KR20220024208A - Safe and reliable automatic slag skimming method and system for molten iron pretreatment - Google Patents

Abstract

The present invention discloses a safe and reliable automatic slag skimming method for molten iron pretreatment, comprising the following steps: taking an image of an injection lip area of a molten iron ladle and preprocessing the image; identifying a ladle wall, molten iron, and molten iron slag in the image, and dividing the image into a ladle wall proximity region, a low-speed slag skimming region, a slag flow region, and a high-speed slag skimming region based on the identification result; formulating a slag skimming strategy based on the segmentation of the image; finding an optimal slag skimming path based on the position of the molten iron slag in the image under the slag skimming strategy, wherein the optimal slag skimming path means a path in which the ratio of slag skimming time to slag skimming amount is minimum; During the automatic slag skimming process, controlling the slag skimmer head to execute the slag skimming strategy and skimm the slag based on the optimal slag skimming path. In addition, the present invention discloses a safe and reliable automatic slag skimming system for pretreatment of molten iron. A safe and reliable automatic slag skimming method and system for molten iron pretreatment can effectively improve the safety of slag skimming to avoid the case where the slag skimming device is damaged due to collision with the ladle wall.

Description

Safe and reliable automatic slag skimming method and system for molten iron pretreatment

The present invention relates to a method and system for pretreatment of molten iron, and more particularly to a method and system for slag skimming for pretreatment of molten iron.

As high-quality steel products are required in the metallurgical industry, it is necessary to pre-treat the molten iron before entering the converter steelmaking. The blast furnace slag is removed at the initial stage of this process, and then the molten iron is well contacted with a desulfurization agent through powder spraying or stirring for maximum efficiency desulfurization, dephosphorization, and desiliconization. Since slag is a reaction product with a lower density than molten iron, it floats on the surface of the molten iron. After desulfurization, the slag floating on the surface of the molten iron must be removed at a later stage of the process. The requirements for the amount of slag remaining at the end of slag skimming are different for various steel grades. For steel grades requiring high purity, the amount of residual slag should be low.

However, slag skimming in the current process is mainly performed manually by operators, and this operation includes the following steps:

1) manually operating the tipping trolley to stop the steel ladle by tilting it from a vertical position to a certain angle to wait for slag skimming;

2) manually operating the handle of the slag skimmer by manually observing the position of the slag on the surface of the molten iron, thereby skimming the slag on the surface of the molten iron into the slag plate in turn;

3) determining whether to stop slag skimming based on the amount of residual slag confirmed by human eyes that varies according to various steel types;

4) Manually actuating the tipping trolley to move the steel ladle back to its vertical position.

In terms of human work, which is not only a labor-intensive and harsh work environment, but also requires workers to have professional working skills, there is a big difference in the time it takes for different workers to skim the slag, and the effectiveness and It should be noted that, since the quality is also different, manual slag skimming can be significantly influenced by human factors and can very easily cause variability in the quality of molten iron.

Chinese Patent No. CN1507971, publication number CN1507971, publication date June 30, 2004, entitled 'Automatic Skimming Method and Apparatus', discloses an automatic skimming method. In the technical proposal disclosed by this patent, a visual sensor is used to detect the steel slag on the surface of the ladle, the detected image can be input to a computer, and the signal after processing by the computer is output by the computer, It can be sent to a programmable controller that controls the manipulator of the skimming machine to implement the skimming operation.

In addition, the Chinese patent with the publication number CN105353654A, the publication date of February 24, 2016, and titled 'System and method for detection and control of molten iron drosing based on image processing', A system for detection and control is disclosed. In the technical proposal disclosed in this patent, the drawing process is monitored in real time, and the drawing grade is determined online according to the drawing standard database.

In addition, a Chinese patent with the publication number CN108986098A, the publication date of December 11, 2018, and titled 'Method of slag removal of molten iron based on machine vision', discloses an intelligent method of slag removal of molten iron based on machine vision. . In the technical proposal disclosed in this patent, image information of a target region is collected in real time, and then a first region of interest and a second region of interest are set according to the image information collected in real time. In the first region of interest, a slag removal shovel is identified in the image, wherein the slag removal shovel is identified means that slag removal is in progress; In the second region of interest (region without slag removal shovel), the amount of slag in molten iron is identified, the second region of interest is divided into a plurality of sub-regions, the slag area of each sub-region is calculated, and the slag area is the largest The sub-region is considered as the slag removal area.

