WO2020238715A1

WO2020238715A1 - Safe and reliable molten metal pretreatment automatic slagging method and system

Info

Publication number: WO2020238715A1
Application number: PCT/CN2020/091179
Authority: WO
Inventors: 于艳; 孙兴洪; 张宇军; 李火中; 汪圣军
Original assignee: 宝山钢铁股份有限公司
Priority date: 2019-05-31
Filing date: 2020-05-20
Publication date: 2020-12-03
Also published as: CN112091206A; KR20220024208A; CN112091206B

Abstract

Disclosed is a safe and reliable molten metal pretreatment automatic slagging method, comprising the steps of: acquiring an image of a molten metal ladle mouth region, and preprocessing the image; identifying a ladle wall, molten metal and molten metal slag in the image so as to divide the image into a ladle wall near area, a slagging deceleration area, a slag flowing mouth area and a rapid slagging area on the basis of an identification result; making a slagging strategy on the basis of image partitioning; and under the guidance of the slagging strategy, finding an optimal slagging path on the basis of the position of the molten metal slag in the image, wherein the optimal slagging path is a path with the minimum ratio of slagging time to slagging amount, and during automatic slagging, controlling a slagging head to execute the slagging strategy and to perform slagging according to the optimal slagging path. Further disclosed is a safe and reliable molten metal pretreatment automatic slagging system. By means of the automatic slagging method and system, the safety of slagging can be effectively improved, and a ladle wall is prevented from being damaged due to a slagging device colliding with the ladle wall.

Description

A safe and reliable hot metal pretreatment automatic slag removal method and system

Technical field

The invention relates to a hot metal pretreatment method and system, in particular to a hot metal pretreatment slagging method and system.

Background technique

With the requirement of high-quality steel products in the metallurgical industry, the molten iron before entering the converter steelmaking needs to undergo pretreatment. In the early stage of this process, the blast furnace slag must be smashed, and then the molten iron will be fully contacted with the molten iron by powder spraying or stirring, so that desulfurization, dephosphorization and desiliconization can be performed with the greatest efficiency. Since the product after the reaction is slag and has a lighter density than molten iron, it floats on the surface of the molten iron. Therefore, the desulfurized slag floating on the surface of the molten iron should be removed in the later stage of the process. Different steel grades have different requirements for the amount of residue at the end of slagging. For steel grades with high purity requirements, the lower the requirement for residue.

However, at present, the slag removal operation in this process is mainly operated manually by the operator, and the contents of the operation include:

1) Manually operate the tilting trolley to turn the ladle from the vertical position to a certain angle, stop, and wait for slag removal;

2) Manually observe the position of the slag on the surface of the molten iron, and manually operate the operation handle of the slag raking machine to remove the slag on the surface of the molten iron into the slag tray one at a time;

3) For different steel grades, judge the amount of residue based on the human eye to determine whether to end the slagging;

4) Manually operate the tilting trolley to return the ladle to the vertical position.

It should be pointed out that manual operation not only has a harsh operating environment and high labor intensity, but also requires high professional operation skills for operators. The time for slagging of different operators varies greatly, and the effect and quality of slagging are also different. Human factors have a great influence, which can easily cause fluctuations in the quality of molten iron.

The publication number is CN1507971, the publication date is June 30, 2004, and the Chinese patent document entitled "Automatic slagging method and device" discloses an automatic slagging method. In the technical solution disclosed in this patent document, a visual sensor is used to detect the slag on the surface of the molten iron, and the image is input to the computer. After the image is processed, the computer outputs a signal to the manipulator of the programmable controller to control the slag removal device to perform the slag removal operation.

In addition, the publication number is CN105353654A, the publication date is February 24, 2016, and the Chinese patent document entitled "A system and method for detecting and controlling molten iron slagging based on image processing" discloses a molten iron based on image processing. Slag removal detection and control system. In the technical solution disclosed in the patent document, it uses real-time monitoring of the slagging process, and determines the slagging level on-line according to the slagging standard database.

