TWI839266B - Method and system for receiving steel slag - Google Patents
Method and system for receiving steel slag Download PDFInfo
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- 239000002893 slag Substances 0.000 title claims abstract description 270
- 238000000034 method Methods 0.000 title claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 title abstract description 12
- 239000010959 steel Substances 0.000 title abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 34
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- 238000012806 monitoring device Methods 0.000 claims description 10
- 238000005516 engineering process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
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- 238000005070 sampling Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
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- 239000007788 liquid Substances 0.000 description 2
- 229910044991 metal oxide Inorganic materials 0.000 description 2
- 150000004706 metal oxides Chemical class 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 1
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 1
- 238000003723 Smelting Methods 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
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Description
本揭露涉及一種鋼渣接取的方法及系統,且特別是涉及一種用於遠端鋼渣接取的方法及系統。 The present disclosure relates to a method and system for collecting slag, and in particular to a method and system for collecting slag remotely.
在轉爐煉製鋼液的過程中,通常會伴隨著副產物「鋼渣」的產生,並需要透過鋼渣車承載渣桶進行盛接,再運送至倒渣場處理。然而,轉爐倒渣控制與接渣車駕駛隸屬不同人員控制,容易因轉爐倒渣速度及車輛移動速度過慢或過快而導致接渣不良、鋼渣液出等問題,嚴重甚至會致使渣車燒毀、渣爆意外及危害人員安全。 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.
因此,本發明的目的在於提供一種鋼渣接取方法,適於對轉爐進行接渣,此方法包含:接渣車定位步驟、鋼渣落點預測步驟以及遠端監控步驟。接渣車定位步驟包含:獲取接渣車的位置影像,其中接渣車用以承載接渣桶,且接渣車設置有至少一電子標籤;以及根據接渣車的位置影像及至少一電子標籤以辨識出接渣車的位置資訊。鋼渣落 點預測步驟適用於鋼渣落點預測模型,包含:獲取轉爐的轉爐資訊,其中轉爐資訊包含轉爐角度;以及根據鋼渣落點預測模型及轉爐的轉爐資訊以獲取轉爐的鋼渣落點預測資訊。遠端監控步驟適用於使用者介面系統,包含:接收接渣車的位置資訊及轉爐的鋼渣落點預測資訊;以及根據接渣車的位置資訊及轉爐的鋼渣落點預測資訊,以建立同步於接渣車及轉爐之作動的同步動畫模型,其中同步動畫模型包含顯示出接渣桶中心位置及鋼渣落點預測位置。 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.
依據本揭露之一實施例,其中鋼渣落點預測步驟還包含:獲取轉爐之複數個歷史轉爐資訊,其中歷史轉爐資訊包含複數個歷史轉爐角度、複數個歷史轉爐溫度及複數個歷史鋼渣種類;以及根據轉爐的歷史轉爐資訊以建立鋼渣落點預測模型。 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.
依據本揭露之一實施例,其中鋼渣接取方法還包含:獲取接渣車之行車影像及轉爐之爐下影像,並同步顯示於使用者介面系統。 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.
依據本揭露之一實施例,其中鋼渣接取方法還包含:控制接渣車以使得同步動畫模型之接渣桶中心位置與鋼渣落點預測位置相互對應。 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.
本發明的另一個目的在於提供一種鋼渣接取系統,適於對轉爐進行接渣,此系統包含:影像擷取裝置、程控電腦以及作業系統。影像擷取裝置設置以獲取接渣車的位置影像。程控電腦設置以擷取轉爐的轉爐資訊,其中轉爐資訊包含轉爐角度。作業系統設置以進行:接收接渣車的 位置影像及轉爐的轉爐資訊;辨識接渣車的位置影像中的至少一電子標籤,以計算出接渣車的位置資訊;根據轉爐的轉爐資訊以預測轉爐的鋼渣落點位置,並獲得鋼渣落點預測資訊;以及根據接渣車的位置資訊及轉爐的鋼渣落點預測資訊以建立同步於接渣車及轉爐之作動的同步動畫模型,其中同步動畫模型包含顯示接渣桶中心位置及鋼渣落點預測位置。 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.
依據本揭露之一實施例,其中鋼渣接取系統還包含:至少一影像監控裝置,設置以監控接渣車的行車影像及轉爐的爐下影像。 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.
依據本揭露之一實施例,其中作業系統還包含:使用者介面系統,包含:至少一影像顯示區,設置以顯示接渣車的行車影像及轉爐的爐下影像;以及同步動畫顯示區,設置以顯示同步動畫模型並監控接渣桶中心位置及鋼渣落點預測位置是否相互對應。 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.
依據本揭露之一實施例,其中使用者介面系統還包含:資訊區,設置以顯示轉爐的轉爐角度以及接渣桶中心位置與鋼渣落點預測位置之間的距離。 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.