In the prior art mentioned above, there may be a safety problem due to the small difference between the temperature of the molten iron ladle wall and the temperature of the molten iron, and especially in the case of smoke, the identification process may not be clear, so the skimmer may hit the ladle wall and damage the device. may cause damage. In the prior art, only the automatic slagging apparatus and method are disclosed, and it is not mentioned how to prevent the skimmer from colliding with the ladle wall.

It is an object of the present invention to not only improve labor efficiency by effectively alleviating the worker's labor intensity, but also effectively improve the safety of slag skimming to avoid the case where the slag skimming device is damaged due to collision with the ladle wall, To provide a safe and reliable automatic slag skimming method for molten iron pretreatment.

In order to achieve the above-mentioned object, the present invention provides a safe and reliable automatic slag skimming method for molten iron pretreatment, comprising the following steps:

Taking an image of the injection lip region of the molten iron ladle and pre-processing the image;

identifying a ladle wall, molten iron, and molten iron slag in the image, and dividing the image into a ladle wall proximity region, a low-speed slag skimming region, a slag flow region, and a high-speed slag skimming region based on the identification result, wherein the low-speed the slag skimming region is adjacent to and within the region adjacent to the ladle wall, and the high-speed slag skimming region is adjacent to and within the region of the low velocity slag skimming region;

identifying a position of the molten iron slag in the image based on the identification result;

In the step of formulating a slag skimming strategy based on the segmentation of the image, during the slag skimming process, skimming the slag at high speed in the high-speed slag skimming region without the skimmer head entering the region close to the ladle wall, and in the low-speed slag skimming region formulating a slag skimming strategy, skimming the slag at low speed and lifting it up to avoid collision with the slag skimming mouse in the slag flow region;

finding an optimal slag skimming path based on the position of the molten iron slag in the image under the slag skimming strategy, wherein the optimal slag skimming path means a path in which the ratio of slag skimming time to slag skimming amount is minimum;

During the automatic slag skimming process, controlling the slag skimmer head to execute the slag skimming strategy and skimm the slag based on the optimal slag skimming path.

In addition, in the safe and reliable automatic slag skimming method for pretreatment of molten iron of the present invention, the image includes any one of a visible light image, an infrared image, and a far infrared image.

In addition, in the safe and reliable automatic slag skimming method for pretreatment of molten iron of the present invention, when the image is preprocessed, the image is converted to grayscale, the image quality of the grayscale image is increased, binarized, and noise is removed .

보다 작은 경우, 그 픽셀은 0으로 표시되어서 용철 슬래그로 식별되고,

는

로 주어지고, 여기서 α는 영상에 대한 노이즈 및 교란의 영향을 나타내는 보정 계수로서, 노이즈와 교란이 없는 경우에는 그 범위가 0＜α≤이고, 노이즈와 교란이 있는 경우에는 그 α값이 1이고, 노이즈와 교란이 클수록 그 α값이 작아지며; w1은 영상에서 전경 픽셀들이 차지하는 영상의 비율이고; w2는 배경 픽셀들이 차지하는 영상의 비율이고; u1은 전경의 평균 그레이 값이고; u2는 배경의 평균 그레이 값이고; g는 전경과 배경의 분산이다.In addition, in the safe and reliable automatic slag skimming method for molten iron pretreatment of the present invention, an improved dynamic threshold method is applied to identify molten iron slag when identifying an image, where the gray value of the pixel is

If less than that, the pixel is marked as 0 and identified as molten iron slag;

Is

where α is a correction coefficient representing the effect of noise and disturbance on the image, and the range is 0 < α ≤ when there is no noise and disturbance, and when there is noise and disturbance, the α value is 1 , the larger the noise and disturbance, the smaller the value of α; w1 is the proportion of the image occupied by foreground pixels in the image; w2 is the proportion of the image occupied by the background pixels; u1 is the average gray value of the foreground; u2 is the average gray value of the background; g is the variance of the foreground and background.

