CN115482404A - Furnace charge foreign matter identification system and method - Google Patents
Furnace charge foreign matter identification system and method Download PDFInfo
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Abstract
The invention discloses a furnace charge foreign matter identification system and a furnace charge foreign matter identification method. The method comprises the following steps: the device comprises an image acquisition module, an image recognition module, a control module, an execution module and a transmission module; the image acquisition module is used for acquiring image information of the furnace burden transported on the transmission module; the image recognition module is used for recognizing foreign matters based on standard images and the image information; the control module is used for sending a stop signal to the transmission module when the image recognition module recognizes the foreign matter, and determining the running distance of the foreign matter along with the transmission module; the execution module is used for determining the position of the foreign matter according to the running distance and transferring the foreign matter. The invention provides a furnace charge foreign matter identification system and method, which can prevent foreign matters from entering a blast furnace, improve the detection accuracy and detection efficiency of a transmission module, and reduce the labor intensity and the operation cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of blast furnace trough furnace material inspection, in particular to a furnace material foreign matter identification system and method.
Background
The blast furnace material conveying belt under the blast furnace is an important device for conveying raw materials in blast furnace production, particularly a main feeding belt is an important device for feeding the blast furnace, and the main belt is a gathering belt before all furnace materials enter the blast furnace. In the main belt transportation process, if the foreign matters on the surface of the furnace charge are not detected and screened out before entering the blast furnace, the transportation of the raw materials is influenced, the belt is more easily stopped suddenly and other faults are caused, and the smooth production of the blast furnace is seriously influenced.
The problem of missed detection exists through artifical video real-time detection in the current furnace charge foreign matter detection, when having the foreign matter on the belt, needs the manual work scene to remove the clearance foreign matter, and intensity of labour is big, and it is long consuming time to remove the clearance simultaneously the manual work, and work efficiency is low, influences blast furnace material loading process.
Disclosure of Invention
The invention provides a furnace charge foreign matter identification system and method, which can prevent foreign matters from entering a blast furnace, improve the detection accuracy and detection efficiency of a transmission module, and reduce the labor intensity and the operation cost.
In a first aspect, an embodiment of the present invention provides a furnace charge foreign object identification system, including: the device comprises an image acquisition module, an image recognition module, a control module, an execution module and a transmission module;
the image acquisition module is used for acquiring image information of furnace burden transported on the transmission module;
the image recognition module is connected with the image acquisition module and is used for recognizing foreign matters based on standard images and the image information;
the control module is respectively connected with the image recognition module and the transmission module; the control module is used for sending a stop signal to the transmission module when the image recognition module recognizes the foreign matter, and determining the running distance of the foreign matter along with the transmission module;
the execution module is connected with the control module and used for determining the position of the foreign matter according to the running distance and transferring the foreign matter.
Optionally, the control module includes a computing unit, an obtaining unit and a control unit;
the control unit is connected with the image recognition module; the control unit is used for sending a stop signal to the transmission module when the image recognition module recognizes the foreign matter;
the acquisition unit is connected with the control unit; the acquisition unit is used for acquiring the running speed of the transmission module in real time and acquiring the running time when the running speed is reduced to zero;
the computing unit is connected with the acquiring unit; the calculation unit is used for determining the running distance of the foreign matter along with the transmission module according to the running speed and the running time.
Optionally, after the execution module transfers the foreign matters, the control module is further configured to send a start signal, and the transmission module transports the burden according to the start signal.
Optionally, the furnace charge foreign matter identification system further comprises a calibration module; the calibration module is connected with the image recognition module;
the calibration module is used for calibrating the image color parameter, the maximum diameter parameter and the surface area parameter of the foreign matter according to the type of the foreign matter to generate the standard image.
Optionally, the image recognition module includes a preset image information unit and a recognition unit;
the preset image information unit is used for pre-storing the standard image;
the identification unit is connected with the preset image information unit; the identification unit is used for calling the standard image and judging whether the standard image is the foreign matter or not according to the image information and the standard image.