In addition, the publication number is CN108986098A, the publication date is December 11, 2018, and the Chinese patent document titled "A method for intelligent slagging of molten iron based on machine vision" discloses a method for intelligent slagging of molten iron based on machine vision. In the technical solution disclosed in the patent document, it adopts real-time acquisition of image information of the target area, and the first area of interest and the second area of interest are set according to the real-time image information. In the first area of interest, the image is mainly used to identify the slag shovel, and there is a shovel to indicate that the slagging operation is in progress; in the second area of interest (there is no shovel area) to identify the amount of slag in the molten iron, in the second sense The region of interest is divided into several sub-regions, the area of slag in each sub-region is calculated, and the sub-region with the largest slag area is regarded as the area to be slag-off.

In the above-mentioned prior art, there is safety. This is because the temperature of the molten iron ladle wall is not too different from the temperature of the molten iron, especially when there is smoke and dust, the recognition is not very clear, and the slag scraper is easy to hit Pack the wall, causing equipment damage. In the published literature, only the equipment and method for automatic slag removal are mentioned, and it is not mentioned how to prevent the slag removal head from colliding with the molten iron ladle wall.

Summary of the invention

One of the objectives of the present invention is to provide a safe and reliable hot metal pretreatment automatic slagging method. The hot metal pretreatment automatic slagging method can effectively reduce the labor intensity of the operators and improve the manpower efficiency, and can also effectively improve the slagging method. The safety, avoid the situation that the slag raking device collides with the bag wall and is damaged.

In order to achieve the above objective, the present invention proposes a safe and reliable method for automatic slagging of molten iron pretreatment, which includes the steps:

Collect images of the ladle mouth area and preprocess the images;

Recognize the ladle wall, molten iron and molten iron slag in the image, and divide the image based on the recognition results: near ladle wall area, slag removal deceleration area, slag flow mouth area and fast slag removal area, of which the slag removal deceleration area is Adjacent to the area near the cladding wall and inside the area near the cladding wall, the rapid slag removal zone is adjacent to and located inside the slag removal deceleration zone; and based on the recognition result, the position of the molten iron slag in the image is determined; when the image is partitioned Based on this, formulate a slag removal strategy: the slag removal head does not enter the wall area during the slag removal process, quickly removes the slag in the fast slag removal area, slows down in the slag removal deceleration zone, and raises it in the slag flow opening area to prevent collision Slag port; and under the slag removal strategy, based on the position of molten iron slag in the image, find the optimal slag removal path, the optimal slag removal path is the path with the smallest ratio of slag removal time to slag removal amount;

In the automatic slagging process, the slagging head is controlled to execute the slagging strategy and follow the optimal slagging path for slagging.

Further, in the safe and reliable hot metal pretreatment automatic slag removal method of the present invention, the image includes one of a visible light image, an infrared image, and a far infrared image.

Further, in the safe and reliable hot metal pretreatment automatic slag removal method of the present invention, when the image is preprocessed, the image is converted into a gray image; then the gray image is image enhanced, binarized and To noise processing.

Further, in the safe and reliable hot metal pretreatment automatic slag removal method of the present invention, when the image is recognized, an improved dynamic threshold method is used to identify molten iron slag, wherein: when the gray value of a certain pixel is less than When max(g), the pixel is marked as 0 and judged as molten iron slag, where Max(g)=α×(Max(w1×w2×(u1-u2)×(u1-u2))); Where α represents the adjustment coefficient, which represents the influence of noise and interference on the image, and its value range is 0＜α≤1. When there is no interference and noise, the value of α is 1; when there is noise and interference, noise and interference The larger the value, the smaller the value of α; w1 represents the ratio of the number of front spots in the image to the image; w2 represents the ratio of the number of background points to the image; u1 represents the average gray level of the foreground; u2 represents the average gray level of the background; g represents the foreground and background The variance between.