In the above-mentioned proposal, considering that the working conditions of slag skimming differ from furnace to furnace, in order to avoid the size difference between the target and the noise that may cause a large number of peaks and cause a decrease in identification accuracy, molten iron in the technical proposal of the present invention It is desirable to apply the improved dynamic threshold method to identify slags.

보다 작은 경우에는 픽셀은 0으로 표시되는데 이는 그 국부 영역의 면적이 슬래그 면적으로 간주된다는 것을 의미한다.According to the gray value of the image, 255 represents white which is considered to be completely molten iron; 0 represents black, which is considered slag; the gray value of the pixel

In the smaller case, the pixel is marked as 0, meaning that the area of that local area is considered as the slag area.

In addition, in the safe and reliable automatic slag skimming method for molten iron pretreatment of the present invention, the model of the optimal slag skimming path is given as follows:

는 최적의 슬래그 스키밍 경로이고,

는 슬래그 영역 내의 한 픽셀의 면적이고, N은 슬래그 스키머 헤드가 이동한 영역 내의 용철 슬래그를 나타내는 픽셀의 총 수이고, t는 1회 슬래그 스키밍을 위한 시간이다.here

is the optimal slag skimming path,

is the area of one pixel in the slag region, N is the total number of pixels representing the molten iron slag in the region where the slag skimmer head has moved, and t is the time for one slag skimming.

In the above-mentioned proposal, using the slag skimming path optimization module, the location of the slag within the slag skimmer head area can be identified, and the path with the minimum slag skimming distance and skimming the maximum amount of slag can be calculated.

) 미만이고, 용철 슬래그의 양은 영상에서 용철 슬래그가 차지하는 면적의 비율로 표시된다.In addition, in the safe and reliable automatic slag skimming method for molten iron pretreatment of the present invention, the method further comprises operating a gas injection device based on a starting condition to collect scattered molten iron slag, wherein the starting condition is identified The amount of molten iron slag (slag %) is set at the set starting threshold for operating the gas injection device (

), and the amount of molten iron slag is expressed as a ratio of the area occupied by the molten iron slag in the image.

It is an object of the present invention to not only improve labor efficiency by effectively alleviating the worker's labor intensity, but also effectively improve the safety of slag skimming to avoid the case where the slag skimming device is damaged due to collision with the ladle wall, It is to provide a safe and reliable automatic slag skimming system for molten iron pretreatment.

In order to achieve the above-mentioned object, the present invention provides a safe and reliable automatic slag skimming system for molten iron pretreatment, comprising:

a slag skimming device for performing a slag skimming process;

an image acquisition device for taking an image of the injection lip region of the molten iron ladle;

a storage module for storing the image transmitted by the image acquisition device;

an image recognition module for pre-processing the image stored in the storage module and then identifying the ladle wall, molten iron, and molten iron slag from the image;

A slag skimming strategy module for dividing the image into a ladle wall proximity region, a low-speed slag skimming region, a slag flow region, and a high-speed slag skimming region based on the identification result provided by the image recognition module, wherein the low-speed slag skimming region is the ladle wall proximity region adjacent to and within the region, the high-speed slag skimming region is adjacent to and within the low-speed slag skimming region, and the slag skimming strategy is formulated based on the segmentation of the image;

A path optimization module that determines the position of the molten iron slag in the image and finds an optimal slag skimming path based on the recognition result provided by the image recognition module, wherein the optimal slag skimming path is the slag skimming time for the slag skimming amount. means the path with the smallest ratio;

A control module for controlling the slag skimming device to execute the slag skimming strategy and skimm the slag based on the optimal slag skimming path.

In addition, in the safe and reliable automatic slag skimming system for pretreatment of molten iron according to the present invention, the image acquisition device includes any one of a visible light camera, an infrared camera, and a far infrared camera.