依據本揭露之一實施例,其中轉爐資訊還包含鋼渣種類以及轉爐溫度。 According to one embodiment of the present disclosure, the converter information also includes the type of slag and the converter temperature.
依據本揭露之一實施例,其中鋼渣接取系統還包含:角度感測器,電性連接程控電腦,設置以感測轉爐的傾倒角度。 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:鋼渣接取系統 100:Steel slag receiving system
110:影像擷取裝置 110: Image capture device
120:程控電腦 120: Program-controlled computer
130:作業系統 130: Operating system
140:使用者介面系統 140: User interface system
141,142:影像顯示區 141,142: Image display area
143:資訊區 143: Information area
144:同步動畫顯示區 144: Synchronous animation display area
150:影像監控裝置 150: Image monitoring device
160:轉爐 160: Converter
170:接渣車 170: Slag truck
180:接渣桶 180: Slag collecting bucket
190:電子標籤 190: Electronic label
200:鋼渣接取方法 200: Method of collecting steel slag
210:接渣車定位步驟 210: Slag truck positioning steps
211:步驟 211: Steps
212:步驟 212: Steps
220:鋼渣落點預測步驟 220: Steps for predicting slag falling points
221:步驟 221: Steps
222:步驟 222: Steps
230:遠端監控步驟 230: Remote monitoring steps
231:步驟 231: Steps
232:步驟 232: Steps
C:接渣桶中心位置 C: Center position of slag receiving bucket
P:鋼渣落點預測位置 P: Predicted location of slag falling point
為讓本發明之上述和其他目的、特徵、優點與實施例能更加淺顯易懂,所附圖式之說明如下:圖1係繪示根據本發明實施例之鋼渣接取系統及相關接渣設備的示意圖;圖2係繪示根據本發明實施例之鋼渣接取方法的流程示意圖;以及圖3係繪示根據本發明實施例之使用者介面系統的示意圖。 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.
以下仔細地討論本發明的實施例。然而,可以理解的是,實施例提供許多可應用的概念,其可實施於各式各樣的特定內容中。所討論、揭示之實施例僅供說明,並非用以限定本發明之範圍。 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.
請參照圖1,其係繪示根據本發明實施例之鋼渣接取系統100及相關接渣設備的示意圖。鋼渣接取系統100包含影像擷取裝置110、程控電腦120、作業系統130、使用者介面系統140以及影像監控裝置150。相關接渣設備包含轉爐160、接渣車170及接渣桶180,其中接渣車170的車體配置有至少一個電子標籤190(事實上,可以設置有更多個電子標籤),以供鋼渣接取系統100進行辨識並計算出相應位置。
Please refer to FIG. 1, which is a schematic diagram of a slag receiving
本發明之鋼渣接取系統100可用以對轉爐160進行遠端接渣,透過車輛定位技術對承載著接渣桶180的接渣車170進行定位,並建立鋼渣落點預測模型以預測鋼渣的落點位置,此外,還開發使用者介面系統(例如,架設網頁)以整合影像資訊、定位資訊及鋼渣落點預測資訊等,並創建動畫以同步模擬轉爐160及接渣車170作動,使工作人員在任何地方皆能夠遠端操控接渣。
The slag receiving
在本發明之實施例中,影像擷取裝置110架設於接渣車170的行駛環境中,用以擷取接渣車170的影像。影像擷取裝置110可以是數位相機、網路監控攝影機(IP Camera)、陣列式光耦合元件(Charge Coupled Device;CCD)攝影機、互補性氧化金屬半導體(Complementary Metal-Oxide Semiconductor;CMOS)攝影機等,或是任何能夠擷取影像或圖像的裝置,本發明並不在此限。影像擷取裝置110可以透過任意有線或無線的方式通訊連接至作業系統130。
In the embodiment of the present invention, the
在本發明之實施例中,程控電腦120用以監控及擷取轉爐160的轉爐資訊。程控電腦120可以是個人電腦、筆記型電腦、伺服器、分散式電腦、雲端伺服器、工業電腦,或是任何具有運算功能的電子裝置等,本發明並不在此限。轉爐資訊可以包含任何與轉爐160相關的製程參數,例如轉爐角度資訊、鋼渣種類資訊及轉爐溫度資訊等。在本發明之實施例中,程控電腦120穩定地擷取轉爐160的角度資訊(例如,以1秒/筆的取樣頻率進行擷取,
