TWI839266B - Method and system for receiving steel slag - Google Patents

Abstract

A method for receiving steel slag, including: a slag receiving train positioning step, a steel slag drop position prediction step and a remote monitoring step. The slag receiving train positioning step includes: obtaining location images of a slag receiving train, wherein the slag receiving train configured to carry a slag receiving bucket and equipped with an electronic label; identifying location information of the slag receiving train based on the location images and electronic tags of the slag receiving train. The steel slag drop position prediction step includes: obtaining converter information of a converter; obtaining steel slag drop position prediction information according to a steel slag drop position prediction model and the converter information of the converter. The remote monitoring step includes: establishing a synchronous animation model synchronized with movements of the slag train and the converter according to the location information of the slag receiving train and the converter information of the converter, wherein the synchronous animation model includes a center position of the slag receiving bucket and a predicted position of the steel slag drop position.

Description

A method and system for collecting slag

The present disclosure relates to a method and system for collecting slag, and in particular to a method and system for collecting slag remotely.

During the process of smelting molten steel in a converter, the by-product "steel slag" is usually produced, and needs to be collected by a slag truck carrying a slag bucket and then transported to a slag dump for treatment. However, the converter slag dumping control and the slag truck driving are controlled by different personnel. It is easy to cause problems such as poor slag collection and slag liquid leakage due to the converter slag dumping speed and vehicle movement speed being too slow or too fast. In serious cases, it may even cause the slag truck to burn, slag explosion accidents and endanger personnel safety.

Therefore, the object of the present invention is to provide a slag receiving method suitable for receiving slag from a converter, the method comprising: a slag receiving vehicle positioning step, a slag drop point prediction step and a remote monitoring step. The slag receiving vehicle positioning step comprises: obtaining a position image of the slag receiving vehicle, wherein the slag receiving vehicle is used to carry a slag receiving bucket, and the slag receiving vehicle is provided with at least one electronic tag; and identifying the position information of the slag receiving vehicle according to the position image of the slag receiving vehicle and the at least one electronic tag. The slag drop point prediction step is applicable to a slag drop point prediction model, comprising: obtaining converter information of the converter, wherein the converter information includes a converter angle; and obtaining the slag drop point prediction information of the converter according to the slag drop point prediction model and the converter information of the converter. The remote monitoring step is applicable to the user interface system, including: receiving the position information of the slag receiving car and the predicted slag drop point information of the converter; and establishing a synchronized animation model synchronized with the movement of the slag receiving car and the converter based on the position information of the slag receiving car and the predicted slag drop point information of the converter, wherein the synchronized animation model includes displaying the center position of the slag receiving bucket and the predicted slag drop point position.

According to an embodiment of the present disclosure, the slag drop point prediction step further includes: obtaining a plurality of historical converter information of the converter, wherein the historical converter information includes a plurality of historical converter angles, a plurality of historical converter temperatures, and a plurality of historical slag types; and establishing a slag drop point prediction model based on the historical converter information of the converter.

According to one embodiment of the present disclosure, the slag receiving method further includes: obtaining the driving image of the slag receiving vehicle and the image under the converter, and displaying them synchronously on the user interface system.

According to one embodiment of the present disclosure, the slag receiving method further includes: controlling the slag receiving vehicle so that the center position of the slag receiving bucket of the synchronous animation model corresponds to the predicted position of the slag landing point.

Another object of the present invention is to provide a slag receiving system suitable for receiving slag from a converter, the system comprising: an image capture device, a program-controlled computer and an operating system. The image capture device is configured to obtain a position image of a slag receiving vehicle. The program-controlled computer is configured to capture converter information of the converter, wherein the converter information includes a converter angle. The operating system is configured to: receive the position image of the slag receiving car and the converter information of the converter; identify at least one electronic tag in the position image of the slag receiving car to calculate the position information of the slag receiving car; predict the location of the slag drop point of the converter based on the converter information of the converter and obtain the slag drop point prediction information; and establish a synchronized animation model synchronized with the movement of the slag receiving car and the converter based on the position information of the slag receiving car and the converter slag drop point prediction information, wherein the synchronized animation model includes displaying the center position of the slag receiving bucket and the predicted location of the slag drop point.