In addition, in the safe and reliable automatic slag skimming system for molten iron pretreatment of the present invention, a sensor or an encoder is also provided in the slag skimming device, and the sensor or encoder transmits the detected displacement of the slag skimming device to the control module. connected to the control module.

) 미만이고, 용철 슬래그의 양은 영상에서 용철 슬래그가 차지하는 면적의 비율로 표시된다.In addition, in the safe and reliable automatic slag skimming system for molten iron pretreatment of the present invention, it is for blowing gas to move the slag and further includes a gas injection device connected to a control module, wherein the control module includes scattered molten iron actuate the gas injection device based on a starting condition to collect slag, wherein the starting condition is that the identified amount of molten iron slag (slag%) is a set starting threshold for operating the gas injection device (

), and the amount of molten iron slag is expressed as a ratio of the area occupied by the molten iron slag in the image.

Compared with the prior art, the safe and reliable automatic slag skimming method and system for molten iron pretreatment of the present invention has the following advantages and advantages:

The safe and reliable automatic slag skimming method for molten iron pretreatment can not only improve labor efficiency by effectively reducing the labor intensity of workers, but also effectively improve the safety of slag skimming, so that the slag skimming device is damaged due to collision with the ladle wall. case can be avoided.

In addition, the safe and reliable automatic slag skimming system for molten iron pretreatment of the present invention has the same advantages and advantages as those described above.

1 is a schematic diagram of the structure of a molten iron ladle tipping trolley used in a safe and reliable automatic slag skimming method for molten iron pretreatment according to an embodiment of the present invention.
2 schematically shows the structure of a safe and reliable automatic slag skimming system for molten iron pretreatment, according to an embodiment of the present invention.
3 schematically illustrates a case in which a ladle wall, molten iron, and molten iron slag are identified by a safe and reliable automatic slag skimming method for molten iron pretreatment according to an embodiment of the present invention.
4 schematically illustrates the steps of formulating a slag skimming strategy by a safe and reliable automatic slag skimming method for molten iron pretreatment, according to an embodiment of the present invention.
5 schematically shows a framework for a data system in a safe and reliable automatic slag skimming system for molten iron pretreatment according to an embodiment of the present invention.
6 is a flowchart of a safe and reliable automatic slag skimming system for pretreatment of molten iron according to an embodiment of the present invention.

Hereinafter, a safe and reliable automatic slag skimming method and system for pretreatment of molten iron according to the present invention will be described in more detail with specific embodiments of the present invention and accompanying drawings, but such detailed description does not constitute an improper limitation of the present invention.

1 is a schematic diagram of the structure of a slag skimming apparatus used in a safe and reliable automatic slag skimming method for pretreatment of molten iron according to an embodiment of the present invention.

As shown in FIG. 1 , when the molten iron ladle 1 is transferred to the mounting portion of the tipping trolley 2 , the slag skimming process may be started. In the slag skimming process, the tipping trolley 2 is first tilted so that the molten iron ladle 1 is tilted from the vertical position to the slag skimming position at a specific angle with respect to the horizontal ground. The tilting angle can be measured using a separate inclinometer or encoder provided on the shaft of the tipping trolley 2 .

Subsequently, after confirming that the tipping trolley 2 is in the slag skimming position and the steel ladle is placed on the trolley, automatic slag skimming can start.

The structure of the automatic slag skimming system for molten iron pretreatment may refer to FIG. 2 . 2 schematically shows the structure of a safe and reliable automatic slag skimming system for molten iron pretreatment, according to an embodiment of the present invention.

