WO2021190568A1 - Fully-automatic slag dumping method and system for converter - Google Patents

Abstract

Disclosed is a fully-automatic slag dumping method for a converter, comprising: collecting and storing a real-time image of a hot slag flow in a slag dumping process of the converter; determining a feature boundary of the hot slag flow on the basis of image recognition; selecting a tracking region in a path of the hot slag flow falling from a converter mouth to a slag pot; calculating the area of slags within the tracking region in real time; when the area of the slags within the tacking region is greater than a set detection threshold, controlling a real-time tilting angular velocity according to the ratio of the area of the slags within the tracking region to the area of the tracking region; calculating a real-time tilting angle of the converter and a real-time position of a slag pot trolley, and enabling the slag pot to receive the slags dumped from the converter in real time; and when the area of the slags within the tacking region is smaller than the set detection threshold, stopping tilting the converter and starting turning back the converter. In addition, further disclosed is a fully-automatic slag dumping system for a converter.

Description

Method and system for fully automatic slag dumping of converter Technical field

The invention relates to a slag dumping method and system, in particular to a converter fully automatic slag dumping method and system.

Background technique

At present, in the world, the converter smelting of major steel plants basically adopts model steelmaking, which realizes the one-key operation of the blowing process, and as the converter automatic tapping technology has been put into use, the tapping process of the converter is also changed. The way of manual operation is changed to automatic operation. After the converter steel is tapped, another key step is to dump the converter slag generated during the smelting process. Depending on the smelting process of the converter, all or part of the converter slag needs to be poured out before the molten iron and scrap are poured into the next furnace. In the slag tank (also called slag bag), it is transported to the slag processing center for centralized processing by the slag tank trolley.

Usually converter slag dumping includes the following steps:

1) Drive the slag tank trolley to the position of receiving slag;

2) The converter is tilted, and the slag in the converter is poured out from the large furnace mouth of the converter;

3) Operate the slag tank trolley so that the slag is poured into the slag tank on the truck;

4) According to the requirements of the steel smelting process, dump the converter slag into the slag pot, and stop the dumping after the dumping is completed;

5) Shake the converter back to the vertical position to complete the entire slag dumping process.

It should be pointed out that the viscosity of the slag is related to the characteristics of steel smelting and the slag making process. The viscosity of the slag is different, the speed of the slag flowing out and the location of the drop point are also different. Therefore, in the existing converter slag dumping steps, the manual operation of the converter tilting is currently used, while observing the falling point of the slag flow to move the position of the slag tank trolley to ensure that the tilting of the converter matches the movement of the slag tank trolley accurately. .

However, such operations have high technical requirements for the operators, and there is a risk of safety accidents caused by the slag poured out of the slag pot due to improper operations of the operators. In addition, smoke and splashing will be generated during the slag dumping process, which has higher requirements for personnel safety protection.

The publication number is CN106987675A, the publication date is July 28, 2017, and the Chinese patent document titled "A control system and control method for the converter tapping process" discloses a control method and control system for the converter tapping process. In the technical solution disclosed in this patent document, the automatic control method of the converter tapping process is realized by adopting a ladle weighing device, a converter furnace mouth monitoring device, a converter wall refractory wall thickness monitoring device, a server, and a controller. It avoids the randomness in the manual tapping process, has high measurement accuracy, can improve the stability of production, and improve the output and quality of molten steel.

In addition, the publication number is CN107099637A, the publication date is August 29, 2017, and the Chinese patent document titled "Automatic converter tapping control method and system" also discloses a converter tapping process control method and control system. In the technical solution disclosed in the patent document, the converter is controlled from the initial tapping position to the tapping end position by controlling the converter according to the preset angle of each shaker, and the corresponding tapping time is stayed after the end of each shake. , Realize automatic tapping, improve tapping efficiency, avoid slag mixing with molten steel, and improve tapping quality.

It should be noted that the prior art does not involve automatic converter slag dumping technology. The converter automatic slag dumping is to pour the hot slag of the converter from the large furnace mouth of the converter, and the converter automatic tapping is to remove the molten steel from the converter. The tap is poured out. Although both are automatic tilting converters and the trolley runs automatically, there are similarities, but the two technologies are essentially different.

In the automatic tapping control of the converter, since the molten steel is a fluid, the flow rate of molten steel per unit time is continuously controllable during the tapping process, and the falling curve of the steel flow can be based on the inclination angle of the converter and the structure of the tapping port according to fluid mechanics. Calculation can be preset.

In the process of automatic converter slag dumping, hot converter slag is generally divided into four types: A, B, C, and D according to different viscosity: A slag has the smallest viscosity and has fluidity; D slag has the largest viscosity and basically has no fluidity. For slag with high viscosity, continuous flow cannot be realized, the amount of slag passing per unit time is uncertain, the angle of slag discharge from the converter cannot be predicted in advance, and the position of the slag tank trolley cannot be set in advance. Therefore, new technology is needed. Realize precise dynamic control of the automatic tilting of the converter and the automatic running of the slag tank trolley during the slag dumping process.