In a second aspect, an embodiment of the present invention provides a method for identifying foreign matters in a furnace charge, which is performed by the system for identifying foreign matters in a furnace charge of any of the embodiments of the present invention, and includes
The image acquisition module acquires image information of the furnace burden transported on the transmission module;
the image identification module identifies foreign matters based on standard images and the image information;
the control module sends a stop signal to the transmission module when the image recognition module recognizes the foreign matter, and determines the running distance of the foreign matter along with the transmission module;
the execution module determines the position of the foreign matter according to the running distance and transfers the foreign matter.
Optionally, the control module includes a computing unit, an obtaining unit and a control unit;
the control unit sends a stop signal to the transmission module when the image recognition module recognizes the foreign matter;
the acquisition unit acquires the running speed of the transmission module in real time and acquires the running time when the running speed is reduced to zero;
the calculation unit determines the running distance of the foreign matter along with the transmission module according to the running speed and the running time.
Optionally, after the execution module transfers the foreign matters, the control module sends a start signal, and the transmission module transports the furnace burden according to the start signal.
Optionally, the material foreign matter identification system further comprises a calibration module;
and the calibration module calibrates the image color parameter, the maximum diameter parameter and the surface area parameter of the foreign matter according to the type of the foreign matter to generate the standard image.
Optionally, the image recognition module includes a preset image information unit and a recognition unit;
the preset image information unit prestores the standard image;
the identification unit calls the standard image and judges whether the foreign object exists according to the image information and the standard image.
According to the technical scheme provided by the embodiment of the invention, the image information of furnace burden on the transmission module is acquired in real time through the image acquisition module, the image identification module identifies and compares the acquired image information with the standard image, and when foreign matters exist in the acquired image information, the control module outputs a stop signal and determines the running distance of the foreign matters. Therefore, the execution module can position the position of the foreign matter according to the running distance, so that the foreign matter is grabbed and transferred, the foreign matter is prevented from entering the blast furnace, the safe running of the equipment is prevented from being influenced, the detection accuracy and the detection efficiency of the transmission module are improved, and the labor intensity and the running cost are reduced.
Drawings
Fig. 1 is a schematic structural diagram of a furnace charge foreign matter identification system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a furnace charge foreign matter identification system according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a control module according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of another furnace charge foreign matter identification system according to an embodiment of the present invention.
Fig. 5 is a schematic flow chart illustrating a method for identifying foreign matters in a furnace charge according to an embodiment of the present invention.
Fig. 6 is a schematic flow chart illustrating another method for identifying foreign matters in a furnace charge according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a furnace charge foreign matter identification system according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of an apparatus of the furnace charge foreign matter identification system according to an embodiment of the present invention, referring to fig. 1 and fig. 2, including: the image acquisition module 110, the image recognition module 120, the control module 130, the execution module 140 and the transmission module 150;
the image acquisition module 110 is used for acquiring image information of the furnace burden transported on the transmission module 150;
the image recognition module 120 is connected to the image acquisition module 110, and the image recognition module 120 is configured to recognize a foreign object based on the standard image and the image information;
the control module 130 is respectively connected with the image recognition module 120 and the transmission module 150; the control module 130 is used for sending a stop signal to the transmission module 150 when the image recognition module 120 recognizes the foreign object, and determining the travel distance of the foreign object along with the transmission module 150;
the execution module 140 is connected to the control module 130, and the execution module 140 is configured to determine a position of the foreign object according to the travel distance and transfer the foreign object.
Specifically, the image capturing module 110 captures image information of the furnace burden transported on the transmission module 150 in real time by using a camera or a video camera, for example, the transmission module 150 may be a belt transmission, and the furnace burden is transported to a specified blast furnace slot feeding port by using a belt. In the transmission direction, the image capturing module 110 may be disposed at a certain distance from the position of the charging material of the transmission module 150, that is, the charging material starts to be transported to the transmission module 150, and a certain operation time is required for the charging material to reach the detection area 111 of the image capturing module 110, and the time for the charging material to reach the detection point is different due to different volumes and weights of the charging material, so that the control module 130 may further determine the type of the charging material according to different arrival times. Therefore, whether the types and varieties of the furnace burden are normal or not does not need to be judged manually, and the accuracy of the furnace burden for the blast furnace is enhanced.