As shown in Fig. 2, an image of the injection lip region of the molten iron ladle is recorded in real time by the image acquisition device 31, and the image is transmitted to a computer system for continuous digital storage. Since the color of the molten iron slag is greatly different from the color of the injection lip area of the molten iron ladle, it can be determined whether the slag flows across the injection lip of the molten iron ladle. The tilting of the tipping trolley (2) continues if there is no slag flowing across the pouring lip. The tipping trolley (2) will stop tilting when there is slag flowing across the injection lip and the steel ladle remains in the slag skimming position for slag skimming. By using the automatic slag skimming system for molten iron pretreatment of this embodiment, the slag 4 floating on the surface of the molten iron 5 can be skimmed into the slag tank 6, and the automatic slag skimming system for the molten iron pretreatment is includes: a slag skimming device 32 for performing a slag skimming process; The image acquisition device 31 for taking an image of the injection lip region of the molten iron ladle, in some embodiments, the image acquisition device may be at least one of a visible light camera, an infrared camera, and a far-infrared camera, and the captured image is a visible light may be one of an image, an infrared image, and a far infrared image; a storage module for storing the image transmitted by the image acquisition device; an image recognition module for pre-processing the image stored in the storage module and then identifying the ladle wall, molten iron, and molten iron slag in the image; Based on the identification result provided by the image recognition module, the image is divided into a ladle wall proximity region (i.e., region A shown in Fig. 3), a low-speed slag skimming region (i.e. region B shown in Fig. 3), a slag flow region ( That is, a slag skimming strategy module dividing into a region C shown in Fig. 3), and a high-speed slag skimming region (i.e. region D shown in Fig. 3), wherein the low-speed slag skimming region is adjacent to the ladle wall proximity region and this region is inside, the high-speed slag skimming region is adjacent to and within the low-speed slag skimming region, and the slag skimming strategy is formulated based on the segmentation of the image; A path optimization module that determines the position of the molten iron slag in the image and finds an optimal slag skimming path based on a result provided by the image recognition module, wherein the optimal slag skimming path is a ratio of slag skimming time to slag skimming amount means the path that is the minimum; and a control module for controlling the slag skimming device 32 to execute the slag skimming strategy based on the optimal slag skimming path and skim the slag.

) 미만이고, 용철 슬래그의 양은 영상에서 용철 슬래그가 차지하는 면적의 비율로 표시된다. In this embodiment, according to the proportion of slag and the degree of scattering, the control module operates the gas injection device 33 connected to the control module to collect the scattered molten iron slag based on the aerodynamic condition, wherein the operating condition is identified The amount of molten iron slag (slag %) is set at the set starting threshold for operating the gas injection device (

), and the amount of molten iron slag is expressed as a ratio of the area occupied by the molten iron slag in the image.

The gas injection device 33 can be used to move the slag, first controlling the gas injection nozzle to descend until it reaches a certain distance (eg, 1000 mm, etc.) from the liquid level, and then closing the nitrogen gas release valve. It automatically opens to take out nitrogen gas. When the gas injection nozzle reaches the set depth, it stops descending and continues to blow gas at that depth to move the slag. Continue until done. It then sends a lift command to the gas injection nozzle to raise the gas injection nozzle.

In the above-described embodiment, the automatic tilting and stopping position of the tilting table on the tipping trolley can be identified by analyzing the image captured in real time by the image acquisition device, which realizes the automatic tilting of the tilting table on the tipping trolley .

Finally, the slag skimming device stops the slag skimming by clearly defining the end point of the slag skimming based on the process requirements for the amount of residual slag of different steel grades. After the slag skimming is stopped, the tilting table of the tipping trolley automatically tilts to the initial position, and the tipping trolley moves to the lifting position.

When preprocessing an image, it should be noted that the image can be converted to grayscale, and the image quality of the grayscale image can be enhanced, binarized, and noise removed. Since the slag and molten iron and the ladle wall have different colors due to different temperatures, they can be identified by automatically processing the grayscale threshold.

보다 작은 경우, 그 픽셀은 0으로 표시되어서 용철 슬래그로 식별되고,

는

로 주어지고, 여기서 α는 영상에 대한 노이즈 및 교란의 영향을 나타내는 보정 계수로서, 노이즈와 교란이 없는 경우에는 그 범위가 0＜α≤1이고, 노이즈와 교란이 있는 경우에는 그 α 값이 1이고, 노이즈와 교란이 클수록 그 α 값이 작아지며; w1은 영상에서 전경 픽셀들이 차지하는 영상의 비율이고; w2는 배경 픽셀들이 차지하는 영상의 비율이고; u1은 전경의 평균 그레이 값이고; u2는 배경의 평균 그레이 값이고; g는 전경과 배경의 분산이다.When identifying images, an improved dynamic threshold method is applied to identify molten iron slag. the gray value of the pixel

