variable of the steel charging vacancy is larger than zero, the steel charging vacancy exists;
the variable of the steel loading vacancy is the distance from the discharging furnace door to the original point of the steel loading machine, the minimum charging distance, the width of the plate blank, the distance between the plate blanks and the distance from the discharging furnace door to the rear edge of the last plate blank in the furnace;
and the distance between the discharging furnace door and the back edge of the last plate blank in the furnace is equal to the distance between the front edge of the last plate blank in the furnace and the discharging furnace door plus the plate blank width.
In an embodiment of the present application, after outputting the positioning completion signal, the method further includes:
if a signal of completing the positioning twice of the same plate blank is received, outputting preset prompt information;
and guiding the target object to complete positioning confirmation according to the prompt message.
In an embodiment of the present application, after completing the steel loading operation according to the positioning information, the method includes:
outputting a steel loading completion signal, and generating a tracking image of a corresponding plate blank according to the steel loading completion signal;
and tracking the position of the plate blank according to the tracking image and controlling the temperature in the heating furnace.
In an embodiment of the application, the identification of the slab number at the feeding roller way comprises the following steps:
acquiring a plate blank image at the feeding roller way;
and inputting the slab image into a pre-trained recognition model to obtain a slab number in the slab image.
In an embodiment of the present application, if the first detection information exceeds the preset deviation range, outputting warning information;
and guiding the target object to perform slab information checking or hoisting to sell the current slab according to the warning information.
The application still provides an automatic steel control system that adorns of slab, includes:
the feeding control module is used for identifying the slab number at the feeding roller way, and if the slab number is consistent with the slab information of pre-feeding, slab feeding is executed;
the slab information acquisition module is used for conveying the loaded slab to a weighing roller way and acquiring first detection information of the slab on the weighing roller way, wherein the first detection information comprises weight, temperature, length and width;
the slab information checking module is used for comparing the first detection information with the issued slab plan information, determining that the first detection information is within a preset deviation range, and allocating a heating furnace number and a slab type number to the corresponding slab to obtain next-stage information to be issued;
and the steel charging control module is used for conveying the corresponding plate blank to the front of the distributed heating furnace to position the plate blank according to the next-stage information to be issued and finishing the steel charging action according to the positioning information.
As described above, the method and system for controlling automatic steel loading of slabs have the following beneficial effects.
According to the method, the slab number at the feeding roller channel is identified, and if the slab number is consistent with the slab information of pre-feeding, slab feeding is executed; conveying the loaded plate blank to a weighing roller way, and acquiring first detection information of the plate blank on the weighing roller way, wherein the first detection information comprises weight, temperature, length and width; comparing the first detection information with the issued slab plan information, determining that the first detection information is within a preset deviation range, and allocating a heating furnace number and a slab type number to the corresponding slab to obtain next-stage information to be issued; and conveying the corresponding plate blank to the front of a distributed heating furnace according to the next-stage information to be issued to position the plate blank, and finishing steel charging according to the positioning information. This application realizes the full automatic control of slab material loading, checks, stokehold location and dress steel, reduces the reliance to manual operation, and can guarantee to adorn steel material object and information uniformity, effectively improves dress steel efficiency and production rhythm.
Drawings
Fig. 1 is a schematic flow chart of an automatic steel charging control method for a slab in an embodiment of the present application.
Fig. 2 is a block diagram of an automatic steel loading control system for a slab in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to 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 application, and the drawings only show the components related to the present application and are not drawn according to the number, shape and size of the components in actual implementation, and the type, number and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The concrete operation steps of feeding, checking, positioning and steel loading of the plate blank in the existing plate blank steel loading process are all manually operated by an operator as follows:
1. when the real object of the plate blank reaches a weighing roller way, an operator manually selects the information of the upper plate blank in the current rolling plan;
2. manually checking whether the blank number of the feeding plate is consistent with the actual blank number, reversely calculating whether the length and the width of the blank are out of limit according to the theoretical weight, if not, directly clicking a checking completion button by an operator to complete the checking of the blank, and if the blank is out of limit, judging whether the feeding plate is hoisted or pinned by the operator or forcibly checking the plate blank;
3. after the plate blank is checked, an operator manually opens the plate blank to a corresponding furnace front roller way of the heating furnace for positioning;
4. and carrying out steel loading operation after the slab positioning is finished, and finishing the slab steel loading process.