According to one embodiment of the present disclosure, the slag receiving system further includes: at least one image monitoring device, which is configured to monitor the driving image of the slag receiving vehicle and the image under the converter.

According to an embodiment of the present disclosure, the operating system further includes: a user interface system, including: at least one image display area, configured to display the driving image of the slag receiving vehicle and the image under the converter; and a synchronous animation display area, configured to display a synchronous animation model and monitor whether the center position of the slag receiving bucket and the predicted position of the slag falling point correspond to each other.

According to one embodiment of the present disclosure, the user interface system further includes: an information area configured to display the converter angle of the converter and the distance between the center position of the slag receiving bucket and the predicted position of the slag falling point.

According to one embodiment of the present disclosure, the converter information also includes the type of slag and the converter temperature.

According to one embodiment of the present disclosure, the slag receiving system further includes: an angle sensor electrically connected to a programmable computer and configured to sense the tilting angle of the converter.

100:Steel slag receiving system

110: Image capture device

120: Program-controlled computer

130: Operating system

140: User interface system

141,142: Image display area

143: Information area

144: Synchronous animation display area

150: Image monitoring device

160: Converter

170: Slag truck

180: Slag collecting bucket

190: Electronic label

200: Method of collecting steel slag

210: Slag truck positioning steps

211: Steps

212: Steps

220: Steps for predicting slag falling points

221: Steps

222: Steps

230: Remote monitoring steps

231: Steps

232: Steps

C: Center position of slag receiving bucket

P: Predicted location of slag falling point

In order to make the above and other purposes, features, advantages and embodiments of the present invention more clearly understandable, the attached drawings are described as follows: FIG. 1 is a schematic diagram of a slag receiving system and related slag receiving equipment according to an embodiment of the present invention; FIG. 2 is a schematic diagram of a slag receiving method according to an embodiment of the present invention; and FIG. 3 is a schematic diagram of a user interface system according to an embodiment of the present invention.

The following is a detailed discussion of embodiments of the present invention. However, it is understood that the embodiments provide many applicable concepts that can be implemented in a variety of specific contexts. The embodiments discussed and disclosed are for illustration only and are not intended to limit the scope of the present invention.

Please refer to FIG. 1, which is a schematic diagram of a slag receiving system 100 and related slag receiving equipment according to an embodiment of the present invention. The slag receiving system 100 includes an image capture device 110, a programmable computer 120, an operating system 130, a user interface system 140, and an image monitoring device 150. The related slag receiving equipment includes a converter 160, a slag receiving vehicle 170, and a slag receiving bucket 180, wherein the body of the slag receiving vehicle 170 is equipped with at least one electronic tag 190 (in fact, more electronic tags can be provided) for the slag receiving system 100 to identify and calculate the corresponding position.

The slag receiving system 100 of the present invention can be used to remotely receive slag from the converter 160. The slag receiving vehicle 170 carrying the slag receiving bucket 180 is positioned through vehicle positioning technology, and a slag drop point prediction model is established to predict the location of the slag drop point. In addition, a user interface system (e.g., a web page) is developed to integrate image information, positioning information, and slag drop point prediction information, and an animation is created to synchronously simulate the operation of the converter 160 and the slag receiving vehicle 170, so that the staff can remotely control the slag receiving at any place.

In the embodiment of the present invention, the image capture device 110 is installed in the driving environment of the slag receiving vehicle 170 to capture the image of the slag receiving vehicle 170. The image capture device 110 can be a digital camera, an IP camera, a charge coupled device (CCD) camera, a complementary metal-oxide semiconductor (CMOS) camera, or any device capable of capturing images or pictures, but the present invention is not limited thereto. The image capture device 110 can be connected to the operating system 130 by any wired or wireless communication method.

In an embodiment of the present invention, the programmable computer 120 is used to monitor and capture converter information of the converter 160. The programmable computer 120 may be a personal computer, a laptop, a server, a distributed computer, a cloud server, an industrial computer, or any electronic device with computing functions, but the present invention is not limited thereto. The converter information may include any process parameters related to the converter 160, such as converter angle information, slag type information, and converter temperature information. In an embodiment of the present invention, the programmable computer 120 stably captures the angle information of the converter 160 (for example, at a sampling frequency of 1 second/byte, so that the angle change of the converter 160 is controlled to be less than 3 degrees/second), and supplies it to the operating system 130. It should be understood that this is only an example, and in fact the sampling frequency can be changed as needed. In the embodiment of the present invention, an angle sensor can also be included, which is electrically connected to the programmable computer 120 and is used to sense the rotation angle (for example, the tilting angle) of the converter 160.