If less than that, the pixel is marked as 0 and identified as molten iron slag;

Is

where α is a correction coefficient representing the effect of noise and disturbance on the image, and the range is 0 < α ≤ 1 when there is no noise and disturbance, and when there is noise and disturbance, the α value is 1 , and the larger the noise and disturbance, the smaller the value of α; w1 is the proportion of the image occupied by foreground pixels in the image; w2 is the proportion of the image occupied by the background pixels; u1 is the average gray value of the foreground; u2 is the average gray value of the background; g is the variance of the foreground and background.

보다 작은 경우에는 픽셀은 0으로 표시되는데 이는 그 국부 영역의 면적이 슬래그 면적으로 간주된다는 것을 의미한다.According to the gray value of the image, 255 represents white which is considered to be completely molten iron; 0 represents black, which is considered slag; the gray value of the pixel

In the smaller case, the pixel is marked as 0, meaning that the area of that local area is considered as the slag area.

It should be noted that α is used to correct noise and disturbance effects on the image, and the range of α is 0<α≤1 depending on the degree of disturbance. Since the disturbance to the image frame is non-uniform and localized, in the case of noise and disturbance, the gray value should be calculated based on the actual situation in other regions.

In the above-mentioned embodiment, the model of the optimal slag skimming path is given by:

는 최적의 슬래그 스키밍 경로이고,

는 슬래그 영역 내의 한 픽셀의 면적이고, N은 슬래그 스키머 헤드가 이동한 영역 내의 용철 슬래그를 나타내는 픽셀의 총 수이고, t는 1회 슬래그 스키밍을 위한 시간이다.here

is the optimal slag skimming path,

is the area of one pixel in the slag region, N is the total number of pixels representing the molten iron slag in the region where the slag skimmer head has moved, and t is the time for one slag skimming.

3 schematically illustrates a case in which a ladle wall, molten iron, and molten iron slag are identified by a safe and reliable automatic slag skimming method for molten iron pretreatment according to an embodiment of the present invention.

As shown in FIG. 3 , area A represents a region close to the ladle wall, which is a region close to the ladle wall. In area A, the slag skimming device can very easily collide with the ladle wall, preventing the skimmer head of the slag skimming device from entering the area. Region B represents the slow slag skimming region, which is adjacent to the ladle wall proximate region and is within this region. Zone C represents the slag flow zone, where the skimmer head of the slag skimming device should be lifted automatically to avoid collision with the slag flow zone. Region D represents the high-speed slag skimming region, which is adjacent to and within the low-speed slag skimming region.

4 schematically illustrates the steps of formulating a slag skimming strategy by a safe and reliable automatic slag skimming method for molten iron pretreatment, according to an embodiment of the present invention.

로 수행된다. X, Y가 C 영역에 위치하면, 스키머 암이 높이

만큼 들어 올려지고, 슬래그 스키밍이 소정의 속도

로 수행된다. X, Y가 A, B, C 중 어느 곳에도 위치하지 않으면, 슬래그 스키밍이 속도

로 수행된다.As shown in Fig. 4, after planning the path of slag skimming, the positions X and Y of the slag are output. Replan the route, where X and Y are located in area A. When X and Y are located in the B area, slag skimming is performed at a predetermined speed.

is performed with When X and Y are in area C, the skimmer arm is

lifted as much as possible, and the slag skimming is performed at a predetermined speed

is performed with If X, Y are not located in any of A, B, C, then slag skimming is

is performed with

In some preferred embodiments, a slag skimmer with a sensor or encoder can be applied as the slag skimming device 32 to record the displacement.

The storage module, image recognition module, slag skimming strategy module, path optimization module, and control module can be achieved by using an industrial PC, computer, or server equipped with model computational processing or control processing.

5 schematically shows a framework for a data system in a safe and reliable automatic slag skimming system for molten iron pretreatment according to an embodiment of the present invention.