In the above solution, considering that the slagging working conditions of each furnace are not the same, in order to avoid the size difference between the noise and the target, the multi-peak situation occurs, and the recognition accuracy is reduced. Therefore, in the technical solution of the present invention Preferably, an improved dynamic threshold method can be used to identify molten iron slag.

According to the gray value of the image, 255 means white, which means all molten iron; 0 means black, which means slag; when the gray value of the pixel is less than max(g), the pixel is marked as 0, and the area of the micro area is all The area considered to be slag.

Further, in the safe and reliable automatic slagging method for molten iron pretreatment according to the present invention, the optimal slagging path model is:

Wherein, Opm (Slag, t) represents the optimal path slag, S _i represents the area of a single pixel has an area of slag, N represents the sum of the number of pixels as a molten slag in the region of the head through the slag; T represents a single Time for slagging off.

In the above solution, the module for slagging path optimization can be used to determine the position of the identified slag, and within the area of the slagging head, calculate the shortest slagging distance and the path of the largest amount of slag.

Further, in the safe and reliable automatic slag removal method for molten iron pretreatment according to the present invention, the method further includes: starting the air blowing and slag removal device based on the starting condition to gather the dispersed molten iron slag; the starting condition is: recognition The molten iron slag amount slag% is less than the set threshold slag _a %, which is used to characterize the total area of molten iron slag in the image.

Correspondingly, another object of the present invention is to provide a safe and reliable molten iron pretreatment automatic slagging system, which can effectively reduce the labor intensity of the operators and improve the labor efficiency. It can also effectively improve the safety of slagging, and avoid the situation that the slagging device collides with the bag wall and is damaged.

In order to achieve the above objective, the present invention proposes a safe and reliable automatic slag removal system for molten iron pretreatment, which includes:

Mucking off device, which is used to perform slagging off action;

Image collection device, which collects images of the molten iron ladle mouth area;

Storage module, which stores the image transmitted by the image acquisition device;

An image recognition module, which preprocesses the image stored in the storage module, and then recognizes the package wall, molten iron and molten iron slag in the image;

Slag removal strategy module, which is based on the recognition results of the image recognition module to divide the image: near the wall area, slag removal deceleration area, slag flow port area and fast slag removal area, of which the slag removal deceleration area is adjacent to the area near the slag wall And in the area near the inner side of the cladding wall, the rapid slagging zone is adjacent to and located inside the slagging deceleration zone; and on the basis of dividing the image, the slagging strategy is formulated;

Path optimization module, which determines the position of molten iron slag in the image based on the recognition result of the image recognition module, and finds the optimal slag removal path, which is the path with the smallest ratio of slag removal time to slag removal amount;

The control module controls the slagging device to execute the slagging strategy and performs slagging according to the optimal slagging path.

Further, in the safe and reliable molten iron pretreatment automatic slag removal system of the present invention, the image acquisition device includes one of a visible light camera, an infrared camera, and a far infrared camera.

Further, in the safe and reliable molten iron pretreatment automatic slagging system of the present invention, the slagging device is also provided with a sensor or encoder, and the sensor or encoder is connected to the control module to connect the detected slagging device The displacement amount is transmitted to the control module.

Further, in the safe and reliable molten iron pretreatment automatic slag removal system of the present invention, it also includes an air blowing and slag removal device, which is connected to the control module, and the control module starts the air blowing and slag removal device based on the starting conditions to disperse The molten iron slag gathered together; the starting condition is: the identified molten iron slag amount slag% is less than the set air blowing and slag driving start threshold slag _a %, where the molten iron slag amount adopts the area occupied by molten iron slag in the image (ie To the total area) ratio.

Compared with the prior art, the safe and reliable method and system for automatic slag removal of molten iron pretreatment according to the present invention have the following advantages and beneficial effects:

The automatic slagging method for molten iron pretreatment of the present invention can effectively reduce the labor intensity of the operators and improve the manpower efficiency, and can also effectively improve the safety of slagging, and avoid the situation that the slagging device collides with the bag wall and is damaged. .

