JP2023535435A - Detection of metal separation from mold - Google Patents

Abstract

Metal can be separated from the mold during the casting process. A detection system can monitor the mold and determine if the metal has separated from the mold. A detection system may include a camera, a light source, and a computer system. A camera and light source are placed on opposite sides of the mold and can be positioned so that both face the mold. A computer system can detect if any light is visible between the mold and the metal based on the data received from the camera. The computer system can then determine that the metal has been pulled away from the mold based on the detected light. [Selection drawing] Fig. 1

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is filed on July 23, 2020 and entitled "DETECTING METAL SEPARATION FROM CASTING MOLD," U.S. Provisional Application No. 62/705,945 and filed on July 23, 2020. , claims the benefit of and priority to U.S. Provisional Application No. 62/705,947, entitled "Monitoring Casting Environment," and the contents of both of these patent documents are incorporated by reference in their entireties for all purposes. incorporated herein by.

TECHNICAL FIELD This disclosure relates generally to metal casting and, more particularly, to related processes and systems for monitoring metal casting processes.

Molten metal may be deposited into a mold to create a metal ingot. These metal ingots may be formed using, for example, direct chill (DC) casting or electromagnetic casting (EMC). In DC casting, molten metal is typically poured into a shallow, water-cooled mold. The mold may include a bottom block attached to a telescoping hydraulic table to form a false bottom. The bottom block may be positioned at or near the bottom of the mold before molten metal is deposited within the mold. As molten metal accumulates in the mold, it fills the mold cavities and can cool the outside and bottom of the mold. The molten metal may cool and begin to solidify, forming a shell of solid or semi-solid metal around the molten core. As the bottom block is lowered, additional molten metal can be fed into the mold cavity.

During solidification, the metal being cooled can contract and pull away from the mold wall, leaving a gap. As additional molten metal is fed into the mold cavity, the newly added molten metal may flow down the outside of the ingot through the gap between the mold wall and the ingot shell. An explosion can occur when the molten metal contacts and/or entraps the coolant. Additionally, if the molten metal solidifies in the gap, the ingot may jam in the mold as the bottom block continues to descend, leaving a space between the bottom of the ingot and the bottom block. Eventually, the weight of the ingot causes it to fall out of the mold onto the lower bottom block, causing molten metal to splash out of the mold and into the casting environment.

To reduce the risks associated with the gap between the ingot and the mold, the operator or operators can observe the mold edge during the casting process, either in person or using a video monitoring system. to look for such gaps. However, because the gap is small or hard to see, the operator or operators may miss or overlook the gap. Additionally, several molds can be used simultaneously, requiring an operator or operators to focus on multiple molds, or multiple operators to monitor different molds.

The term embodiment and like terms are intended to broadly refer to all of the subject matter of this disclosure and the claims below. Statements containing these terms should not be understood to limit the subject matter described herein or to limit the meaning or scope of the claims below. The embodiments of the disclosure covered herein are defined by the following claims rather than by this summary of the invention. This Summary of the Invention is a high-level overview of various aspects of the disclosure and introduces some concepts that are further described in the Detailed Description section below. This Summary of the Invention is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used alone to determine the scope of the claimed subject matter. not. The subject matter may be understood by reference to the entire specification, any or all of the drawings, and appropriate portions of each claim of the disclosure.

Certain examples herein correspond to systems and methods for detecting metal separating from a mold during a casting process. Various examples utilize one or more molds to contain the molten and/or solidified metal during the casting process. At least one of the molds may have a number of sidewalls spanning between the top and bottom of the mold. The top and bottom of the mold can be opened to allow molten metal to be deposited through the open top and solidified metal to exit through the open bottom. The system may include one or more cameras, at least one camera having a field of view that includes at least a portion of the mold. For example, the field of view of one or more cameras may include the top of the mold. A light source may be positioned adjacent to the mold and may be positioned on the opposite side of the mold, such as one or more cameras. A light source may be positioned to direct light onto the mold. For example, a light source may be positioned to shine light from the bottom of the mold towards a camera at the top of the mold. A computer system may be used to detect whether light is visible between the solidified metal in the mold and the sidewalls of the mold based on the image data received from the camera. The computer system determines whether the metal in the mold is moving away from the mold sidewalls based, for example, on whether the system detects that light is visible between the solidified metal in the mold and the mold sidewalls. It can be determined whether they are separated.

Various examples provide systems for detecting unexpected gaps between solidifying metal and mold sidewalls. The system may include a mold, camera, light source, processor, and memory. The mold may have a first side, a second side opposite the first side, and a number of walls spanning between the first and second sides. A camera may be positioned adjacent the first side of the mold and have a field of view that includes the first side of the mold. A light source may be positioned adjacent a second side of the mold and directed toward the second side of the mold such that when the solidifying metal separates from at least one of the mold walls, the light source Light from the can become visible to the camera through the first side of the mold. The memory may include instructions which, when executed by the processor, cause the system to detect light between the mold sidewall and the solidifying metal based at least in part on data from the camera, the detected Based at least in part on the light, it may be determined whether separation between the mold sidewall and the solidified metal has occurred.

Various examples provide a computer-implemented method for detecting solidified metal separating from a mold. The method may include receiving molten metal in a mold with two opposing faces and a plurality of sidewalls spanning between the two opposing faces. The mold may have at least one sidewall that contacts the molten metal as it cools and solidifies. Light between at least one sidewall of the mold and the solidified metal may be detected based on data received from a camera having a field of view of at least a portion of at least the first surface of the mold. A light source may be positioned adjacent the second surface of the mold to direct light to the second surface of the mold. The method may further include determining whether the solidified metal has been pulled away from the sidewalls of the mold based on the detected light.

Various examples provide a system for detecting metal separating from a mold. The system may include molds, launders, cameras, lights, and computer systems. The mold can receive and contain the metal. The mold can have a first side, a second side opposite the first side, and a plurality of sidewalls spanning between the first side and the second side. A launder may be positioned above the mold and may include channels for containing molten metal and one or more openings for transferring molten metal from the launder to the mold. The camera may have a field of view that includes the first side of the mold. A light may be positioned adjacent the second side of the mold to direct the light toward the second side of the mold. Light may become visible to the camera through the first side of the mold when the solidified metal separates from at least one of the mold walls. A computer system may include one or more processors, memory, and computer-executable instructions stored in the memory and executable by the one or more processors. The computer-executable instructions cause the computer system to detect, based at least in part on data from the camera, whether light is visible between the mold sidewall and the solidifying metal, and at least in part on the detected light. Based on the objective, it can be determined whether separation of the mold sidewall and the solidified metal has occurred and the flow of molten metal from the channel to the mold can be adjusted.