The image acquisition module 110 records image information of the furnace burden, the image acquisition module 110 is disposed at a certain height of the transmission module, and the furnace burden within a certain transmission distance of the transmission module 150 can be acquired by using a coverage range of an acquisition field angle of the image acquisition module 110, for example, the image acquisition module 110 is disposed at a position 2-3 m away from the height of the transmission module 150, the length of a belt region of the transmission module 150 that can be acquired is controlled to be 4-6 m, it should be noted that the height and length data provided in this embodiment is only an example, and specific height and length data can be adjusted according to equipment parameters of a camera or a video camera of the image acquisition module 110.
The image recognition module 120 is internally preset with a standard image, wherein the standard image is image information of different types of foreign matters, and the image recognition module 120 compares the acquired image information with the standard image for recognition, so as to judge whether foreign matters exist in the furnace burden. For example, when the foreign matter is a foreign matter such as plastic, a wood stick, or steel, the color information and the size information corresponding to the image information of the standard image have differences, so that different standard images can be obtained according to the type of the foreign matter, the acquired image information is compared with the image information of the standard image, and when the acquired image information matches the standard image information, the foreign matter is present in the burden. When foreign matters exist in the furnace burden, the control module 130 sends a stop signal to the transmission module 150, so that the transmission module 150 decelerates and suspends the operation. In order to avoid the sliding of the furnace burden on the transmission module 150 during the starting and braking, the transmission module 150 stops at the moment of non-instant braking in the deceleration process, and a braking process is required for buffering. Therefore, when the transmission module 150 receives the stop signal, it needs to run for a certain distance to stop, and thus the foreign object runs for a certain distance along with the transmission module 150. For example, the control module 130 may obtain a running distance of the transmission module 150 after receiving the stop signal, that is, a distance of the foreign object running along with the transmission module 150 after being detected in the detection region 111 of the image capturing module 110, according to parameters such as a stop time of the transmission module 150, a speed during running, and the like. It should be noted that, if the default foreign object passes through the image acquisition device, the image recognition device completes recognition, neglecting the consumed time of the recognition process, and if the consumed time of the recognition process needs to be considered, resulting in the deviation of the running distance of the foreign object, the running distance of the foreign object in the recognition process is added to the obtained running distance at which the transmission module 150 stops, that is, the running distance of the foreign object along with the transmission module 150 is obtained.
The execution module 140 may be a mechanical arm, the mechanical arm may be moved to an appointed position of the transmission module 150, the execution module 140 may determine a position of the foreign object according to the position and the operation distance of the mechanical arm, and the mechanical arm may telescopically grab the burden and the foreign objects on the transmission module 150. Illustratively, the mechanical arm adopts a double-tooth clamping structure, so that the foreign matters can be conveniently grabbed and transferred. The control module 130 can obtain the size information such as the maximum length, the width and the like of the foreign matter according to the collected image information, after the mechanical arm runs to the position of the foreign matter, the arm stretches out, the arm grabs the foreign matter according to the size information such as the length, the width and the like, and after the foreign matter is grabbed, the mechanical arm conveys the foreign matter to the foreign matter recovery platform.
According to the technical scheme provided by the embodiment of the invention, the image information of furnace burden on the transmission module is acquired in real time through the image acquisition module, the image identification module identifies and compares the acquired image information with the standard image, and when foreign matters exist in the acquired image information, the control module outputs a stop signal and determines the running distance of the foreign matters. Therefore, the execution module can position the position of the foreign matter according to the running distance, so that the foreign matter is grabbed and transferred, the foreign matter is prevented from entering the blast furnace, the safe running of the equipment is prevented from being influenced, the detection accuracy and the detection efficiency of the transmission module are improved, and the labor intensity and the running cost are reduced.
Fig. 3 is a schematic structural diagram of a control module according to an embodiment of the present invention, referring to fig. 3, the control module 130 includes a calculating unit 131, an obtaining unit 132, and a control unit 133;
the control unit 133 is connected to the image recognition module 120; the control unit 133 is configured to send a stop signal to the transmission module 150 when the image recognition module 120 recognizes a foreign object;
the acquisition unit 132 is connected to the control unit 133; the obtaining unit 132 is configured to obtain the operating speed of the transmission module 150 in real time, and obtain the operating time when the operating speed decreases to zero;
the calculating unit 131 is connected with the acquiring unit 132; the calculation unit 131 is used to determine the travel distance of the foreign object along with the transmission module 150 according to the operation speed and the operation time.