The problems of the prior control technology are as follows:
1. in the prior art, slab feeding, checking, positioning and steel loading are all manually operated by operators, so that the operators have high labor intensity and are operated repeatedly.
2. In the steel loading process, the material feeding plate blank object is inconsistent with the information, and the operation is not found in time, so that the steel mixing accident of the plate blank mixing furnace is caused.
3. The manual operation steel loading rhythm is slow, and the steel loading efficiency and the production rhythm are influenced.
In view of the above problems with the prior art, the present application provides the following solutions. The scheme of the application will be described in detail with reference to specific examples.
Referring to fig. 1, the present application provides a method for controlling automatic steel loading of a slab, which includes the following steps.
And step S01, identifying the slab number at the feeding roller way, and if the slab number is consistent with the slab information of the pre-feeding, executing slab feeding.
In one embodiment, the hot coil production line is provided with three regenerative heating furnaces, and the slab fed into the heating furnaces is required to be ensured to be consistent with the planned slab information issued by the system before the heating furnaces are filled with steel. Therefore, operations such as slab feeding, slab information checking, slab positioning, and steel charging need to be performed in front of the furnace.
In an embodiment, the identification of the slab number at the feeding roller way in step S01 includes the following steps:
acquiring a plate blank image at the feeding roller way;
and inputting the slab image into a pre-trained recognition model to obtain a slab number in the slab image.
A training sample library can be constructed in advance, the training sample library is composed of slab images containing slab numbers, the slab images are input into a convolutional neural network for model training, feature maps in the slab images are extracted, the feature maps are subjected to text sequence labeling through a CTC layer to obtain slab number information in the images, and model parameters are adjusted through a loss function and a gradient descent method to obtain an identification model. In the subsequent use process, the slab number in the image can be obtained by directly inputting the slab image to be identified into the identification model. After the slab reaches the feeding roller way, the current feeding slab information (slab number) is automatically identified through an automatic identification device with an identification model, if the slab information is consistent with the planned slab information, slab feeding is automatically completed, and an operator does not need to manually select the feeding slab in the picture plan information.
And S02, conveying the loaded plate blank to a weighing roller way, and acquiring first detection information of the plate blank on the weighing roller way, wherein the first detection information comprises weight, temperature, length and width.
In one embodiment, after the automatic feeding of the plate blank is completed, the plate blank is automatically opened to a weighing roller position, and simultaneously, the plate blank information is sent to a width and length measuring instrument at the first-stage furnace and the front weighing roller of the heating furnace for use. The weighing roller way can be provided with a sensor for detecting the temperature of the plate blank, and whether steel exists on the weighing roller way or not is judged according to a temperature detection signal and a weighing detection signal.
And step S03, comparing the first detection information with the issued slab plan information, and if the first detection information is determined to be within a preset deviation range, allocating a heating furnace number and a slab type number to the corresponding slab to obtain the next-stage information to be issued.
In one embodiment, step S03 further includes the following steps:
if the first detection information exceeds the preset deviation range, outputting warning information;
and guiding the target object to perform slab information checking or hoisting to sell the current slab according to the warning information.
In one embodiment, after the weighing and temperature measuring signals of the plate blank are received, the two-stage background of the heating furnace automatically checks the plate blank, the actual weight and the actual length are within the control deviation range, the automatic checking is completed, and the furnace number and the column number (the column number is the plate blank type number) are distributed. Illustratively, the furnace numbers are assigned by 3, 2, 1, column number: 0: long billet, 1: side short billet by rolling mill, 2: backup plate blank warehouse side short blank, 3: single short billet; the actual weight and length of the slab exceed the limits (for example, the limits are that the weight is within 32 tons and the length is within 11 meters), and the slab is manually and forcibly checked or hoisted in front of the furnace.