6 is a flowchart of a safe and reliable automatic slag skimming system for pretreatment of molten iron according to an embodiment of the present invention.

5 and 6, it can be seen that the automatic rate slag skimming system for pretreatment of molten iron of this embodiment includes the following steps:

Taking an image of the injection lip region of the molten iron ladle and pre-processing the image;

identifying a ladle wall, molten iron, and molten iron slag in the image, and dividing the image into a ladle wall proximity region, a low-speed slag skimming region, a slag flow region, and a high-speed slag skimming region based on the identification result, wherein the low-speed the slag skimming region is adjacent to and within the region adjacent to the ladle wall, and the high-speed slag skimming region is adjacent to and within the region of the low velocity slag skimming region; identifying a position of the molten iron slag in the image based on the identification result; and identifying a position of the molten iron slag in the image based on the identification result. In the step of formulating a slag skimming strategy based on the segmentation of the image, during the slag skimming process, skimming the slag at high speed in the high-speed slag skimming region without the skimmer head entering the region close to the ladle wall, and in the low-speed slag skimming region formulating a slag skimming strategy, skimming the slag at low speed and lifting it up to avoid collision with the slag skimming mouse in the slag flow region; finding an optimal slag skimming path based on the position of the molten iron slag in the image under the slag skimming strategy, wherein the optimal slag skimming path means a path in which the ratio of slag skimming time to slag skimming amount is minimum;

During the automatic slag skimming process, controlling the slag skimmer head to execute the slag skimming strategy and skimm the slag based on the optimal slag skimming path.

In summary, the automatic slag skimming method for pretreatment of molten iron according to the present invention can not only improve labor efficiency by effectively alleviating the labor intensity of the worker, but also effectively improve the safety of slag skimming, so that the slag skimming device is connected to the ladle wall Damage due to collision can be avoided.

In addition, the automatic slag skimming system for pretreatment of molten iron according to the present invention has the same advantages and advantages as those described above.

The prior art part of the protection scope of the present invention is not limited to the embodiments provided by the present disclosure, and all prior art inconsistent with the suggestion of the present invention, including but not limited to prior patents, prior publications, prior applications, etc. It should be noted that the technology is within the protection scope of the present invention.

In addition, the combination of each individual technical feature in the present disclosure is not limited to the combination provided by the claims or embodiments of the present disclosure, and all technical features provided in the present disclosure are not inconsistent. It can be combined in any way.

It should also be noted that the above-mentioned embodiments are only specific embodiments of the present invention. Certainly, the present invention is not limited to the above-mentioned embodiments, and any method based on the present disclosure can be directly derived from or directly related to the present disclosure by a person skilled in the art. Subsequent changes or modifications of should be regarded as falling within the protection scope of the present invention.

Claims (10)

As a safe and reliable automatic slag skimming method for molten iron pretreatment,
Taking an image of the injection lip region of the molten iron ladle and pre-processing the image;
identifying a ladle wall, molten iron, and molten iron slag in the image, and dividing the image into a ladle wall proximity region, a low-speed slag skimming region, a slag flow region, and a high-speed slag skimming region based on the identification result - the low-speed the slag skimming area is adjacent to and within the area adjacent to the ladle wall, the high-speed slag skimming area is adjacent to and within this area of the low-speed slag skimming area;
identifying a position of the molten iron slag in the image based on the identification result;
In the step of formulating a slag skimming strategy based on the segmentation of the image, during the slag skimming process, skimming the slag at high speed in the high-speed slag skimming region without the skimmer head entering the region close to the ladle wall, and in the low-speed slag skimming region formulating a slag skimming strategy, skimming the slag at low speed, and lifting in the slag flow region to avoid collision with the slag skimming mouse;
Finding an optimal slag skimming path based on the position of the molten iron slag in the image under the slag skimming strategy - The optimal slag skimming path means a path in which the ratio of slag skimming time to slag skimming amount is the minimum - ;
Safe and reliable automatic slag skimming for molten iron pretreatment, characterized in that during the automatic slag skimming process, controlling the slag skimmer head to execute the slag skimming strategy and skimm the slag based on the optimal slag skimming path method.
The safe and reliable automatic slag skimming method for molten iron pretreatment according to claim 1, wherein the image includes any one of a visible light image, an infrared image, and a far infrared image.
The safe and reliable automatic slag skimming for molten iron preprocessing according to claim 1, wherein when the image is preprocessed, the image is converted to grayscale, the image quality of the grayscale image is enhanced, binarized, and noise is removed. method.
The method according to claim 1, wherein an improved dynamic thresholding method is applied to identify molten iron slag when identifying the image, wherein the gray value of the pixel is