In addition, the automatic slag removal system for molten iron pretreatment of the present invention also has the above-mentioned advantages and beneficial effects.

Description of the drawings

Fig. 1 is a schematic structural diagram of a molten iron ladle tipping trolley in an embodiment of the safe and reliable automatic slag removal method for molten iron pretreatment according to the present invention.

Fig. 2 schematically shows the structure of the safe and reliable molten iron pretreatment automatic slagging system according to the present invention in an embodiment.

Fig. 3 schematically shows the identification of the ladle wall, molten iron and molten iron slag in the image in an embodiment of the safe and reliable automatic slag removal method for molten iron pretreatment according to the present invention.

Fig. 4 schematically shows the process of formulating a slagging strategy in an embodiment of the safe and reliable automatic slagging method for molten iron pretreatment according to the present invention.

Fig. 5 schematically shows the data system framework of the safe and reliable molten iron pretreatment automatic slagging system according to the present invention in one embodiment.

6 is a schematic flow diagram of the safe and reliable automatic slag removal system for molten iron pretreatment according to an embodiment of the present invention.

Detailed ways

The following will further explain the safe and reliable automatic slagging method and system for molten iron pretreatment according to the invention according to the specific embodiments of the invention and the accompanying drawings, but the description does not constitute an improper limitation of the invention.

Fig. 1 is a schematic structural diagram of a slagging device in an embodiment of the safe and reliable automatic slagging method for molten iron pretreatment according to the present invention.

As shown in Figure 1, after the ladle 1 is hoisted by the crane on the seat frame of the tipping trolley 2, the slag raking begins. When slagging, first tilt the tipping trolley 2 to make the ladle 1 tilt from the vertical position to the slagging position at a certain angle to the ground. The tilt angle can be measured, and the measurement method can be an external inclinometer, or an encoder can be installed on the rotating shaft of the tilting trolley 2.

Subsequently, when it is determined that the ladle tipping trolley 2 is already at the slagging position and the ladle is already on the trolley, the automatic slagging is started.

Among them, the structure of the automatic slag removal system for hot metal pretreatment can refer to Figure 2. Fig. 2 schematically shows the structure of the safe and reliable molten iron pretreatment automatic slagging system according to the present invention in an embodiment.

As shown in Figure 2, the image acquisition device 31 records the image of the ladle mouth in real time, and transmits the image to the computer system for digital and continuous storage. Since the color of the molten iron slag is very different from the color of the ladle mouth, it can be Recognize whether there is slag flowing out of the ladle mouth of the molten iron ladle, if there is no slag overflow, continue to tilt, and if there is slag overflow, the tilting mechanism stops tilting, and the ladle stays at the slag slagging position for slag slagging, through this embodiment The automatic slag removal system for molten iron pretreatment in, which can remove the slag 4 floating on the surface of the molten iron 5 into the slag tank 6. The automatic slag removal system for molten iron pretreatment includes: a slag removal device 32, which is used to perform slag removal Image acquisition device 31, which acquires images of the molten iron ladle area. In some embodiments, the image acquisition device may be at least one of a visible light camera, an infrared camera or a far-infrared camera, and the collected images include: visible light images , One of infrared images and far-infrared images; storage module, which stores the image transmitted by the image acquisition device; image recognition module, which preprocesses the image stored in the storage module, and performs preprocessing on the package wall, molten iron, and The molten iron slag is identified; the slag removal strategy module, which is based on the recognition results of the image recognition module, is divided on the image: near the wall area (ie, area A shown in Figure 3), slag removal deceleration zone (ie, shown in Figure 3) Area B shown), slag opening area (area C shown in Figure 3) and fast slag removal area (area D shown in Figure 3), where the slag removal deceleration zone is adjacent to the area near the wall and Located in the area near the inner side of the wall area, the fast slagging zone is adjacent to and located inside the slagging deceleration zone; and on the basis of dividing the image, the slagging strategy is formulated; the path optimization module is based on the recognition of the image recognition module As a result, the position of molten iron slag in the image is determined, and the optimal slag removal path is found. The optimal slag removal path is the path with the smallest ratio of the slag removal time to the slag removal amount; and a control module that controls the slag removal device 32 to execute Slag slagging strategy and follow the optimal slag slagging path.