And step S04, conveying the corresponding plate blank to the front of the distributed heating furnace for positioning the plate blank according to the next-stage information to be issued, and finishing the steel charging action according to the positioning information.
In one embodiment, the step S04 of completing the steel loading operation according to the positioning information includes the following steps:
after the positioning of the plate blank is finished, outputting a positioning completion signal;
and after the positioning completion signal is received, if a steel loading vacancy exists in the current heating furnace, outputting a steel loading instruction to start a steel loading machine and a steel loading furnace door, and executing steel loading action.
In one embodiment, after outputting the positioning completion signal, the method further includes:
if a signal of completing the positioning twice of the same plate blank is received, outputting preset prompt information;
and guiding the target object to complete positioning confirmation according to the prompt message.
After the slab is checked, information of the checked slab is sent to a first level of the heating furnace, the first level of the heating furnace controls the slab to be automatically opened to the front of a pre-distributed heating furnace for automatic positioning, and after the automatic positioning is finished, a positioning completion signal is uploaded to a second level of the heating furnace; aiming at the problem that slab mixing accidents are caused by the fact that a slab is automatically uploaded twice to finish positioning information occasionally generated at the first stage of the heating furnace, if the same slab is added and the twice positioning information is automatically popped out of an alarm box, an operator confirms the positioning completion information, and the second stage of the heating furnace judges and processes steel loading according to the positioning information confirmed by the operator.
In one embodiment, the method for determining the steel charging vacancy comprises the following steps:
calculating a steel filling vacancy variable, if the steel filling vacancy variable is smaller than zero, judging no steel filling vacancy, and judging the steel filling vacancy after the next walking beam action is finished;
if the variable of the steel charging vacancy is larger than zero, the steel charging vacancy exists;
the variable of the steel loading vacancy is the distance from the discharging furnace door to the original point of the steel loading machine, the minimum charging distance, the width of the plate blank, the distance between the plate blanks and the distance from the discharging furnace door to the rear edge of the last plate blank in the furnace;
and the distance between the discharging furnace door and the back edge of the last plate blank in the furnace is equal to the distance between the front edge of the last plate blank in the furnace and the discharging furnace door plus the plate blank width.
After the second level of the heating furnace receives the slab positioning completion signal, judging whether the steel loading condition (steel loading vacancy or not) is met in the current heating furnace, wherein the specific judgment condition is as follows: the steel loading method comprises the following steps of (1) allowing steel loading to be carried out on a steel loading machine, wherein val is the distance between a discharging furnace door and the original point of the steel loading machine, -the minimum loading distance, -the plate blank width, -the plate blank distance, -the distance between the discharging furnace door and the back edge of the last plate blank loaded in the furnace, wherein the distance between the discharging furnace door and the back edge of the last plate blank loaded in the furnace is the distance between the front edge of the last plate blank loaded in the furnace and the discharging furnace door + the plate blank width, if val <0, no steel loading vacancy exists, steel loading is not allowed, after the next walking beam action is completed, steel loading condition judgment is carried out again, if val >0, steel loading is allowed, a steel loading instruction is sent by a heating furnace second level to give a heating furnace first level, the heating furnace first level starts the steel loading machine and the furnace door, and steel loading is automatically carried out.
In one embodiment, after completing the steel loading action according to the positioning information, the method comprises the following steps:
outputting a steel loading completion signal, and generating a tracking image of a corresponding plate blank according to the steel loading completion signal;
and tracking the position of the plate blank according to the tracking image and controlling the temperature in the heating furnace.