Various examples provide a system for detecting metal separating from a mold. The system is a mold configured to receive and contain metal having a first side, a second side opposite the first side, and a mold between the first side and the second side. a mold comprising a plurality of sidewalls spanning therebetween; and a container positioned over the mold having a bottom and defining a channel for containing metal, the bottom of the mold extending from the container to the mold a container defining one or more openings for flowing metal; a camera having a field of view that includes a first side of the mold; A light positioned adjacent to two sides, wherein the light is visible to the camera through the first side of the mold when the metal is separated from at least one of the plurality of sidewalls. and may include The system detects whether light is visible between at least one of the plurality of sidewalls and the metal, based at least in part on data from the camera; determining whether separation between at least one of the plurality of sidewalls and the metal has occurred based at least in part on whether light is detected to be visible between the plurality of sidewalls; The flow of metal from the container to the mold may be adjusted based, at least in part, on whether separation of the metal from at least one of the sidewalls of the mold is determined to have occurred.

Other objects and advantages will be apparent from the detailed description of the non-limiting examples that follow.

The present specification refers to the following accompanying figures, where the use of like reference numbers in different figures is intended to indicate similar or similar components.

1 is a cross-sectional side view of a system for detecting solidification of metal separating from a mold, according to various embodiments; FIG. 2 is a front view of the system of FIG. 1 including multiple molds, according to various embodiments; FIG. 2 is a top view of the mold of FIG. 1 after molten metal is added to the mold, begins to solidify, and is pulled away from the sidewalls of the mold, according to various embodiments; FIG. 4 is a flowchart illustrating a process for detecting if solidified metal has separated from a mold, eg, by using the system of FIGS. 1-3, according to various embodiments; 3 illustrates the exemplary computer system of FIGS. 1 and 2, according to various embodiments; FIG.

As used herein, the terms “invention,” “the invention,” “this invention,” and “the present invention” refer to this patent. It is intended to refer broadly to all subject matter of the application and claims below. Statements containing these terms should not be understood to limit the subject matter described herein or to limit the meaning or scope of the claims of this patent below. The subject matter of embodiments of the present invention is described herein with specificity to meet statutory requirements, but this description is not necessarily intended to limit the scope of the claims. The claimed subject matter may be embodied in other ways, may include different elements or steps, and may be used in conjunction with other existing or future technologies. This description should not be construed as implying any particular order or arrangement among or among various steps or elements, except when the order of individual steps or arrangement of elements is explicitly described. do not have. As used herein, the meanings of "a," "an," and "the" include singular and plural references unless the context clearly dictates otherwise.

While certain aspects of the disclosure may be suitable for use with any type of material, such as metal, certain aspects of the disclosure may be particularly suitable for use with aluminum.

It is to be understood that all ranges disclosed herein encompass any and all subranges subsumed therein. For example, a stated range "1 to 10" should be considered to include any subrange from the minimum value 1 to the maximum value 10 (and inclusive). That is, all subranges start with a minimum value of 1 or greater (eg, 1-6.1) and end with a maximum value of 10 or less (eg, 5.5-10).

The following examples, taken together, will serve further to explain the invention without posing any limitation thereof. In contrast, reference is made to various embodiments, modifications thereof, and equivalents, which may suggest themselves to those skilled in the art, after reading the description herein, without departing from the spirit of the invention. It should be clearly understood that

1 and 2 illustrate a detection system 100 for detecting solidified metal 114 separating from at least one sidewall of a mold 120 and associated components, according to certain embodiments. Although detection system 100 may include any number of components, in various embodiments detection system 100 includes ingot 110 , mold 120 , camera 140 , light source 150 , computer system 160 . As shown in FIGS. 1 and 2, detection system 100 is shown as further including launder 130, but detection system 100 may include additional or alternative components.

Ingot 110 may include molten metal 112 and solidified metal 114 . In various examples, solidified metal 114 is molten metal 112 that has cooled against the walls of mold 120 . In the illustrative example, molten metal 112 is deposited within mold 120 and begins to solidify to form solidified metal 114 . The bottom block 122 of the mold 120 can be steadily lowered while the molten metal 112 is added to the top of the mold 120 . The addition of molten metal 112 creates pockets of molten metal 112 surrounded by walls of solidified metal 114, allowing ingot 110 to be continuously elongated.

Ingot 110 may be formed from any metal or combination of metals capable of being heated to a melting temperature. In a non-limiting example, the metal used to form ingot 110 includes aluminum. Additionally or alternatively, the metal used to form ingot 110 may include iron, magnesium, or a combination of metals.

One or more molds 120 (hereinafter individually or collectively referred to as “molds”) may be provided as part of detection system 100 . Mold 120 may receive molten metal 112 in one or more mold openings. As molten metal 112 cools into solidified metal 114, it is contained by mold 120 and molten metal 112 may be formed into a shape. Solidified metal 114 (eg, once cooled) may exit mold 120 through one or more mold exits. In various embodiments, mold 120 can be rectangular with four sidewalls, an open top for receiving molten metal 112, and an open bottom through which solidified metal 114 can exit. Mold 120 may additionally or alternatively have or cooperate with a bottom block 122 for forming ingot 110, as may generally be the case when mold 120 is used for direct chill casting. can. Bottom block 122 may be movable or stationary. In some embodiments, the movable bottom 122 can be a starting head attached to a telescoping hydraulic table. In alternate embodiments, mold 120 may be of any type and shape suitable for casting molten metal 112 .

Mold 120 may additionally or alternatively help cool molten metal 112 to form solidified metal 114 . In a non-limiting example, mold 120 is a water cooled mold. However, the mold 120 may heat the walls to retard cooling of the mold walls (eg, utilizing molds according to Ohno Continuous Casting (OCC)). Mold 120 may also include a cooling system using one or more of air, glycol, or any suitable cooling medium.