If less than that, the pixel is marked as 0 and identified as molten iron slag;

Is

where α is a correction coefficient representing the effect of noise and disturbance on the image, and in the absence of noise and disturbance, the range is 0 < α ≤ 1, and in the presence of noise and disturbance, the α value is 1 , and the larger the noise and disturbance, the smaller the α value; w1 is the proportion of the image occupied by foreground pixels in the image; w2 is the proportion of the image occupied by the background pixels; u1 is the average gray value of the foreground; u2 is the average gray value of the background; where g is the foreground and background dispersion, a safe and reliable automatic slag skimming method for molten iron pretreatment.
The method according to claim 1, wherein the model of the optimal slag skimming path is given by the following equation:

here

is the optimal slag skimming path,

is the area of one pixel within the slag area, N is the total number of pixels representing the molten iron slag in the area where the slag skimmer head has moved, and t is the time for one slag skimming. Slag skimming method.
6. The method according to any one of claims 1 to 5, further comprising the step of operating a gas injection device for blowing gas to move the slag so as to collect the scattered molten iron slag based on a starting condition, the starting condition The condition is that the amount of molten iron slag identified (% slag) is a set starting threshold (

), and the amount of molten iron slag is expressed as a percentage of the area occupied by molten iron slag in the image, a safe and reliable automatic slag skimming method for molten iron pretreatment.
As a safe and reliable automatic slag skimming system for pretreatment of molten iron,
a slag skimming device for performing a slag skimming process;
an image acquisition device for taking an image of the injection lip region of the molten iron ladle;
a storage module for storing the image transmitted by the image acquisition device;
an image recognition module for pre-processing the image stored in the storage module and then identifying the ladle wall, molten iron, and molten iron slag from the image;
A slag skimming strategy module for dividing the image into a ladle wall proximity region, a low-speed slag skimming region, a slag flow region, and a high-speed slag skimming region based on the identification result provided by the image recognition module, wherein the low-speed slag skimming region is the ladle wall proximity region adjacent to and within the region, the high-speed slag skimming region is adjacent to and within the low-speed slag skimming region, and a slag skimming strategy is formulated based on the segmentation of the image;
A path optimization module that determines the position of the molten iron slag in the image and finds an optimal slag skimming path based on the recognition result provided by the image recognition module - The optimal slag skimming path is the ratio of slag skimming time to slag skimming amount means the path that is minimum -;
A safe and reliable automatic slag skimming system for molten iron pretreatment, comprising a control module for controlling the slag skimming device to perform a slag skimming strategy based on an optimal slag skimming path and to skim the slag.
The safe and reliable automatic slag skimming system for molten iron pretreatment according to claim 7, wherein the image acquisition device includes any one of a visible light camera, an infrared camera, and a far infrared camera.
8. Safe and reliable for pretreatment of molten iron according to claim 7, wherein the slag skimming device is also equipped with a sensor or encoder, the sensor or encoder connected to a control module for transmitting the detected displacement of the slag skimming device to the control module Automatic slag skimming system.
10. The method according to any one of claims 7 to 9, further comprising a gas injection device connected to a control module for blowing a gas to move the slag, the control module including the gas injection device to collect the scattered molten iron slag. actuate the injection device based on a starting condition, wherein the starting condition is that the identified amount of molten iron slag (slag %) is a set starting threshold for operating the gas injection device (

), and the amount of molten iron slag is expressed as a percentage of the area occupied by molten iron slag in the image, a safe and reliable automatic slag skimming system for molten iron pretreatment.

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