And after the secondary level of the heating furnace receives the slab steel charging completion signal, the steel charging slab information automatically enters the furnace to generate a slab tracking image, and slab position tracking and temperature control in the furnace are carried out.
Referring to fig. 2, the embodiment further provides an automatic slab charging control system, which is used for executing the automatic slab charging control method in the foregoing method embodiment. Since the technical principle of the system embodiment is similar to that of the method embodiment, repeated description of the same technical details is omitted.
In an embodiment of the present application, an automatic steel loading control system for a slab includes: the feeding control module 10 is used for identifying the slab number at the feeding roller way, and if the slab number is consistent with the slab information of pre-feeding, slab feeding is executed; the slab information acquisition module 11 is configured to convey the loaded slab to a weighing roller way, and acquire first detection information of the slab on the weighing roller way, where the first detection information includes weight, temperature, length, and width; the slab information checking module 12 is configured to compare the first detection information with the delivered slab plan information, determine that the first detection information is within a preset deviation range, and allocate a heating furnace number and a slab type number to a corresponding slab to obtain next-stage to-be-delivered information; and the steel charging control module 13 is used for conveying the corresponding plate blank to the front of the distributed heating furnace for positioning the plate blank according to the next-stage information to be issued and finishing the steel charging action according to the positioning information.
In summary, according to the slab automatic steel loading control method and system, automatic feeding, automatic information checking and automatic positioning steel loading are performed through automatic identification of slab numbers, dependence on manual operation is reduced, and the problems that an operator has high labor intensity and each slab is subjected to repeated operation due to manual operation of slab steel loading are solved; the method has the advantages that the length and width of the plate blank and other information are automatically collected and checked with the system issued planning information, so that the problem of furnace mixing and steel mixing accidents caused by inconsistency between the plate blank object and the information due to manual checking of the plate blank information in the prior art is effectively solved; the warning information is automatically popped up by repeatedly uploading the positioning completion signal, so that the problem of mixed steel accidents caused by repeatedly uploading the positioning completion information on the same slab at the first stage of the heating furnace is solved; the full-automatic steel loading process control effectively solves the problem that the steel loading and production rhythm is slow in the prior art. Therefore, the application effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. 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 concepts disclosed in the present application shall be covered by the claims of the present application.
Claims (8)
1. A control method for automatically charging steel into a slab is characterized by comprising the following steps:
identifying the slab number at the feeding roller way, and if the slab number is consistent with slab information of pre-feeding, executing slab feeding;
conveying the loaded plate blank to a weighing roller way, and acquiring first detection information of the plate blank on the weighing roller way, wherein the first detection information comprises weight, temperature, length and width;
comparing the first detection information with the issued slab plan information, determining that the first detection information is within a preset deviation range, and allocating a heating furnace number and a slab type number to the corresponding slab to obtain next-stage information to be issued;
and conveying the corresponding plate blank to the front of a distributed heating furnace according to the next-stage information to be issued to position the plate blank, and finishing steel charging according to the positioning information.
2. The automatic steel slab charging control method according to claim 1, wherein the steel charging operation is completed according to the positioning information, and the method comprises the following steps:
after the positioning of the plate blank is finished, outputting a positioning completion signal;
and after the positioning completion signal is received, if a steel loading vacancy exists in the current heating furnace, outputting a steel loading instruction to start a steel loading machine and a steel loading furnace door, and executing steel loading action.
3. The automatic steel charging control method for the slab as set forth in claim 2, wherein the determination means for the steel charging vacancy includes:
calculating a steel filling vacancy variable, if the steel filling vacancy variable is smaller than zero, judging no steel filling vacancy, and judging the steel filling vacancy after the next walking beam action is finished;
if the variable of the steel charging vacancy is larger than zero, the steel charging vacancy exists;
the variable of the steel loading vacancy is the distance from the discharging furnace door to the original point of the steel loading machine, the minimum charging distance, the width of the plate blank, the distance between the plate blanks and the distance from the discharging furnace door to the rear edge of the last plate blank in the furnace;
and the distance between the discharging furnace door and the back edge of the last plate blank in the furnace is equal to the distance between the front edge of the last plate blank in the furnace and the discharging furnace door plus the plate blank width.