Molten metal 112 can be deposited by one or more launders 130 positioned adjacent to mold 120 . Launder 130 may include one or more openings for dispensing molten metal 112 into mold 120 . In various embodiments, a launder 130 may be positioned over mold 120 and deposit molten metal 112 into mold 120 through one or more openings. Launder 130 may be of any size and shape suitable for containing and dispensing molten metal 112 . As shown, launder 130 has a rectangular shape with a U-shaped channel for containing molten metal 112 .

Launder 130 may further include a flow control device 132 . Flow control device 132 may control the flow of molten metal 112 from launder 130 to mold 120 . As an illustrative example, flow control device 132 may include pin 134 . A pin 134 can be positioned in an opening 136 in the launder 130 . Aperture 136 and/or pin 134 can be tapered such that as the pin moves downward relative to the aperture, the ring between the pin and the aperture becomes smaller. By raising and/or lowering the pin 134, the flow of molten metal 112 exiting the launder 130 can be adjusted. For example, as the pin 134 rises, the annulus between the pin and the opening 136 can expand, increasing the molten metal 112 flowing out of the launder 130 (eg, shown in solid lines). Additionally, as the pin 134 is lowered, the annulus between the pin and the aperture 136 can be contracted, reducing and/or stopping the flow of molten metal 112 out of the launder 130 (eg, shown in dashed lines).

Pins 134 can be automatically raised and/or lowered by computer system 160 . For example, pins 134 may be automatically raised and/or lowered to maintain the height of molten metal 112 in mold 120 within set points. Pins 134 may additionally or alternatively be automatically raised and/or lowered in response to detecting that the size of gap 116 is within a specified range. However, pin 134 can be manually raised and/or lowered. In some examples, manual raising and/or lowering of pin 134 may be directed by computer system 160 . In various embodiments, the pins 134 can be raised and lowered (eg, the pins can be vibrated) at regular time intervals to regulate the flow of molten metal 112 into the mold 120 . Vibration of the pins 134 may cause the molten metal 112 to flow into the mold 120 and disrupt the surface tension of the molten metal in the mold 120 . Disturbing the surface tension of the molten metal 112 in the mold 120 allows the molten metal to flow more easily along the surface of the molten metal in the mold, eg, into the gap 116 . In further embodiments, flow control device 132 may additionally or alternatively include a valve, stopcock, funnel, or other suitable structure.

Detection system 100 may further include one or more cameras 140 capable of capturing still or moving images. Camera 140 may be positioned facing mold 120 or otherwise have a field of view 142 that includes at least a portion of mold 120 . In various embodiments, camera 140 is positioned above mold 120 with a field of view 142 that includes at least a portion of the top of mold 120 . Camera 140 may additionally or alternatively be positioned below mold 120 with a field of view that includes at least a portion of the bottom of mold 120 . In various embodiments, camera 140 is movable and/or has a changing field of view 142 .

The detection system 100 may include multiple cameras 140 working in conjunction. Multiple cameras 140 may be positioned to have adjacent or overlapping fields of view 142 . For example, two cameras 140 may be mounted at different heights above mold 120 and have overlapping fields of view 142 of the top of mold 120 . As another example, two cameras 140 may be mounted such that each camera 140 has a field of view 142 of a portion of one side of mold 120 . Each of the fields of view 142 may be combined to form an image of the entire side of the mold 120 or other collective area of interest.

Light source 150 may be positioned on the opposite side of mold 120 as camera 140 . As explained below when discussing FIG. 3, light source 150 may be positioned to emit light directly toward mold 120, resulting in gap 116 (as shown, for clarity). , the size of gap 116 is exaggerated) exists between at least one sidewall of mold 120 and solidified metal 114 , emitted light illuminates gap 116 . In a non-limiting example, camera 140 is positioned above mold 120 and light source 150 is positioned below mold 120 and emits light upward. Alternatively, the light source 150 may be positioned above the mold 120 and emit light downward, and the camera 140 positioned below the mold 120 . In a further example, the light and camera can be positioned on the same side of the mold. If present, emitted light visible through gap 116 may be captured, registered, and/or detected by camera 140 . Emitted light can be or include light that is indirectly traveling and is bouncing, reflecting, and/or refracting as it travels from light source 150 through gap 116 to camera 140. are doing. For example, light may reflect off solidified metal 114 and/or mold 120 as it travels through gap 116 . However, the light may be or include light traveling directly from light source 150 through gap 116 to camera 140 with little or no reflection or refraction.

Light source 150 may emit monochromatic light or may be capable of changing between multiple colors. Colors can be in the visible spectrum or the infrared spectrum. In a non-limiting example, light source 150 includes an LED that can change color. Light sources 150 may include incandescent lamps, compact fluorescent lamps, halogen lamps, metal halide lamps, light emitting diodes (LEDs), fluorescent tubes, neon lamps, high intensity discharge lamps, or other light emitters individually or in combination. Further, light source 150 may correspond to a component capable of emitting light directly and generating light and/or additionally or alternatively emitting light indirectly and directing light to a target focal point. It may include one or more reflective surfaces or other elements capable of reflecting or directing an area. Further non-limiting examples include mirrors or fiber optic cables for directing light.

Detection system 100 may include computer system 160 . Computer system 160 may include hardware and software for executing computer-executable instructions. For example, computer system 160 may include memory, a processor, and an operating system to execute computer-executable instructions (FIG. 5). Computer system 160 may include hardware or software capable of communicating with other devices via wired or wireless connections (eg, Bluetooth®). Computer system 160 may communicate with one, some combination, or all of flow control device 132, camera 140, light source 150, alarm 170 (FIG. 2), or sensor 180 (FIG. 2).

In embodiments, computer system 160 is at a single physical location. For example, computer system 160 can be hardware and software that are located at the same manufacturing facility as mold 120 and communicate with camera 140 and/or light source 150 through a local communication network (eg, Wi-Fi or Bluetooth). connect. Additionally or alternatively, multiple computer systems 160 may communicate with camera 140 and/or light source 150 and/or may be located at multiple physical locations. For example, computer system 160 may be a cloud computing system that includes any number of internet-connected computing components.

Computer system 160 may include hardware and software that receive data from camera 140, analyze the received data to detect light between mold 120 and solidified metal 114; Allows for performing the step of determining whether the metal 114 has separated from the mold 120 . Some or all of these steps may be performed by a single computer system 160 or multiple computer systems.

The detection system 100 shown in FIG. 2 includes the additional elements of alarm 170 and sensor 180 . However, detection system 100 of FIG. 2 may include additional or alternative elements.