使轉爐160的角度變化量控制在小於3度/秒),並供予至作業系統130。應當理解,此僅作為示例,事實上取樣頻率的快慢可以根據所需而變動。在本發明之實施例中,還可以包含角度感測器,電性連接至程控電腦120,並用以感測轉爐160的轉動角度(例如,傾倒角度)。
In an embodiment of the present invention, the
在本發明之實施例中,作業系統130與影像擷取裝置110、程控電腦120、使用者介面系統140及影像監控裝置150電性連接。作業系統130可以是例如機器人作業系統(Robot Operating System;ROS)的電腦系統軟體架構,可用以提供包含硬體抽象描述、底層驅動程序管理、共用功能的執行、程序間消息傳遞、程序管理等作業系統相關的服務。在本發明之實施例中,作業系統130接收影像擷取裝置110、程控電腦120及影像監控裝置150所提供的資訊,並經由處理器實現接渣車定位及鋼渣落點預測等功能後(詳細內容描述於下文中),再將結果顯示於使用者介面系統140。
In the embodiment of the present invention, the
在本發明之實施例中,使用者介面系統140可用以顯示作業系統130所提供的資訊,並供予使用者對相關接渣設備進行操控。具體來說,使用者介面系統140接收作業系統130所提供的接渣車位置、轉爐角度及鋼渣預測落點位置等相關資訊,並建製與接渣車位置、轉爐角度及鋼渣預測落點位置同步的動畫,一同整合顯示於網路瀏覽頁面,因此,工作人員能夠基於網路瀏覽頁面所顯示的資訊對轉爐160或接渣車170進行操控,以完成遠端接渣。
In the embodiment of the present invention, the
在本發明之實施例中,影像監控裝置150用以即時監控行車影像、車後影像及轉爐下方的影像等,並同步顯示於使用者介面系統140的畫面中,供予工作人員進一步的監控整個接渣過程。在本發明之實施例中,影像監控裝置150可以是數位相機、網路監控攝影機(IP Camera)、陣列式光耦合元件(Charge Coupled Device;CCD)攝影機、互補性氧化金屬半導體(Complementary Metal-Oxide Semiconductor;CMOS)攝影機等,或是任何能夠擷取影像或圖像的裝置,本發明並不在此限。影像監控裝置150可以透過任意有線或無線的方式通訊連接至作業系統130。
In the embodiment of the present invention, the
請參照圖2,其係繪示根據本發明實施例之鋼渣接取方法200的示意圖。鋼渣接取方法200包含接渣車定位步驟210、鋼渣落點預測步驟220及遠端監控步驟230。其中,接渣車定位步驟210包含步驟211和步驟212;鋼渣落點預測步驟220包含步驟221和步驟222;以及遠端監控步驟230包含步驟231和步驟232。在本發明之實施例中,鋼渣接取方法200可透過圖1所示的鋼渣接取系統100來實現,或是可透過能夠實現類似功能的類似架構來實現。在下文中,圖3的鋼渣接取方法200結合圖1的鋼渣接取系統100來進行說明。
Please refer to FIG. 2, which is a schematic diagram of a
在接渣車定位步驟210中,首先進行步驟211以獲取接渣車170的位置影像。如圖1所繪示,接渣車170承載著接渣桶180,並用以行駛至轉爐160下方的
相應位置進行接渣,其中接渣車170的車體設置有至少一個電子標籤190(事實上,可以設置有更多個電子標籤)。而架設於接渣車170之行駛環境中的影像擷取裝置110會擷取接渣車170的影像,並提供至作業系統130。
In the slag receiving vehicle positioning step 210, step 211 is first performed to obtain the position image of the
接著進行步驟212,以辨識出接渣車170的位置資訊。具體來說,作業系統130接收來自影像擷取裝置110所擷取之接渣車170的影像,並利用April Tag視覺辨識方法以透過電子標籤190與影像擷取裝置110的相對位置座標轉換,進而計算出接渣車170的位置資訊、接渣桶180的定位資訊等,例如,可計算出接渣桶180與轉爐160的中心之間的距離,使工作人員可得知接渣桶180的安全接渣範圍。相較於其他種車輛定位技術,例如超寬頻(Ultra-Wideband;UWB)定位技術、全球定位系統(Global Positioning System;GPS)、即時動態(Real Time Kinematic;RTK)定位技術或光學雷達(Light Detection and Ranging;LiDAR)定位技術等,本發明之實施例採用視覺辨識技術(例如,二維碼及April Tag等)實現對接渣車的定位,可提供較少的建置成本及占用較小的架設空間。除此之外,相較於二維碼辨識技術,本發明之實施例採用April Tag辨識技術,可在更遠的距離、更低的辨識率、不均勻的照明或雜亂的環境中自動辨識電子標籤和定位,降低複雜度的同時亦具有定位精度。
Then, step 212 is performed to identify the position information of the
請繼續參照圖2,接著進入鋼渣落點預測步驟220。在鋼渣落點預測步驟220中,首先進行步驟221以獲取轉爐160的轉爐資訊。在本發明之實施例中,轉爐160的轉爐資訊可由程控電腦120以穩定的取樣頻率(例如,1秒/筆的取樣頻率)進行擷取並提供至作業系統130。
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