Specifically, the control module 130 sends a stop signal to the transmission module 150, and the transmission module 150 starts to decelerate until the running speed is zero after receiving the stop signal. The acquisition module acquires the running speed of the transmission module 150 in real time and the running time when the running speed is reduced to zero, and the running distance of the transmission module 150 can be calculated according to the running speed and the running time. For example, the deceleration process of the transmission module 150 is a uniform deceleration process, and the travel distance, i.e., the distance the foreign object travels along with the transmission module 150, can be calculated according to the change of the travel speed and the travel time. It should be noted that, if the default foreign object passes through the image acquisition device, the image recognition device completes recognition, neglecting the time consumption of the recognition process, and if the time consumption of the recognition process needs to be considered to cause the deviation of the running distance of the foreign object, the running distance of the foreign object in the recognition process is added to the obtained running distance at which the transmission module 150 stops, that is, the running distance of the foreign object along with the transmission module 150 is obtained.
Optionally, after the execution module 140 finishes transferring the foreign matters, the control module 130 is further configured to send a start signal, and the transmission module 150 transports the burden material according to the start signal.
Specifically, if the image recognition module 120 recognizes that a plurality of foreign objects exist, the execution module 140 repeats the capturing operation until the capturing frequency is matched with the foreign object frequency, the robot arm conveys the foreign objects to the foreign object recovery platform, the capturing operation is completed, the control module 130 sends a start signal, and the transmission module 150 restarts to transport the burden.
Fig. 4 is a schematic structural diagram of another furnace charge foreign matter identification system according to an embodiment of the present invention, referring to fig. 4, the furnace charge foreign matter identification system further includes a calibration module 410; the calibration module 410 is connected with the image recognition module 120;
the calibration module 410 is configured to calibrate an image color parameter, a maximum diameter parameter, and a surface area parameter of the foreign object according to the type of the foreign object, and generate a standard image.
Specifically, the burden used by the blast furnace trough is calibrated, for example, in the transmission direction, the image acquisition module 110 may be disposed at a certain distance from the burden loading position of the transmission module 150, that is, when the burden is loaded onto the transmission module 150 and starts to be transmitted, and when the burden reaches the detection point of the image acquisition module 110, a certain operation time is required, and due to different volumes and weights of the burden, the time for the burden to reach the detection point is different, so according to different arrival times, the type of the burden may be calibrated, for example, a time signal of discharging the sintering ore from a bin weighing hopper valve to the detection position of the image acquisition module 110 is recorded, and when the same time signal is detected, the burden at this time may be determined to be the sintering ore.
The image acquisition module 110 is used for acquiring preset group number images of furnace charges of the same type of foreign matters, the calibration module 410 is used for calibrating the color range of the preset group number foreign matters on the transmission module 150, and standard color images of the foreign matters are obtained by processing the preset group number images under the same level pixels. And continuously calibrating the particle size range of the foreign matters, calculating the maximum particle diameter and the surface area of the foreign matters in the preset group number, and calculating the average value of the maximum diameters of the foreign matters in the preset group and the surface area corresponding to the average value of the maximum diameters, thereby generating a standard image of the foreign matters. The standard image may be a 2d plane graph or a 3d stereo image. Similarly, according to the requirement, the furnace burden calibration of the preset number of groups can be performed on the furnace burden without the foreign matters through the image acquisition module 110, so as to obtain the standard image of the furnace burden type. When the calibration module 410 does not transport materials, the image acquisition module 110 is used for acquiring a standard image of the transmission module 150 during air transportation, and when the belt of the transmission module 150 is broken and water exists on the belt, the abnormal information of the belt can be accurately judged through color comparison.
Optionally, the image recognition module 120 includes a preset image information unit and a recognition unit;
the preset image information unit is used for pre-storing a standard image;
the identification unit is connected with the preset image information unit; the identification unit is used for calling the standard image and judging whether the standard image is a foreign matter or not according to the image information and the standard image.