In the embodiment of the present invention, the operating system 130 is electrically connected to the image capture device 110, the programmable computer 120, the user interface system 140 and the image monitoring device 150. The operating system 130 may be a computer system software architecture such as the Robot Operating System (ROS), which may be used to provide operating system-related services including hardware abstract description, underlying driver management, execution of shared functions, inter-program message passing, program management, etc. In the embodiment of the present invention, the operating system 130 receives information provided by the image capture device 110, the programmable computer 120 and the image monitoring device 150, and after the processor realizes the functions of slag receiving vehicle positioning and slag drop point prediction (detailed description is described below), the result is displayed on the user interface system 140.

In the embodiment of the present invention, the user interface system 140 can be used to display the information provided by the operating system 130 and allow the user to control the relevant slag receiving equipment. Specifically, the user interface system 140 receives the relevant information such as the slag receiving car position, converter angle and slag predicted landing position provided by the operating system 130, and creates an animation synchronized with the slag receiving car position, converter angle and slag predicted landing position, and integrates and displays them on the web browsing page. Therefore, the staff can control the converter 160 or the slag receiving car 170 based on the information displayed on the web browsing page to complete the remote slag receiving.

In the embodiment of the present invention, the image monitoring device 150 is used to monitor the driving image, the image behind the vehicle, and the image under the converter in real time, and synchronously display them on the screen of the user interface system 140, so that the staff can further monitor the entire slag connection process. In the embodiment of the present invention, the image monitoring device 150 can be a digital camera, an IP camera, a charge coupled device (CCD) camera, a complementary metal oxide semiconductor (CMOS) camera, etc., or any device capable of capturing images or pictures, but the present invention is not limited thereto. The image monitoring device 150 can be connected to the operating system 130 by any wired or wireless communication method.

Please refer to FIG. 2, which is a schematic diagram of a slag receiving method 200 according to an embodiment of the present invention. The slag receiving method 200 includes a slag receiving vehicle positioning step 210, a slag drop point prediction step 220, and a remote monitoring step 230. The slag receiving vehicle positioning step 210 includes steps 211 and 212; the slag drop point prediction step 220 includes steps 221 and 222; and the remote monitoring step 230 includes steps 231 and 232. In the embodiment of the present invention, the slag receiving method 200 can be implemented by the slag receiving system 100 shown in FIG. 1, or can be implemented by a similar architecture capable of implementing similar functions. In the following, the slag collection method 200 of FIG. 3 is described in conjunction with the slag collection system 100 of FIG. 1 .

In the slag receiving vehicle positioning step 210, step 211 is first performed to obtain the position image of the slag receiving vehicle 170. As shown in FIG1, the slag receiving vehicle 170 carries the slag receiving bucket 180 and is used to travel to the corresponding position below the converter 160 to receive slag, wherein the body of the slag receiving vehicle 170 is provided with at least one electronic tag 190 (in fact, more electronic tags can be provided). The image capture device 110 installed in the driving environment of the slag receiving vehicle 170 will capture the image of the slag receiving vehicle 170 and provide it to the operating system 130.

Then, step 212 is performed to identify the position information of the slag receiving vehicle 170. Specifically, the operating system 130 receives the image of the slag receiving vehicle 170 captured by the image capturing device 110, and uses the April Tag visual recognition method to convert the relative position coordinates of the electronic tag 190 and the image capturing device 110, thereby calculating the position information of the slag receiving vehicle 170, the positioning information of the slag receiving bucket 180, etc. For example, the distance between the slag receiving bucket 180 and the center of the converter 160 can be calculated, so that the staff can know the safe slag receiving range of the slag receiving bucket 180. Compared to other vehicle positioning technologies, such as ultra-wideband (UWB) positioning technology, global positioning system (GPS), real-time kinematic (RTK) positioning technology, or optical radar (Light Detection and Ranging; LiDAR) positioning technology, the embodiment of the present invention adopts visual recognition technology (e.g., QR code and April Tag, etc.) to realize the positioning of the docking slag truck, which can provide lower construction cost and occupy less installation space. In addition, compared to the two-dimensional code recognition technology, the embodiment of the present invention adopts the April Tag recognition technology, which can automatically identify and locate electronic tags at a farther distance, lower recognition rate, uneven lighting or cluttered environment, reducing complexity while also having positioning accuracy.