After computer system 160 determines that solidified metal 114 has separated from mold 120, computer system 160 may alert the user (e.g., if a gap such as gap 116 exists between mold 120 and solidified metal 114). Light from light source 150 is then detected by camera 140). Computer system 160 may also communicate with alarm 170 . For example, computer system 160 may determine that gap 116 is between one or more sidewalls of mold 120 and solidified metal 114 (such as when camera 140 captures, registers, and/or detects light passing through gap 116). Alarm 170 may be triggered in response to a determination that there is (eg, a determination made by computer system 160). Alarm 170 may correspond to or include a bell, light, siren, display, speaker, or any other object capable of attracting the user's attention and/or conveying information to the user.

Other actions may be indicated in addition to or instead of firing the alarm 170 . In various embodiments, a change in the flow of molten metal 112 to mold 120 may be introduced in conjunction with or instead of triggering alarm 170 . For example, flow control device 132 may be controlled to increase, decrease, or otherwise change the flow rate, volume, or other flow characteristics of molten metal 112 into mold 120 . In various embodiments, an alert may additionally or alternatively be displayed, recorded, transmitted, or otherwise communicated to a user or another aspect of the system (e.g., triggering alarm 170 and/or 112 flow changes independently or in conjunction with them).

In various embodiments, light source 150 may utilize a different color of light than other colors present in the environment of detection system 100 . Such functionality may be facilitated by sensor 180 . Sensors 180 may detect light in the surrounding manufacturing environment and communicate such data to computer system 160 . In a non-limiting example, the ambient environment includes red lights. Sensor 180 detects red light and transmits the data to computer system 160 . Based on that data, computer system 160 sends signals to light source 150 to produce green light and/or light colors other than red. In various embodiments, the light source 150 may be adjusted by the technician during setup to affect the colors appearing in the field of view of the camera 140 or otherwise between the solidifying metal 114 and the sides of the mold 120. Other light and/or other objects in the relevant ambient environment, such as the ambient environment of the mold 120, that may adversely affect the ability of the camera 140 to collect discernable light to determine the existence of the gap 116. can produce a light color different from the color of Additionally or alternatively, in some embodiments, ambient light and/or the color or type of light that may be present in the surrounding manufacturing environment is detected by sensor 180 or other suitable input and detected by computer system 160. Filtered, for example, may facilitate detection of relevant emitted light to determine the presence of gap 116 .

As shown in FIG. 2, detection system 100 may include multiple molds 120A, 120B, 120C. A plurality of molds 120 A, 120 B, 120 C may be positioned to receive molten metal 112 from launder 130 . Alternatively, multiple molds 120A, 120B, 120C may receive molten metal 112 from multiple launders 130 . The plurality of molds 120A, 120B, 120C may all receive the same type of alloy and/or combination of molten metal 112, but each of the molds 120A, 120B, 120C may receive a different type of alloy and/or molten metal. It can accept combinations of metals.

In various embodiments, one or more cameras 140 and/or one or more light sources 150 are positioned around multiple molds 120A, 120B, 120C. For example, the two cameras 140 may be positioned such that their fields of view 142 that include at least a portion of the first mold 120A overlap. An additional camera 140 may be positioned to have a field of view 142 that includes at least a portion of the first mold 120A and the second mold 120B. Movable camera 140 may also be positioned with a field of view 142 that includes at least a portion of third mold 120C. One or more light sources 150 may be positioned on opposite sides of multiple molds 120A, 120B, 120C, as may one or more cameras 140. FIG.

Referring to FIG. 3, an example field of view 142 of the camera 140 of FIGS. 1 and 2 is shown. Field of view 142 may include mold 120 , molten metal 112 , and solidified metal 114 . Field of view 142 may also include gap 116 , if present, between at least one sidewall of mold 120 and light 152 illuminating gap 116 (eg, from light source 150 ). As shown, field of view 142 includes one side (eg, the top) of mold 120 and the entire perimeter of mold 120 . However, the field of view 142 may be sub-portions around the mold 120, such as portions of multiple molds such as molds 120A, 120B, and 120C, multiple sides of mold 120, or multiple molds 120A, 120B, and 120C.

As an example, field of view 142 is shown divided into four quadrants (eg, I, II, III, IV). However, field of view 142 may include a greater or lesser number of quadrants. A single camera 140 may have a field of view 142 that includes all four quadrants. However, a single camera 140 may have a field of view 142 corresponding to a single quadrant. Additionally or alternatively, a single camera 140 may have a field of view 142 corresponding to a combination of quadrants. In some embodiments, a single camera 140 may have multiple fields of view 142 that the camera 140 can switch between (eg, each quadrant is a different field of view 142). For example, movable camera 140 may switch between fields of view 142 as camera 140 pans around the top of mold 120 .

In various embodiments, the quadrants may include indicia corresponding to the coordinates of the locations of ingot 110 and/or mold 120 . In some embodiments, computer system 160 can determine that gap 116 exists and then use the coordinates to determine the location of gap 116 .

FIG. 4 is a flowchart representing an example process 400 for identifying gaps 116 between sidewalls of mold 120 and solidified metal 114 using detection system 100, according to some embodiments. A portion or all of process 400 (or any other process described herein, or variations and/or combinations thereof) may be performed under the control of one or more computer systems made up of executable instructions. may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that collectively executes on one or more processors, by hardware, or in combination thereof. The code may be stored on a computer-readable storage medium, for example, in the form of a computer program comprising instructions executable by one or more processors. Computer-readable storage media can be non-transitory. Further, unless stated otherwise, the acts illustrated in a process need not occur in the order illustrated, and/or some acts may be omitted in some embodiments.

At 402 , process 400 may include depositing metal, such as molten metal 112 , into one or more molds, such as mold 120 . Molten metal 112 may be deposited into mold 120 by launder 130 as described herein. Launder 130 may deposit molten metal 112 into mold 120 through one or more openings in launder 130 . By controlling flow control device 132, the amount or flow rate of molten metal 112 entering mold 120 may be adjusted. Molten metal 112 may enter mold 120 through one or more openings in mold 120 . Molten metal 112 contained in mold 120 may contact one or all sidewalls of mold 120 . The temperature of molten metal 112 may decrease after entering mold 120 and molten metal 112 may cool and become solidified metal 114 . Solidified metal 114 may contract away from the sidewalls of mold 120 causing one or more gaps 116 to form between solidified metal 114 and the sidewalls of mold 120 .