And in this embodiment, according to the slag ratio and the degree of dispersion recognized by the image, the control module activates the air blowing and slag removal device 33 connected to the control module based on the pneumatic condition to gather the dispersed molten iron slag; the starting condition is : The identified molten iron slag amount slag% is less than the set air blowing and slag driving start threshold slag _a %, and the molten iron slag amount is characterized by the area ratio of molten iron slag in the image.

When the air blowing and slag removal device 33 performs slag removal, it first controls the air blowing and slag removal gun to descend, and when it reaches a certain height from the liquid level (for example, 1000mm), it automatically opens the nitrogen blowing valve to blow nitrogen. When the insertion depth reaches the set depth, the descent will stop. Keep blowing and slag removal at this height. When the image recognition module determines that the amount of slag in the molten iron ladle reaches the slag requirement of the steel grade, it will issue a gun-raising command to the blowing and slag removal gun. , Blow the slag gun to lift the gun.

In the above-mentioned solution, the images collected in real time by the image acquisition device can be analyzed to determine the automatic tilting and tilting stop positions of the upper tilting table of the molten iron tilting trolley, so as to realize the automatic tilting of the tilting table of the trolley.

Finally, according to the process requirements of the amount of residues of different steel grades, the slagging end point is determined, and the slagging machine automatically stops slagging. After the slagging stops, the trolley tilting table automatically tilts to the zero position, and the ladle tilting trolley automatically moves to the lifting position.

It should be noted that when the image is preprocessed, the image can be converted into a grayscale image; then the grayscale image is processed for image enhancement, binarization, and noise removal. Because the temperature of the slag, molten iron, and the ladle wall are different, the color is also different, so it can be identified through the automatic processing of the gray threshold.

When recognizing the image, an improved dynamic threshold method is used to identify molten iron slag. When the gray value of a certain pixel is less than max(g), the pixel is recorded as 0 and judged as molten iron slag. Max(g)=α×(Max(w1×w2×(u1-u2)×(u1-u2))); where α represents the adjustment coefficient, which represents the influence of noise and interference on the image, and its value range is 0＜α≤1, when there is no interference and noise, the value of α is 1; when there is noise and interference, the greater the noise and interference, the smaller the value of α; w1 represents the ratio of the number of previous scenic spots in the image to the image ; W2 represents the proportion of background points in the image; u1 represents the average gray level of the foreground; u2 represents the average gray level of the background; g represents the variance between the foreground and the background.

It should be pointed out that α is used to adjust the influence of noise and interference on the image. According to the degree of interference, the value range of α is 0<α≤1, because the interference is uneven and has areas on the image. Nature, therefore, in different areas according to the actual situation, to achieve the calculation of the gray value under noise and interference conditions.

In addition, in the above scheme, the model of the optimal slagging path is:

As shown in Figure 3, area A represents the area near the bag wall, which is the area close to the bag wall. In this area, the slagging device can easily collide with the bag wall. Therefore, this area is forbidden to enter the slagging device's nose area. Zone B represents the deceleration zone for slag removal, which is the area adjacent to and inside the area near the cladding wall. Area C represents the slagging port area. In this area, the slagging head of the slagging device needs to be automatically raised to avoid collision with the slagging port area, while area D represents the fast slagging area, fast slagging area and slagging deceleration area Adjacent and located on its inside.