接著進行步驟222以計算出轉爐160的鋼渣落點預測資訊。具體來說,鋼渣落點預測步驟220還包含利用轉爐160的歷史轉爐資訊預先建立鋼渣落點預測模型,其中歷史轉爐資訊包含多種會影響鋼渣之傾倒拋物線或鋼渣之落點位置的參數,例如歷史轉爐角度、歷史轉爐溫度及歷史鋼渣種類等,本發明並不以此為限。接著,作業系統130將實際應用時所獲得之轉爐160的轉爐資訊輸入至預先建立好的鋼渣落點預測模型,並計算出轉爐160的鋼渣落點預測資訊(即,預測的鋼渣傾倒拋物線和鋼渣落點位置)。
Then, step 222 is performed to calculate the slag drop point prediction information of the
請繼續參照圖2,接著進入遠端監控步驟230。在遠端監控步驟230中,首先進行步驟231以接收接渣車170的位置資訊及轉爐160的鋼渣落點預測資訊。在本發明之實施例中,使用者介面系統140會接收接渣車170的位置資訊及轉爐160的鋼渣落點預測資訊。
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
接著進行步驟232以建立同步於接渣車170及轉爐160之作動的同步動畫模型。在本發明之實施例中,使用者介面系統140以網頁的方式呈現作業系統130所
提供的資訊,並根據接渣車170的位置資訊及轉爐160的鋼渣落點預測資訊建立與接渣車170及轉爐160作動一致的同步動畫模型,方便工作人員直接觀看使用者介面系統140之畫面上的同步動畫進行接渣操控。
Then, step 232 is performed to establish a synchronized animation model that is synchronized with the movement of the
請參照圖3,其係繪示根據本發明實施例之使用者介面系統140的示意圖。使用者介面系統140包含影像顯示區141和142、資訊區143以及同步動畫顯示區144。影像顯示區141用以顯示接渣車170的實際行車影像,影像顯示區142用以顯示轉爐160的實際爐下影像,事實上可以包含更多或更少的影像顯示區以監控實際的接渣畫面,本發明並不在此限。資訊區143用以顯示轉爐160的轉爐角度、接渣桶中心位置C(空心圓圈)與鋼渣落點預測位置P(實心圓)之間的距離、鋼渣傾倒拋物線或其他與接渣過程相關的參考數據等,本發明並不以此為限。同步動畫顯示區144用以顯示同步動畫模型,並監控接渣桶中心位置C及鋼渣落點預測位置P是否相互對應。同步動畫模型會同步模擬實際的相關接渣設備(包含轉爐160、接渣車170及接渣桶180)之作動、接渣桶中心位置C及鋼渣落點預測位置P。具體來說,工作人員可經由同步動畫顯示區144的同步動畫模型來操控實際的接渣車170或實際的轉爐160,使接渣桶中心位置C與鋼渣落點預測位置P可大致相符或完全相符,藉此以完成遠端接渣。
Please refer to FIG. 3, which is a schematic diagram of a
依據本發明之鋼渣接取方法及系統,適於對轉爐進行遠端接渣,利用影像進行車輛定位演算法以獲得接渣 車的即時位置,並建立鋼渣落點預測模型以預測鋼渣落點位置,更進一步創建同步動畫以模擬實際接渣設備的作動,最後整合於使用者介面以供工作人員監控整個接渣過程,因此,接渣桶與轉爐之間的接渣過程能夠更加精確。總結來說,本發明之鋼渣接取方法及系統能夠使工作人員進行遠端操控接渣,並藉由定位資訊及預測資訊提高接渣的準確度,減少接渣不良、鋼渣液出、渣車燒毀、渣爆意外或危害人員安全的事故發生。 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.
雖然本發明已以實施方式揭示如上,然其並非用以限定本發明,任何在此技術領域中具有通常知識者,在不脫離本發明之精神和範圍內,當可作各種之更動與潤飾,因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。 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:鋼渣接取系統 100:Steel slag receiving system
110:影像擷取裝置 110: Image capture device
120:程控電腦 120: Program-controlled computer
130:作業系統 130: Operating system
140:使用者介面系統 140: User interface system
150:影像監控裝置 150: Image monitoring device
160:轉爐 160: Converter
170:接渣車 170: Slag truck
180:接渣桶 180: Slag collecting bucket
190:電子標籤 190: Electronic label
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US11475180B2 (en) | 2018-03-09 | 2022-10-18 | Tata Consultancy Services Limited | System and method for determination of air entrapment in ladles |
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US11475180B2 (en) | 2018-03-09 | 2022-10-18 | Tata Consultancy Services Limited | System and method for determination of air entrapment in ladles |
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