Process 400 may include, at 403, emitting light, such as light 152, from a light source, such as light source 150 described above. A light source 150 can be positioned on the opposite side of mold 120 and oriented to emit light 152 toward the lens of a camera, such as camera 140 . The solidified metal 114 of the mold 120 may block the emitted light 152 if the solidified metal 114 contacts all sides of the mold 120 . However, if there is a gap, such as gap 116 , between solidified metal 114 and mold 120 , the emitted light travels through gap 116 and can be seen by camera 140 . Light source 150 may emit light 152 that includes multiple colors. For example, the light source 150 can emit light of a particular color different from the colors of light visible to the eye in the surrounding environment. In some embodiments, sensor 180 is used to detect ambient light sources. In some cases, sensor 180 sends detected light data to a computer, such as computer system 160, and computer system 160 sends instructions to light source 150 to illuminate light 152 in a color other than the color of the detected light.

Process 400 may include detecting light between sidewalls of mold 120 and solidified metal 114 at 404 . The detected light may be light 152 emitted by light source 150 . In some embodiments, the detected light 152 is ambient light of the surrounding environment. Light 152 can be detected after it travels through gap 116 between mold 120 and solidified metal 114 . Camera 140 can see light through gap 116 . Camera 140 can then transmit data to computer system 160 indicating that light is visible between mold 120 and solidified metal 114 . Computer system 160 can process the data and determine that light is being detected between the sidewalls of mold 120 and solidified metal 114 .

Process 400 may include determining at 406 that solidified metal 114 has separated from mold 120 . Computer system 160 determines that solidified metal 114 has separated from mold 120 by determining if light 152 is detected between the sidewalls of mold 120 and solidified metal 114 . In some embodiments, computer system 160 can process data received from camera 140 to determine if solidified metal 114 has separated from at least one sidewall of mold 120 . Computer system 160 can process the data and determine if the visible data includes light 152 between mold 120 and solidified metal 114 . If there is light 152 between mold 120 and solidified metal 114 , computer system 160 can determine that solidified metal 114 has been pulled away from the sidewalls of mold 120 . In the illustrative example, computer system 160 receives visual data from camera 140 and processes the data using a machine vision application. The machine vision application analyzes the visual data to determine if the light 152 is visible and/or if certain defined conditions exist in the visual data. The machine vision application can then send that data to another application and/or determine that the solidified metal 114 has been pulled away from the sidewalls of the mold 120 .

Computer system 160 may use additional or alternative data received from camera 140 to determine that solidified metal 114 has been pulled away from mold 120 . In some embodiments, computer system 160 receives information about mold 120 and/or solidified metal 114 from a data source (eg, database) to determine whether solidified metal 114 has separated from mold 120. can assist in determining In the illustrative example, first mold 120A and second mold 120B are monitored by camera 140 . Computer system 160 receives information that solidified metal 114 of first mold 120A is more likely to separate from first mold 120A than solidified metal 114 of second mold 120B (e.g., second mold 120B). One mold 120A may be located in a region closer to the cooling source than the second mold 120B, allowing the solidified metal 114 of the first mold to cool more rapidly and cool from the walls of the first mold 120A. more likely to contract apart). In response to the information received, computer system 160 orients camera 140 to keep more of first mold 120A within field of view 142 of camera 140 .

Process 400 may include responding to computer system 160 determining that solidified metal 114 has separated from sidewalls of mold 120 at 408 . A response may include sending an alert to the user. An alert may be sent to the user by computer system 160 to inform the user that solidified metal 114 has separated from mold 120 . For example, the alert may trigger an alarm, such as alarm 170 described above, to alert the user that separation is occurring. The alert may also or alternatively be a message, visual indication, or audio indication that grabs the user's attention and/or informs the user of the separation.

Computer system 160 may additionally or alternatively respond to the separation of solidified metal 114 and mold 120 by varying the flow rate of molten metal 112 into mold 120 . As molten metal 112 accumulates in mold 120, molten metal 112 may flow into gap 116 caused by contraction of solidified metal 114 away from the mold. For example, gap 116 can be small so that molten metal 112 can be added to mold 120 to fill the gap. In contrast, gap 116 can be large such that, for example, molten metal 112 can be added to mold 120 , flow through gap 116 , and out the bottom of mold 120 . In some embodiments, molten metal 112 flowing through gap 116 may come into contact with potentially explosive water and/or coolant. Accordingly, computer system 160 may determine the size of gap 116 and use that information to determine whether to change the flow rate in response to gap 116 .

In various embodiments, gap 116 can be filled by adjusting the flow of molten metal 112 into mold 120 . For example, the flow rate of molten metal 112 to mold 120 may be regulated by flow control device 132 . In response to computer system 160 detecting gap 116 (and/or detecting that gap 116 is small enough to allow filling), e.g. The flow rate of molten metal 112 to mold 120 can be increased by increasing the flow rate of . Additionally or alternatively, a pin at a certain height can be vibrated to vary the flow rate of molten metal 112 to mold 120 . The increased and/or changed flow rate of molten metal 112 may cause molten metal 112 to flow into gap 116 . Molten metal 112 may cool and become solidified metal 114 . Solidified metal 114 can substantially or completely fill gap 116 . A filled gap 116 can stop or prevent additional molten metal 112 from flowing through the gap. If gap 116 is large, computer system 160 may send commands to flow control device 132 to reduce or stop the flow of molten metal 112 to mold 120 . Computer system 160 may also direct or cause changes in flow rate by sending instructions to the user.

In some embodiments, process 400 includes steps 410 - 414 for responding to solidified metal 114 separating from mold 120 . Process 400 may include determining the size of gap 116 between solidified metal 114 and mold 120 at 410 . In various examples, computer system 160 receives data from camera 140 that includes or contains the amount of light 152 captured by camera 140 in gap 116 between solidified metal 114 and mold 120. do. The computer then uses the amount of light 152 detected in the received data to determine the size of gap 116 .

Process 400 may include comparing the size of gap 116 between solidified metal 114 and mold 120 to a threshold at 412 . The threshold may be received by computer system 160 and may be based on at least the type of ingot 110 being formed, the type of mold 120 , and/or other characteristics of detection system 100 . Process 400 may include increasing or decreasing the flow of molten metal 112 to mold 120 at 414 based on the comparison of gap 116 to a threshold value. For example, if the gap 116 is below a threshold, the flow of molten metal 112 to the mold 120 can be increased. Additionally or alternatively, the flow of molten metal 112 to mold 120 may be reduced and/or stopped if gap 116 is greater than a threshold value.