Specifically, the preset image information unit prestores a standard image of the foreign matter and a standard image of the furnace burden, the identification unit calls the standard image of the foreign matter, and judges the collected image information and the standard image of the foreign matter, for example, when an image color signal of the collected image information is consistent with a standard signal of the foreign matter, and a maximum diameter signal and a surface area signal exceed an average value of a maximum diameter and 50% of the average value of the maximum diameter, the belt stops running, and the subsequent mechanical arm starts cleaning. When the maximum diameter signal exceeds 50% and the color signal and the surface area signal do not exceed the standards, the image recognition module 120 determines that there is no abnormality, and the control module 130 controls the transmission module 150 to continue to operate without performing the shutdown cleaning operation.
The identification unit can also call a standard image of the furnace charge, and when the size of the maximum diameter signal and the size of the surface area signal of the furnace charge exceed the standard, equipment at the top of the blast furnace is blocked easily, and equipment abnormity occurs, so that in abnormal-free furnace charge, shutdown cleaning operation is also executed when the size of the furnace charge is abnormal large. Whether the furnace burden is abnormal or not is judged according to the image color signals, whether other types of materials are mixed in the furnace burden or not can be conveniently judged, and therefore whether the furnace burden is a single type of furnace burden can be judged.
Fig. 5 is a schematic flow chart of a method for identifying foreign matters in a furnace charge according to an embodiment of the present invention, which is applicable to the case of identifying foreign matters in a furnace charge, and the method can be implemented by a system for identifying foreign matters in a furnace charge, and the apparatus can be implemented by hardware and/or software. The method specifically comprises the following steps:
s110, an image acquisition module acquires image information of furnace burden transported on a transmission module;
specifically, the image collecting module 110 collects image information of the furnace charge transported on the transmission module 150 in real time by using a camera or a video camera, and the transmission module 150 may be a belt transmission, for example, and the furnace charge is transported to a specified blast furnace slot feeding port by using a belt. In the transmission direction, the image capturing module 110 may be disposed at a certain distance from the position of the charging position of the transmission module 150, that is, when the charging position starts to be transmitted to the transmission module 150, and when the charging position reaches the detection point of the image capturing module 110, a certain operation time is required, and due to different volumes and weights of the charging position, the time for the charging position to reach the detection point is different, so that the control module 130 may further determine the type of the charging position according to the different arrival times. Therefore, whether the types and varieties of the furnace burden are normal or not does not need to be judged manually, and the accuracy of the furnace burden for the blast furnace is enhanced.
S120, the image recognition module recognizes the foreign matters based on the standard images and the image information;
specifically, the image acquisition module 110 may record image information of the charge. The image acquisition module 110 is disposed at a certain height of a burden drop point, and the burden within a certain transmission distance of the transmission module 150 can be acquired by using a coverage range of an acquisition field angle of the image acquisition module 110, for example, the image acquisition module 110 is disposed at a position 2-3 meters away from the transmission module 150, and the length of a belt region of the transmission module 150 that can be acquired is controlled to be 4-6 meters, it should be noted that the height and length data provided in this embodiment is only an example, and the specific height and length data can be adjusted according to the device parameters of a camera or a video camera of the image acquisition module 110.
The image recognition module 120 is internally preset with a standard image, wherein the standard image is image information of different types of foreign matters, and the image recognition module 120 compares the acquired image information with the standard image for recognition, so as to judge whether foreign matters exist in the furnace burden. For example, when the foreign matter is a foreign matter such as plastic, a wood stick, or steel, the color information and the size information corresponding to the image information of the standard image have differences, so that different standard images can be obtained according to the type of the foreign matter, the acquired image information is compared with the image information of the standard image, and when the acquired image information matches the standard image information, it is indicated that the foreign matter exists in the burden.