As shown in Figure 4, after path planning, the position X and Y of the slag are output. If the location of X and Y is in area A, re-plan the path. If the position of X, Y is in zone _B , the slagging will be carried out at speed V _B ; if the position of X, Y is in zone _C , the slagging will be carried out at speed V _C and the slagging arm is raised by ΔH _c ; if If it is judged that the position of X and Y is not in the A, B, or C area, the slagging will be carried out at the speed V.

In some preferred embodiments, the slag raking device 32 may use a slag raking machine with a sensor or an encoder to record the movement displacement.

The storage module, the image recognition module, the slagging strategy module, the path optimization module, and the control module can be implemented by an industrial computer with model calculation or control processing, or a computer or server.

As can be seen in combination with Figures 5 and 6, the automatic slagging method for molten iron pretreatment in this embodiment includes the following steps:

Collect images of the ladle mouth area and preprocess the images;

Recognize the ladle wall, molten iron and molten iron slag in the image, and divide the image based on the recognition results: near ladle wall area, slag removal deceleration area, slag flow mouth area and fast slag removal area, of which the slag removal deceleration area is Adjacent to the area near the cladding wall and inside the area near the cladding wall, the rapid slag removal zone is adjacent to and located inside the slag removal deceleration zone; and based on the recognition result, the position of the molten iron slag in the image is determined; when the image is partitioned Based on this, formulate a slag removal strategy: the slag removal head does not enter the wall area during the slag removal process, quickly removes the slag in the fast slag removal area, slows down in the slag removal deceleration zone, and raises it in the slag flow opening area to prevent collision Slag port; and under the slagging strategy, based on the position of molten iron slag in the image, find the optimal slagging path, the optimal slagging path is the path with the shortest slagging time and the largest amount of slagging;

In the automatic slagging process, the slagging head is controlled to execute the slagging strategy and perform slagging according to the optimal slagging path.

In summary, it can be seen that the automatic slagging method for molten iron pretreatment of the present invention can effectively reduce the labor intensity of operators and improve manpower efficiency, and can also effectively improve the safety of slagging and avoid the appearance of slagging devices. Damage caused by collision with the wall.

It should be noted that the prior art part of the protection scope of the present invention is not limited to the embodiments given in this application document, and all prior art that does not contradict the solution of the present invention includes but is not limited to the previous Patent documents, prior publications, prior publications, etc. can all be included in the protection scope of the present invention.

In addition, the combination of various technical features in this case is not limited to the combination described in the claims of this case or the combination described in the specific embodiments. All technical features described in this case can be freely combined or combined in any way, unless There are contradictions between each other.

It should also be noted that the embodiments listed above are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and the subsequent similar changes or modifications can be directly derived from or easily associated with the disclosure of the present invention by those skilled in the art, and should fall within the protection scope of the present invention. .

Claims

A safe and reliable automatic slag removal method for molten iron pretreatment, which is characterized in that it comprises the following steps:

Collect an image of the ladle mouth area and preprocess the image;

The ladle wall, molten iron and molten iron slag in the image are identified, and based on the recognition results, the image is divided into: near ladle wall area, slag removal deceleration area, slag flow mouth area, and fast slag removal area. The slagging speed reduction zone is an area adjacent to and located inside the near cladding wall area, and the fast slagging slagging zone is adjacent to and located inside the slagging speed reduction zone;

Based on the recognition result, determine the position of the molten iron slag in the image;

On the basis of partitioning the image, a slagging strategy is formulated: the slagging head does not enter the near-wall area during the slagging process, and the slagging area is quickly slagging, and the slagging is slowed down. The zone decelerates and is raised in the slag flow port area to prevent collisions with the slag chucking port;

And under the slagging strategy, based on the position of the molten iron slag in the image, find an optimal slagging path, where the optimal slagging path is the path with the smallest ratio of the slagging time to the slagging amount;