FIG. 5 is an exemplary computer system 500 for use with a system for detecting solidified metal 114 separating from mold 120, as shown in FIG. In some embodiments, computer system 500 performs one, some, or all of the steps of process 400 . However, computer system 500 may perform additional and/or alternative steps. In various embodiments, computer system 500 includes a controller 510 that is digitally implemented and programmable using conventional computer components. Controller 510 may be used in connection with particular examples (including, for example, equipment such as that shown in FIG. 1) to perform the processes of such examples. The controller 510 includes a processor 512 that executes code stored on a tangible computer-readable medium in memory 518 (or elsewhere, such as in a portable medium, a server, or in the cloud, among other mediums). to cause controller 510 to receive and process data, perform actions, and/or control components of an instrument such as that shown in FIG. Controller 510 may be any device capable of executing code, which is a series of instructions, to process data and perform actions such as controlling industrial equipment. As non-limiting examples, the controller 510 can be in digitally implemented form and/or programmable PID controllers, programmable logic controllers, microprocessors, servers, desktop or laptop personal computers, laptop personal computers, handheld computing devices. , and mobile devices.

Examples of processor 512 include any desired processing circuitry, application specific integrated circuits (ASICs), programmable logic, state machines, or other suitable circuitry. Processor 512 may include one processor or any number of processors. Processor 512 can access the code stored in memory 518 via bus 514 . Memory 518 may be any non-transitory computer-readable medium configured to tangibly embody code, and may include electronic, magnetic, or optical devices. Examples of memory 518 include random access memory (RAM), read only memory (ROM), flash memory, floppy disk, compact disk, digital video device, magnetic disk, ASIC, configured processor, or other storage device. .

The instructions may be stored in memory 518 or processor 512 as executable code. The instructions may include processor-specific instructions generated by a compiler and/or interpreter from code written in any suitable computer programming language. Instructions may take the form of an application that includes a series of set points, parameters for detecting light, and programmed steps. That step, when performed by processor 512, detects light 152 between mold 120 and solidifying metal 114 using camera 140, for example, by capturing light emitted by light source 150, Allows controller 510 to determine if solidified metal 114 has separated from mold 120 . Additionally or alternatively, the instructions may include instructions for machine vision applications.

The controller 510 shown in FIG. 5 includes an input/output (I/O) interface 516 that allows the controller 510 to communicate with devices and systems external to the controller 510, such as the flow control device 132, camera 140, light source 150, alarm 170, and/or sensor 180. Input/output (I/O) interface 516 can also receive input data from other external sources, as desired. Such sources may include control panels, other human/machine interfaces, computers, servers, or other devices that, for example, send commands and parameters to controller 510 to control its performance and operation. enable the controller 510 to execute instructions in these applications to determine if the solidifying metal 114 has separated from the mold 120, such as in connection with certain example processes of the present invention. Application programming can be remembered and facilitated. Such sources as described above can then be used to detect light 152 between mold 120 and solidified metal 114 and/or to detect light 152 when solidified metal 114 is separated from mold 120, such as detection system 100 of FIG. It also includes other sources of data necessary or useful to the controller 510 in performing its functions to determine whether the Such data can be communicated to input/output (I/O) interface 516 via a network, wireline, wireless, bus, or otherwise as desired.

All patents, publications, and abstracts cited above are hereby incorporated by reference in their entirety. The foregoing description of the embodiments, including aspects of the illustrated embodiments, has been presented for purposes of illustration and description only and is intended to be exhaustive or limited to the precise forms disclosed. not something to do. Many modifications, adaptations and uses thereof will be apparent to those skilled in the art.

Description of the Embodiments All patents, publications, and abstracts cited above are hereby incorporated by reference in their entireties. The foregoing description of the embodiments, including aspects of the illustrated embodiments, has been presented for purposes of illustration and description only and is intended to be exhaustive or limited to the precise forms disclosed. not something to do. Many modifications, adaptations and uses thereof will be apparent to those skilled in the art.

Aspect 1 is a system for detecting metal shrinkage in a mold, the mold for receiving and containing metal, comprising: a first side, a second side opposite said first side; and a plurality of walls spanning between the first side and the second side; and a light source facing the second side of the mold for emitting light directed toward the second side of the mold, comprising: said light source wherein said emitted light is visible to said camera through said first side of said mold when said metal is separated from at least one of said plurality of walls. , the system detects light visible between the at least one of the plurality of walls and the metal, based at least in part on data from the camera; separation of the metal from the at least one of the plurality of walls occurs based at least in part on the light detected to be visible between the at least one of the plurality of walls and the metal; A system configured to:

Embodiment 2 is that the first side of the mold is an open top for receiving the metal and the second side of the mold is an open bottom to allow the metal to exit the mold. or the first side of the mold is an open bottom to allow the metal to exit the mold and the second side of the mold is an open top to receive the metal A system according to aspect(s) 1 (or any other aspect, individually or in combination, either preceding or subsequent), wherein:

Aspect 3 is that the mold is a first mold, the field of view of the camera includes the first mold and the second mold, the system comprises: the first mold and the second mold; separation of the metal from at least one of the plurality of walls in one or both of the two molds; Aspect(s) 1 (or any other individual or combined preceding or following) configured to transmit a response based at least in part on a determination of whether separation has occurred. Embodiment).

Aspect 4. Any one of aspects 1-3 (or individually or in combination preceding or succeeding any other aspect of ).

Aspect 5 further comprises a container positioned over the mold having a bottom and defining a channel for containing the metal, the bottom of the container allowing the metal to flow from the container to the mold. defining one or more openings for the metal, the system further comprising, based at least in part on whether separation of at least one of the plurality of walls and the metal is determined to have occurred, the A system according to aspect(s) 1 (or any other aspect, either individually or in combination, preceding or following), configured to regulate the flow of said metal from a container to said mold. be.

Aspect 6, wherein the camera is a first camera, and the system further comprises a second camera with a field of view different from the field of view of the first camera, wherein at least one of the plurality of walls and detecting whether light is visible between said metal is based on data from one or both of said first camera or said second camera, aspect(s) 5 (or , any other aspect either preceding or following individually or in combination).