S130, when the foreign matter is identified by the image identification module, the control module sends a stop signal to the transmission module and determines the running distance of the foreign matter along with the transmission module;
specifically, when there is a foreign object in the burden, the control module 130 sends a stop signal to the transmission module 150, so that the transmission module 150 is decelerated and suspended. In order to avoid the sliding of the furnace burden on the transmission module 150 during the starting and braking, the transmission module 150 stops at the moment of non-instant braking in the deceleration process, and a braking process is required for buffering. Therefore, when the transmission module 150 receives the stop signal, it needs to run for a certain distance to stop, and thus the foreign object runs for a certain distance along with the transmission module 150. For example, the control module 130 may obtain a running distance that the transmission module 150 continues to run after receiving the stop signal according to parameters such as a stop time of the transmission module 150, a speed during running, and the like, that is, a distance that the foreign object runs along with the transmission module 150 after being detected at a detection point of the image capturing module 110. It should be noted that, if the default foreign object passes through the image acquisition device, the image recognition device completes recognition, neglecting the time consumption of the recognition process, and if the time consumption of the recognition process needs to be considered to cause the deviation of the running distance of the foreign object, the running distance of the foreign object in the recognition process is added to the obtained running distance at which the transmission module 150 stops, that is, the running distance of the foreign object along with the transmission module 150 is obtained.
And S140, the execution module determines the position of the foreign matter according to the running distance and transfers the foreign matter.
Specifically, the execution module 140 may be a mechanical arm, the mechanical arm may move to an appointed position of the transmission module 150 at will, the execution module 140 may determine a position of the foreign object according to the position and the operating distance of the mechanical arm, and the mechanical arm may telescopically grab the furnace burden and the foreign objects on the transmission module 150. Illustratively, the mechanical arm adopts a double-tooth clamping structure, so that the foreign matters can be conveniently grabbed and transferred. The control module 130 can obtain the size information such as the maximum length and the width of the foreign matter according to the collected image information, when the mechanical arm moves to the position of the foreign matter, the arm stretches out, the arm grabs the foreign matter according to the size information such as the length and the width, and after the foreign matter is grabbed, the mechanical arm conveys the foreign matter to the foreign matter recovery platform.
According to the technical scheme provided by the embodiment of the invention, the image acquisition module is used for acquiring the image information of the furnace burden on the transmission module in real time, the image recognition module is used for recognizing and comparing the acquired image information with the standard image, and when foreign matters exist in the acquired image information, the control module outputs a stop signal and determines the running distance of the foreign matters. Therefore, the execution module can position the position of the foreign matter according to the running distance, so that the foreign matter is grabbed and transferred, the foreign matter is prevented from entering the blast furnace, the safe running of the equipment is prevented from being influenced, the detection accuracy and the detection efficiency of the transmission module are improved, and the labor intensity and the running cost are reduced.
Optionally, the control module 130 includes a calculating unit 131, an obtaining unit 132, and a control unit 133;
the method comprises the following steps:
the control unit sends a stop signal to the transmission module when the image recognition module recognizes the foreign matter;
the acquisition unit acquires the running speed of the transmission module in real time and acquires the running time when the running speed is reduced to zero;
the calculation unit determines the travel distance of the foreign matter along with the transmission module according to the running speed and the running time.
Specifically, the control module 130 sends a stop signal to the transmission module 150, and the transmission module 150 starts to decelerate until the running speed is zero after receiving the stop signal. The acquisition module acquires the running speed of the transmission module 150 in real time and the running time when the running speed is reduced to zero, and the running distance of the transmission module 150 can be calculated according to the running speed and the running time. For example, the deceleration process of the transmission module 150 is a uniform deceleration process, and the travel distance, i.e., the distance the foreign object travels along with the transmission module 150, can be calculated according to the change of the travel speed and the travel time. It should be noted that, if the default foreign object passes through the image acquisition device, the image recognition device completes recognition, neglecting the time consumption of the recognition process, and if the time consumption of the recognition process needs to be considered to cause the deviation of the running distance of the foreign object, the running distance of the foreign object in the recognition process is added to the obtained running distance at which the transmission module 150 stops, that is, the running distance of the foreign object along with the transmission module 150.
Optionally, after the execution module 140 finishes transferring the foreign matters, the control module 130 sends a start signal, and the transmission module 150 transports the burden according to the start signal.
Specifically, if the image recognition module 120 recognizes that a plurality of foreign objects exist, the execution module 140 repeats the capturing operation until the capturing frequency is matched with the foreign object frequency, the robot arm conveys the foreign objects to the foreign object recovery platform, the capturing operation is completed, the control module 130 sends a start signal, and the transmission module 150 restarts to transport the burden.