Please continue to refer to FIG. 2 and then proceed to the slag drop point prediction step 220. In the slag drop point prediction step 220, firstly, step 221 is performed to obtain the converter information of the converter 160. In the embodiment of the present invention, the converter information of the converter 160 can be captured by the programmable computer 120 at a stable sampling frequency (for example, a sampling frequency of 1 second/record) and provided to the operating system 130.

Then, step 222 is performed to calculate the slag drop point prediction information of the converter 160. Specifically, the slag drop point prediction step 220 further includes using the historical converter information of the converter 160 to establish a slag drop point prediction model in advance, wherein the historical converter information includes a variety of parameters that may affect the tilted parabola of the slag or the drop point position of the slag, such as the historical converter angle, the historical converter temperature and the historical slag type, etc., but the present invention is not limited thereto. Next, the operating system 130 inputs the converter information of the converter 160 obtained during actual application into the pre-established slag drop point prediction model, and calculates the slag drop point prediction information of the converter 160 (i.e., the predicted slag pouring parabola and slag drop point position).

Please continue to refer to Figure 2 and then proceed to the remote monitoring step 230. In the remote monitoring step 230, firstly, step 231 is performed to receive the position information of the slag receiving car 170 and the predicted information of the slag drop point of the converter 160. In the embodiment of the present invention, the user interface system 140 receives the position information of the slag receiving car 170 and the predicted information of the slag drop point of the converter 160.

Then, step 232 is performed to establish a synchronized animation model that is synchronized with the movement of the slag receiving car 170 and the converter 160. In the embodiment of the present invention, the user interface system 140 presents the information provided by the operation system 130 in the form of a web page, and establishes a synchronized animation model that is consistent with the movement of the slag receiving car 170 and the converter 160 based on the position information of the slag receiving car 170 and the predicted slag falling point information of the converter 160, so that the staff can directly watch the synchronized animation on the screen of the user interface system 140 to perform slag receiving control.

Please refer to FIG. 3, which is a schematic diagram of a user interface system 140 according to an embodiment of the present invention. The user interface system 140 includes image display areas 141 and 142, an information area 143, and a synchronized animation display area 144. The image display area 141 is used to display the actual driving image of the slag receiving vehicle 170, and the image display area 142 is used to display the actual under-furnace image of the converter 160. In fact, more or less image display areas may be included to monitor the actual slag receiving screen, and the present invention is not limited thereto. The information area 143 is used to display the converter angle of the converter 160, the distance between the center position C of the slag receiving bucket (hollow circle) and the predicted slag drop point position P (solid circle), the slag tilting parabola or other reference data related to the slag receiving process, etc., but the present invention is not limited thereto. The synchronized animation display area 144 is used to display the synchronized animation model and monitor whether the center position C of the slag receiving bucket and the predicted slag drop point position P correspond to each other. The synchronized animation model will synchronously simulate the movement of the actual related slag receiving equipment (including the converter 160, the slag receiving car 170 and the slag receiving bucket 180), the center position C of the slag receiving bucket and the predicted slag drop point position P. Specifically, the staff can control the actual slag receiving vehicle 170 or the actual converter 160 through the synchronized animation model of the synchronized animation display area 144, so that the center position C of the slag receiving bucket and the predicted position P of the slag landing point can be roughly consistent or completely consistent, thereby completing the remote slag receiving.

According to the slag receiving method and system of the present invention, it is suitable for remote slag receiving of the converter, using images to perform vehicle positioning algorithms to obtain the real-time position of the slag receiving vehicle, and establishing a slag landing point prediction model to predict the slag landing point position, and further creating a synchronous animation to simulate the movement of the actual slag receiving equipment, and finally integrating it into the user interface for the staff to monitor the entire slag receiving process, so that the slag receiving process between the slag receiving bucket and the converter can be more accurate. In summary, the slag receiving method and system of the present invention can enable the staff to remotely control the slag receiving, and improve the accuracy of slag receiving through positioning information and prediction information, reducing the occurrence of poor slag receiving, slag liquid out, slag car burning, slag explosion accidents or accidents that endanger the safety of personnel.