Aspect 7, wherein the mold is a first mold, and the system further comprises: a first side; a second side opposite the first side; A second mold comprising a plurality of sidewalls spanning between two sides, said second camera having a field of view including said first side of said second mold. ) 6 (or any other aspect either preceding or following individually or in combination).

Aspect 8. The system further comprises, based at least in part on data from the first camera, directing light between at least one of the plurality of sidewalls of the first mold and the metal. is visible, and based at least in part on data from the second camera, light between at least one of the plurality of sidewalls of the second mold and the metal. 7. A system according to aspect(s) 7 (or any other aspect, individually or in combination, either preceding or following), configured to detect whether a is visible.

Aspect 9, wherein the system further comprises a launder positioned over the mold and configured to deposit the metal on the mold, the launder defining a channel for receiving the metal. and comprising a flow control device configured to control the flow of said metal to said mold (or any other aspect, either individually or in combination, preceding or following). is the system described in

Aspect 10, wherein the system further controls the flow rate of the metal to the mold based on determining whether separation of at least one of the plurality of walls and the metal has occurred. 9. A system according to aspect(s) 9 (or any other aspect, individually or in combination, either preceding or subsequent), configured to:

Aspect 11 provides that at least a portion of the flow control device is positionable adjacent an opening defined by a bottom of the launder, and controlling the flow rate of the metal to the mold comprises at least the 11. A system according to aspect(s) 10 (or any other aspect, either individually or in combination, preceding or following) comprising changing the position of said flow control device relative to an opening.

Aspect 12 further comprises: regulating the flow of the metal from the channel to the mold; further determining a size of the separation between at least one of the plurality of sidewalls and the metal; comparing the size of the separation to a threshold; increasing the flow of the metal if the size of the separation is less than the threshold; or if the size of the separation is greater than the threshold. stopping or reducing said flow of said metal.

Aspect 13 further comprises a flow control device positioned at least partially adjacent to one of said one or more openings to increase said flow of said metal, or stopping or reducing comprises adjusting the position of a flow control device that changes the size of said aperture(s) 12 (or any other prior or subsequent, individually or in combination) Embodiment).

Aspect 14 provides that increasing the flow of the metal comprises adjusting the flow control device to increase the size of the opening, or stopping or decreasing the flow comprises adjusting the flow control device 14. The system of aspect(s) 13 (or any other aspect, individually or in combination, either preceding or subsequent), comprising adjusting the size of the opening to decrease the size.

Aspect 15 is any one of aspects 9-14 (or any preceding or following individually or in combination), wherein said flow control device comprises at least one of a pin, valve, stopcock, or funnel. Another aspect of ).

Aspect 16 is a method of detecting metal separating from a mold, wherein the metal is received in the mold, the mold having a first surface facing the first surface. said receiving comprising a second surface and a plurality of sidewalls spanning between said first surface and said second surface, at least one of said plurality of sidewalls contacting said metal; determining whether light is present between at least one of the plurality of sidewalls of the mold and the metal based on data received from a camera having a field of view of at least a portion of at least the first surface; detecting, wherein a light source emits the light and is positioned adjacent to the second surface and directs the light toward the second surface; determining whether the metal has been pulled away from at least one of the plurality of sidewalls of the mold based on detecting whether the metal has been pulled away from the plurality of sidewalls of the mold.

Aspect 17 further comprises transmitting a response based on at least determining that the metal has been pulled away from at least one of the plurality of sidewalls of the mold. Aspect(s) 16 (or any other aspect either preceding or following individually or in combination).

Aspect 18 relates to aspect(s) 17 (or any other individual or combination preceding or following), wherein said response comprises sending at least one alert message or raising an alarm. embodiment).

Aspect nineteen, subjecting the metal to the mold comprises operating a flow control device configured to deposit the metal into the mold, wherein the flow control device directs the flow into the mold. 17. A method according to aspect(s) 16 (or any other aspect, individually or in combination, preceding or following), wherein the method is operable to vary the flow rate of said metal in .

Aspect 20 adjusts the flow rate of the metal to the mold based at least on determining that the metal is pulled away from at least one of the plurality of sidewalls of the mold. 19. The method of aspect(s) 19 (or any other aspect, individually or in combination, preceding or following), further comprising operating said flow control device.

Aspect 21 wherein adjusting the flow rate of the metal to the mold comprises: determining a size of a separation between at least one of the plurality of sidewalls and the metal; and thresholding the size of the separation. and increasing the flow rate of the metal if the size of the separation is less than the threshold value, or increasing the flow rate of the metal if the size of the separation is greater than the threshold value. 21. A method according to aspect(s) 20 (or any other aspect, either individually or in combination, preceding or following), comprising: suspending or reducing.

Aspect 22 further comprises identifying where said metal is pulled away from at least one of said plurality of side walls of said mold. or any other aspect below).

Aspect 23 identifies the color of ambient light in the environment outside the mold based on data from the camera or data from light sensors located in the environment outside the mold; Aspect(s) 16 (or individual or combined preceding or subsequent any other aspect).

Aspect 24, detecting light between at least one of the plurality of sidewalls of the mold and the metal further comprises a field of view of at least a portion of the first surface of the mold. 17. A method according to aspect(s) 16 (or any other aspect, individually or in combination, either preceding or subsequent) comprising receiving data from a second camera.

Aspect 25 is aspect(s) 16, wherein detecting light between at least one of the plurality of sidewalls of the mold further comprises moving the camera to change the field of view. (or any other aspect either preceding or following individually or in combination).

Aspect 26 includes the above-described camera such that moving the camera includes at least one or more portions of the first surface or the second surface of one or more molds of the plurality of molds. 26. A method according to aspect(s) 25 (or any other aspect, individually or in combination, either preceding or subsequent) comprising changing the field of view.

Aspect 27, wherein determining that the metal is pulled away from at least one of the plurality of sidewalls of the mold is further based on information received regarding the mold or the metal, Aspect ( 16 (or any other aspect either preceding or following individually or in combination).