Fig. 6 is a schematic flow chart of another method for identifying foreign matters in a furnace charge according to an embodiment of the present invention, and referring to fig. 6, the system for identifying foreign matters in a furnace charge further includes a calibration module;
s210, the calibration module calibrates the image color parameter, the maximum diameter parameter and the surface area parameter of the foreign object according to the type of the foreign object to generate a standard image.
Specifically, the burden used by the blast furnace trough is calibrated, for example, in the transmission direction, the image acquisition module 110 may be disposed at a certain distance from the burden loading position of the transmission module 150, that is, when the burden is loaded onto the transmission module 150 and starts to be transmitted, and when the burden reaches the detection point of the image acquisition module 110, a certain operation time is required, and due to different volumes and weights of the burden, the time for the burden to reach the detection point is different, so according to different arrival times, the type of the burden may be calibrated, for example, a time signal of discharging the sintering ore from a bin weighing hopper valve to the detection position of the image acquisition module 110 is recorded, and when the same time signal is detected, the burden at this time may be determined to be the sintering ore.
The furnace burden of the same type of foreign matters is subjected to image acquisition with a preset group number through the image acquisition module 110, the color range of the foreign matters with the preset group number on the transmission module 150 is calibrated through the calibration module, and standard color images of the foreign matters are obtained through processing under the same-level pixels. And continuously calibrating the particle size range of the foreign matters, calculating the maximum particle diameter and the surface area of the foreign matters in the preset group number, and calculating the average value of the maximum diameters of the foreign matters in the preset group and the surface area corresponding to the average value of the maximum diameters, thereby generating a standard image of the foreign matters. The standard image may be a 2d plane graph or a 3d stereo image. Similarly, according to the requirement, the furnace burden calibration of the preset number of groups can be performed on the furnace burden without the foreign matters through the image acquisition module 110, so as to obtain a standard image of the type of the furnace burden. When the calibration module does not transport materials, the image acquisition module 110 acquires standard images of the gold transmission module 150 during air transportation, and when a belt of the transmission module 150 is broken and water exists on the belt, abnormal information of the belt can be accurately judged through color comparison.
S220, the image acquisition module acquires image information of the furnace charge transported on the transmission module;
s230, the image identification module identifies the foreign matters based on the standard images and the image information;
s240, when the foreign matter is identified by the image identification module, the control module sends a stop signal to the transmission module and obtains the running distance of the transmission module;
and S250, the execution module determines the position of the foreign matter according to the running distance and transfers the foreign matter.
Optionally, the image recognition module 120 includes a preset image information unit and a recognition unit;
the preset image information unit prestores standard images;
the identification unit calls the standard image and judges whether the image is a foreign object or not according to the image information and the standard image.
Specifically, the burden used by the blast furnace trough is calibrated, for example, in the transmission direction, the image acquisition module 110 may be disposed at a certain distance from the burden loading position of the transmission module 150, that is, when the burden is loaded onto the transmission module 150 and starts to be transmitted, and when the burden reaches the detection point of the image acquisition module 110, a certain operation time is required, and due to different volumes and weights of the burden, the time for the burden to reach the detection point is different, so according to different arrival times, the type of the burden may be calibrated, for example, a time signal of discharging the sintering ore from a bin weighing hopper valve to the detection position of the image acquisition module 110 is recorded, and when the same time signal is detected, the burden at this time may be determined to be the sintering ore.
The furnace burden of the same type of foreign matters is subjected to image acquisition with a preset group number through the image acquisition module 110, the color range of the foreign matters with the preset group number on the transmission module 150 is calibrated through the calibration module, and standard color images of the foreign matters are obtained through processing under the same-level pixels. And continuously calibrating the particle size range of the foreign matters, calculating the maximum particle diameter and the surface area of the foreign matters in the preset group number, and calculating the average value of the maximum diameters of the foreign matters in the preset group and the surface area corresponding to the average value of the maximum diameters, thereby generating a standard image of the foreign matters. The standard image may be a 2d plane graph or a 3d stereo image. Similarly, according to the requirement, the furnace burden calibration of the preset number of groups can be performed on the furnace burden without the foreign matters through the image acquisition module 110, so as to obtain a standard image of the type of the furnace burden. When the calibration module does not transport materials, the image acquisition module 110 acquires standard images of the gold transmission module 150 during air transportation, and when a belt of the transmission module 150 is broken and water exists on the belt, abnormal information of the belt can be accurately judged through color comparison.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A furnace charge foreign matter identification system, comprising: the device comprises an image acquisition module, an image recognition module, a control module, an execution module and a transmission module;
the image acquisition module is used for acquiring image information of the furnace burden transported on the transmission module;
the image recognition module is connected with the image acquisition module and is used for recognizing foreign matters based on standard images and the image information;
the control module is respectively connected with the image recognition module and the transmission module; the control module is used for sending a stop signal to the transmission module when the image recognition module recognizes the foreign matter, and determining the running distance of the foreign matter along with the transmission module;
the execution module is connected with the control module and used for determining the position of the foreign matter according to the running distance and transferring the foreign matter.