In the automatic slagging process, the slagging head is controlled to execute the slagging strategy and perform slagging according to the optimal slagging path.
The safe and reliable method for automatic slag removal of molten iron pretreatment according to claim 1, wherein the image includes one of a visible light image, an infrared image and a far infrared image.
The safe and reliable hot metal pretreatment automatic slag removal method according to claim 1, wherein when the image is preprocessed, the image is converted into a grayscale image; then the grayscale image is processed Image enhancement, binarization and denoising processing.
The safe and reliable hot metal pretreatment automatic slag removal method according to claim 1, characterized in that when the image is recognized, an improved dynamic threshold method is used to identify molten iron slag, wherein: When the degree value is less than max(g), the pixel is recorded as 0 and judged as molten iron slag, where Max(g)=α×(Max(w1×w2×(u1-u2)×(u1-u2)) ); where α represents the adjustment coefficient, which represents the influence of noise and interference on the image, and its value range is 0<α≤1. When there is no interference and noise, the value of α is 1; when there is noise and interference, The greater the noise and interference, the smaller the value of α; w1 represents the ratio of the number of front spots in the image to the image; w2 represents the ratio of the number of background points to the image; u1 represents the average grayscale of the foreground; u2 represents the average grayscale of the background; g represents The variance between the foreground and the background.
The safe and reliable hot metal pretreatment automatic slagging method according to claim 1, wherein the model of the optimal slagging path is:

Wherein, Opm (Slag, t) represents the optimal path slag, S i represents the area of a single pixel has an area of slag, N represents the sum of the number of pixels as a molten slag in the region of the head through the slag; T represents a single Time for slagging off.
The safe and reliable automatic slag removal method for molten iron pretreatment according to any one of claims 1 to 5, further comprising: starting the air blowing and slag removing device based on the starting conditions to gather the dispersed molten iron slag together The starting condition is: the identified molten iron slag amount slag% is less than the set blowing and slag starting threshold slag a %, wherein the molten iron slag amount is characterized by the proportion of the area occupied by molten iron slag in the image.
A safe and reliable automatic slag removal system for molten iron pretreatment, which is characterized in that it includes:

Mucking off device, which is used to perform slagging off action;

Image collection device, which collects images of the molten iron ladle mouth area;

A storage module, which stores the image transmitted by the image acquisition device;

An image recognition module that, after preprocessing the image stored in the storage module, recognizes the package wall, molten iron, and molten iron slag in the image;

A slag removal strategy module, which is based on the recognition result of the image recognition module to classify on the image: a near wall area, a slag removal deceleration area, a slag flow port area and a fast slag removal area, wherein the slag removal deceleration area Is an area adjacent to the near-wall area and located inside the near-wall area, the rapid slag removal area is adjacent to and located inside the slag removal deceleration zone; and on the basis of partitioning the image , Formulate slag removal strategy;

Path optimization module, which determines the position of molten iron slag in the image based on the recognition result of the image recognition module, and finds the optimal slag removal path, where the optimal slag removal path is the time and amount of slag removal The path with the smallest ratio;

A control module that controls the slagging device to execute the slagging strategy and performs slagging according to the optimal slagging path.
The safe and reliable automatic slag removal system for molten iron pretreatment according to claim 7, wherein the image acquisition device includes one of a visible light camera, an infrared camera, and a far infrared camera.
The safe and reliable molten iron pretreatment automatic slagging system according to claim 7, wherein the slagging device is also provided with a sensor or an encoder, and the sensor or encoder is connected to the control module to detect The displacement amount of the slagging device is transmitted to the control module.
The safe and reliable automatic slag removal system for molten iron pretreatment according to any one of claims 7-9, further comprising an air blowing and slag removal device, which is connected to the control module, which is based on starting Conditions start the blowing and slag removal device to gather the scattered molten iron slag;

The starting condition is that the identified molten iron slag amount slag% is less than the set air blowing and slag driving start threshold slag a %, wherein the molten iron slag amount is characterized by the proportion of the area occupied by the molten iron slag in the image.