Although the present invention has been disclosed in the above implementation form, it is not intended to limit the present invention. Anyone with common knowledge in this technical field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of the patent application attached hereto.

100:Steel slag receiving system

110: Image capture device

120: Program-controlled computer

130: Operating system

140: User interface system

150: Image monitoring device

160: Converter

170: Slag truck

180: Slag collecting bucket

190: Electronic label

Claims (10)

A slag receiving method is suitable for receiving slag from a converter, the method comprising: a slag receiving vehicle positioning step, comprising: obtaining a position image of a slag receiving vehicle, wherein the slag receiving vehicle is used to carry a slag receiving bucket and the slag receiving vehicle is provided with at least one electronic tag; and identifying position information of the slag receiving vehicle according to the position image of the slag receiving vehicle and the at least one electronic tag; a slag drop point prediction step, suitable for a slag drop point prediction model, the slag drop point prediction step comprising: obtaining converter information of the converter, wherein the converter information comprises a converter angle; and determining the position of the slag receiving vehicle according to the slag drop point prediction model and the slag drop point prediction model; The converter information of the converter is used to obtain a slag drop point prediction information of the converter; a remote monitoring step, applicable to a user interface system, the remote monitoring step includes: receiving the position information of the slag receiving vehicle and the slag drop point prediction information of the converter; and according to the position information of the slag receiving vehicle and the slag drop point prediction information of the converter, to establish a synchronized animation model synchronized with the movement of the slag receiving vehicle and the converter, wherein the synchronized animation model includes displaying a slag receiving bucket center position and a slag drop point prediction position, and the slag receiving bucket center position corresponds to the actual center position of the slag receiving bucket. The slag collection method as described in claim 1, wherein the slag drop point prediction step further includes: obtaining a plurality of historical converter information of the converter, wherein the historical converter information includes a plurality of historical converter angles, a plurality of historical converter temperatures, and a plurality of historical slag types; and establishing the slag drop point prediction model based on the historical converter information of the converter. The slag receiving method as described in claim 1 further includes: obtaining a driving image of the slag receiving vehicle and an under-furnace image of the converter, and displaying them synchronously on the user interface system. The slag receiving method as described in claim 1 further comprises: controlling the slag receiving vehicle so that the center position of the slag receiving bucket of the synchronous animation model corresponds to the predicted position of the slag landing point. A slag receiving system is suitable for receiving slag from a converter. The system comprises: an image capture device, configured to obtain a position image of a slag receiving vehicle carrying a slag receiving bucket; a program-controlled computer, configured to capture converter information of the converter, wherein the converter information includes a converter angle; and an operating system, configured to: receive the position image of the slag receiving vehicle and the converter information of the converter; identify at least one electronic tag in the position image of the slag receiving vehicle to calculate the A position information of a slag receiving car; predicting the slag drop point position of the converter according to the converter information of the converter, and obtaining a slag drop point prediction information; and establishing a synchronized animation model synchronized with the movement of the slag receiving car and the converter according to the position information of the slag receiving car and the converter, wherein the synchronized animation model includes displaying a slag receiving bucket center position and a slag drop point prediction position, and the slag receiving bucket center position corresponds to the actual center position of the slag receiving bucket. The slag receiving system as described in claim 5 further comprises: at least one image monitoring device, configured to monitor the image of the slag receiving vehicle and the image under the converter. The slag receiving system as described in claim 6, wherein the operating system further comprises: a user interface system, comprising: at least one image display area, configured to display the driving image of the slag receiving vehicle and the under-furnace image of the converter; and a synchronous animation display area, configured to display the synchronous animation model and monitor whether the center position of the slag receiving bucket and the predicted position of the slag falling point correspond to each other. The slag receiving system as described in claim 7, wherein the user interface system further comprises: an information area configured to display the converter angle of the converter and the distance between the center position of the slag receiving bucket and the predicted position of the slag falling point. A slag receiving system as described in claim 5, wherein the converter information further includes a slag type and a converter temperature. The slag receiving system as described in claim 5, wherein the slag receiving system further comprises: an angle sensor electrically connected to the programmable computer and configured to sense the converter angle of the converter.

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