2. The furnace charge foreign matter identification system of claim 1, wherein said control module comprises a computing unit, an acquisition unit, and a control unit;
the control unit is connected with the image recognition module; the control unit is used for sending a stop signal to the transmission module when the image recognition module recognizes the foreign matter;
the acquisition unit is connected with the control unit; the acquisition unit is used for acquiring the running speed of the transmission module in real time and acquiring the running time when the running speed is reduced to zero;
the computing unit is connected with the acquiring unit; the calculation unit is used for determining the running distance of the foreign matter along with the transmission module according to the running speed and the running time.
3. The furnace charge foreign matter identification system of claim 1, wherein said control module is further configured to send a start signal after said execution module completes the transfer of said foreign matter, and said transmission module transports said furnace charge according to said start signal.
4. The furnace charge foreign matter identification system of claim 1, further comprising a calibration module; the calibration module is connected with the image recognition module;
the calibration module is used for calibrating the image color parameter, the maximum diameter parameter and the surface area parameter of the foreign matter according to the type of the foreign matter to generate the standard image.
5. The furnace charge foreign matter identification system of claim 4, wherein the image identification module comprises a preset image information unit and an identification unit;
the preset image information unit is used for pre-storing the standard image;
the identification unit is connected with the preset image information unit; the identification unit is used for calling the standard image and judging whether the standard image is the foreign matter or not according to the image information and the standard image.
6. A furnace charge foreign matter identification method, which is executed by the furnace charge foreign matter identification system of any one of claims 1 to 5, comprising
The image acquisition module acquires image information of furnace burden transported on the transmission module;
the image identification module identifies foreign matters based on standard images and the image information;
the control module sends a stop signal to the transmission module when the image recognition module recognizes the foreign matter, and determines the running distance of the foreign matter along with the transmission module;
the execution module determines the position of the foreign matter according to the running distance and transfers the foreign matter.
7. The furnace charge foreign matter identification method according to claim 6, wherein the control module comprises a calculation unit, an acquisition unit and a control unit;
the control unit sends a stop signal to the transmission module when the image recognition module recognizes the foreign matter;
the acquisition unit acquires the running speed of the transmission module in real time and acquires the running time when the running speed is reduced to zero;
the calculation unit determines the running distance of the foreign matter along with the transmission module according to the running speed and the running time.
8. The method for identifying foreign matters in furnace burden according to claim 6, wherein after the execution module finishes transferring the foreign matters, the control module sends a starting signal, and the transmission module transports the furnace burden according to the starting signal.
9. The method for identifying foreign matters in furnace burden according to claim 6, wherein the system for identifying foreign matters in furnace burden further comprises a calibration module;
and the calibration module calibrates the image color parameter, the maximum diameter parameter and the surface area parameter of the foreign matter according to the type of the foreign matter to generate the standard image.
10. The furnace charge foreign matter identification method according to claim 9, wherein the image identification module comprises a preset image information unit and an identification unit;
the preset image information unit prestores the standard image;
the identification unit calls the standard image and judges whether the foreign object exists according to the image information and the standard image.
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| CN202211132965.7A CN115482404A (en) | 2022-09-16 | 2022-09-16 | Furnace charge foreign matter identification system and method |
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| CN202211132965.7A CN115482404A (en) | 2022-09-16 | 2022-09-16 | Furnace charge foreign matter identification system and method |
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