4. The automatic slab steel charging control method according to claim 2, further comprising, after outputting the positioning completion signal:
if a signal of completing the positioning twice of the same plate blank is received, outputting preset prompt information;
and guiding the target object to complete positioning confirmation according to the prompt message.
5. The automatic steel slab loading control method according to claim 1, wherein after the steel loading operation is completed according to the positioning information, the method comprises the following steps:
outputting a steel loading completion signal, and generating a tracking image of a corresponding plate blank according to the steel loading completion signal;
and tracking the position of the plate blank according to the tracking image and controlling the temperature in the heating furnace.
6. The automatic slab charging control method according to claim 1, wherein identifying the slab number at the feeding roller way comprises:
acquiring a plate blank image at the feeding roller way;
and inputting the slab image into a pre-trained recognition model to obtain a slab number in the slab image.
7. The automatic slab charging control method according to claim 1, characterized by further comprising: if the first detection information exceeds the preset deviation range, outputting warning information;
and guiding the target object to perform slab information checking or hoisting to sell the current slab according to the warning information.
8. An automatic steel control system that adorns of slab characterized in that includes:
the feeding control module is used for identifying the slab number at the feeding roller way, and if the slab number is consistent with the slab information of pre-feeding, slab feeding is executed;
the slab information acquisition module is used for conveying the loaded slab to a weighing roller way and acquiring first detection information of the slab on the weighing roller way, wherein the first detection information comprises weight, temperature, length and width;
the slab information checking module is used for comparing the first detection information with the issued slab plan information, determining that the first detection information is within a preset deviation range, and allocating a heating furnace number and a slab type number to the corresponding slab to obtain next-stage information to be issued;
and the steel charging control module is used for conveying the corresponding plate blank to the front of the distributed heating furnace to position the plate blank according to the next-stage information to be issued and finishing the steel charging action according to the positioning information.
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| CN109916182A (en) * | 2019-04-09 | 2019-06-21 | 南京钢铁股份有限公司 | A kind of automatic steel loading system of bar plate heating stove and automatic steel loading method |
| CN111368833A (en) * | 2020-03-06 | 2020-07-03 | 北京科技大学 | Full-automatic steel loading method for detecting slab number based on machine vision |
| CN112941299A (en) * | 2021-01-18 | 2021-06-11 | 上海呈彧智能科技有限公司 | Automatic feeding and tapping control system of slab heating furnace based on machine vision |
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2022
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11124630A (en) * | 1997-10-20 | 1999-05-11 | Nisshin Steel Co Ltd | Method for collating slab at charging into heating furnace |
| CN202427938U (en) * | 2011-12-20 | 2012-09-12 | 鞍钢集团自动化公司 | Automatic tracking system for continuous casting slab numbers |
| CN104034172A (en) * | 2014-06-12 | 2014-09-10 | 攀钢集团西昌钢钒有限公司 | Method for automatically and continuously feeding steel to heating furnaces |
| JP2018058114A (en) * | 2016-09-28 | 2018-04-12 | Ｊｆｅスチール株式会社 | Slab collation method and slab collation system |
| CN108004389A (en) * | 2016-10-31 | 2018-05-08 | 宝山钢铁股份有限公司 | A kind of method that slab cloth positioning can be carried out according to steel grade and trimmed size |
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| CN111368833A (en) * | 2020-03-06 | 2020-07-03 | 北京科技大学 | Full-automatic steel loading method for detecting slab number based on machine vision |
| CN112941299A (en) * | 2021-01-18 | 2021-06-11 | 上海呈彧智能科技有限公司 | Automatic feeding and tapping control system of slab heating furnace based on machine vision |
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