Claims (27)

A system for detecting metal shrinkage in a mold, comprising:
A mold for receiving and containing metal, the mold having a first side, a second side opposite said first side, and spanning between said first side and said second side. the mold comprising a plurality of walls;
a camera facing the first side of the mold and having a field of view that includes at least a portion of the first side of the mold;
a light source facing the second side of the mold for emitting light directed toward the second side of the mold, wherein the metal extends from at least one of the walls of the plurality of walls; said light source, when separated, said emitted light is visible to said camera through said first side of said mold;
with
The system includes:
based at least in part on data from the camera, detecting light visible between the at least one of the plurality of walls and the metal;
separation of the metal from the at least one of the plurality of walls is at least partially reflected in the detected light visible between the at least one of the plurality of walls and the metal; determining whether it has occurred based on
The system, wherein the system is configured to: the first side of the mold is an open top for receiving the metal and the second side of the mold is an open bottom to allow the metal to exit the mold; or ,
wherein said first side of said mold is an open bottom allowing said metal to exit said mold and said second side of said mold is an open top for receiving said metal. Item 1. The system according to item 1. The mold is a first mold, the field of view of the camera includes the first mold and the second mold, the system comprises: the first mold and the second mold; can detect separation of the metal from at least one of the plurality of walls in one or both of
2. The system of claim 1, wherein the system is further configured to transmit a response based at least in part on determining whether separation of at least one of the plurality of walls and the metal has occurred. The system described in . The system of any one of claims 1-3, wherein the light source is a plurality of light emitting diodes capable of emitting light at wavelengths between 380 and 740 nm. and further comprising a container positioned over the mold having a bottom and defining a channel for containing the metal, the bottom of the container being one for flowing the metal from the container to the mold. defining an aperture over
The system further comprises flowing the metal from the container to the mold based at least in part on whether separation of the metal from at least one of the plurality of walls has occurred. 2. The system of claim 1, configured to adjust the . said camera being a first camera, said system further comprising a second camera with a different field of view than said first camera;
detecting whether light is visible between at least one of the plurality of walls and the metal based on data from one or both of the first camera or the second camera 6. The system of claim 5, wherein: The mold is a first mold, and the system further comprises a first side, a second side opposite the first side, and a mold between the first side and the second side. a second mold comprising a plurality of sidewalls spanning between
7. The system of claim 6, wherein said second camera has a field of view that includes said first side of said second mold. The system further comprises, based at least in part on data from the first camera, light visible between at least one of the plurality of sidewalls of the first mold and the metal. detecting whether light is visible between at least one of the plurality of sidewalls of the second mold and the metal based at least in part on data from the second camera; 8. The system of claim 7, configured to detect whether the The system further comprises a launder positioned over the mold and configured to deposit the metal into the mold, the launder defining a channel for receiving the metal, 2. The system of claim 1, comprising a flow control device configured to control the flow of said metal to a mold. The system is further configured to control the flow rate of the metal to the mold based on determining whether separation of at least one of the plurality of walls and the metal has occurred. 10. The system of claim 9, wherein: At least a portion of the flow control device is positionable adjacent an opening defined by the bottom of the launder, wherein controlling the flow rate of the metal to the mold comprises at least the flow rate relative to the opening. 11. The system of claim 10, comprising changing the position of the control device. Regulating the flow of the metal from the channel to the mold further comprises:
determining a size of the separation between at least one of the plurality of walls and the metal;
comparing the size of the separation to a threshold;
increasing the flow of the metal if the size of the separation is less than the threshold, or stopping or reducing the flow of the metal if the size of the separation is greater than the threshold. ,
6. The system of claim 5, comprising: further comprising a flow control device positioned at least partially adjacent to one of the one or more openings;
13. The system of claim 12, wherein increasing the flow of the metal or stopping or decreasing the flow of the metal comprises adjusting the position of a flow control device that changes the size of the opening. . increasing the flow of the metal comprises adjusting the flow control device to increase the size of the opening; or stopping or reducing the flow comprises adjusting the flow control device. 14. The system of claim 13, comprising reducing the size of the opening. The system of any one of claims 9-14, wherein the flow control device includes at least one of a pin, valve, stopcock, or funnel. A method for detecting metal separating from a mold, comprising:
receiving the metal in the mold, the mold having a first surface, a second surface opposite the first surface, and the first surface and the second surface; said receiving comprising a plurality of sidewalls spanning between, at least one of said plurality of sidewalls contacting said metal;
Detecting whether light is present between at least one of the plurality of sidewalls of the mold and the metal based on data received from a camera having a field of view of at least a portion of at least the first surface. wherein a light source emits the light and is positioned adjacent to the second surface and directs the light toward the second surface;
determining whether the metal has been pulled away from at least one of the plurality of sidewalls of the mold based at least on detecting the presence of the light;
The above method, comprising 17. The method of claim 16, further comprising transmitting a response based on determining that at least the metal has been pulled away from at least one of the plurality of sidewalls of the mold. 18. The method of claim 17, wherein the response includes sending at least one alert message or raising an alarm. Receiving the metal into the mold includes operating a flow control device configured to deposit the metal into the mold, the flow control device directing the flow of the metal into the mold. 17. The method of claim 16, operable to vary the flow rate. the flow control device to adjust the flow rate of the metal into the mold based on at least determining that the metal has been pulled away from at least one of the plurality of sidewalls of the mold; 20. The method of claim 19, further comprising operating the Adjusting the flow rate of the metal to the mold comprises:
determining a size of the separation between at least one of the plurality of sidewalls and the metal;
comparing the size of the separation to a threshold;
increasing the flow rate of the metal if the size of the separation is less than the threshold value, or stopping or reducing the flow rate of the metal if the size of the separation is greater than the threshold value. ,
21. The method of claim 20, comprising: 17. The method of claim 16, further comprising identifying locations where the metal has been pulled away from at least one of the plurality of sidewalls of the mold. identifying the color of ambient light in the environment outside the mold based on data from the camera or data from light sensors located in the environment outside the mold;
controlling the light source to produce light with a color or colors different from the identified color;
17. The method of claim 16, further comprising: Detecting light between at least one of the plurality of sidewalls of the mold and the metal further includes a second camera having a field of view of at least a portion of the first surface of the mold. 17. The method of claim 16, comprising receiving data from. 17. The method of claim 16, wherein detecting light between at least one of the plurality of sidewalls of the mold further comprises moving the camera to change the field of view. Moving the camera changes the field of view to include at least one or more portions of the first surface or the second surface of one or more molds of a plurality of molds. 26. The method of claim 25, comprising: 17. The method of claim 16, wherein determining that the metal has been pulled away from at least one of the plurality of sidewalls of the mold is further based on information received regarding the mold or the metal. the method of.

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