Summary of the invention

One of the objectives of the present invention is to provide a method for fully automatic slag dumping of a converter, which is simple, accurate, safe and reliable, and has wide applicability. It can replace manual operation methods in the prior art and effectively improve slag dumping. The success rate, shorten the time of dumping slag, and reduce the labor intensity of related operators, reduce the probability of potential accidents, and improve the working environment.

In order to achieve the above objective, the present invention proposes a method for fully automatic slag dumping of a converter, which includes:

Collect and store real-time images of the hot slag flow during the converter slag dumping process;

Determine the characteristic boundary of the hot slag flow based on image recognition;

Based on the characteristic boundary of the hot slag flow, select the tracking area in the path of the hot slag flow falling from the furnace mouth to the slag pot;

Real-time calculation of the area of the slag in the tracking area;

When the area of the slag in the tracking area is greater than the set detection threshold, the real-time tilting angular velocity of the converter is controlled according to the ratio of the area of the slag in the tracking area to the area of the tracking area; and according to the The real-time tilting angular velocity calculates the real-time tilting angle of the converter, and based on the real-time tilting angle of the converter, calculates the real-time position of the slag tank trolley. By controlling the motor, the slag tank trolley is driven to the target position, so that the slag tank can take over in real time. Slag poured from the converter;

When the area of the slag in the tracking area is less than or equal to the set detection threshold, stop the converter tilting and start the converter rollback.

It should be noted that the "slag tank" mentioned in this technical solution can also be referred to as a "slag bag", and the concepts of the two are interchangeable.

In the technical scheme of the present invention, the method for fully automatic slag dumping of the converter according to the present invention determines the angular velocity control model for the automatic tilting of the converter according to the result of image recognition, and controls the slag according to the position model of the slag tank trolley The position of the tank trolley so that the slag tank trolley is always within the range of the impact point of the slag flow, so that the automatic dumping of the converter slag dumping process is always coordinated with the slag tank trolley, and the dumping stops when the conditions for the end of slag dumping are reached Slag and lift the furnace. Thereby, it can replace the manual operation method of the prior art, reduce the labor intensity of related operators, reduce the probability of accidents, and improve the working environment.

Further, in the method for fully automatic slag dumping of a converter according to the present invention, the real-time image includes one of a visible light image, an infrared image, and a far infrared image.

In the technical scheme of the present invention, the hot slag stream has a relatively high temperature when it flows out, so a variety of image acquisition devices can be used to realize the acquisition of real-time images.

Further, in the method for fully automatic converter slag dumping of the present invention, the real-time image in the tracking area is scanned line by line and pixel by pixel, and the area of each pixel is summed to obtain the tracking area The area inside the slag.

Further, in the method for fully automatic converter slag dumping of the present invention, before the converter starts to dump the slag, but before the hot slag flow enters the tracking area, the real-time tilting angular velocity ω _{i of the converter} Is the set first tilt angular velocity ω ₁ .

Further, in the fully automatic converter slag dumping method of the present invention, when the area of the slag in the tracking area is greater than the set detection threshold, the real-time tilting angular velocity ω _{i of the} converter is based on the following model to make sure:

Wherein, S _i represents the area of the slag in the tracking area, S ₀ represents the area of the tracking area, ω ₁ represents the first tilt angular velocity, b represents the adjustment coefficient, and its value range is 0<b≤1.

Further, in the method for fully automatic slag dumping of a converter according to the present invention, the real-time position x _{i of the} slag tank trolley is determined according to the following model:

x _i = x ₀ + βθ _i

Among them, x ₀ represents the initial position of the traveling; β represents the adjustment coefficient, which ranges from 0.01 to 0.1, and the unit parameter is m/degree; θ _i = θ ₀ +ω _i t, where θ _i represents the real-time tilting angle of the converter , Θ ₀ represents the initial tilting angle of the _{converter, ω i} represents the real-time tilting angular velocity of the converter, and t represents the slag dumping time of the converter.

In the above scheme, the real-time position x _i of the slag tank trolley can be determined according to the model, and the real-time travel displacement (x _i -x ₀ ) of the slag tank trolley is sent to the control system that controls the travel of the slag tank trolley, and the motor drives the slag tank. The tank trolley travels to the target position x _i determined according to the model, so that the slag tank can accurately receive the hot slag flow.

Correspondingly, another object of the present invention is to provide a converter full automatic slag dumping system, using the converter full automatic slag dumping system for slag dumping can not only replace the prior art manual slag dumping operation method, but also can effectively improve the dumping The success rate of slag dumping, shorten the time of dumping slag, improve the safety of dumping slag, reduce the probability of potential accidents, and improve the working environment.

In order to achieve the above objective, the present invention proposes a system for fully automatic slag dumping of a converter, which includes:

Converter, used to perform slag dumping action;

Converter tilt angle measuring device, used to measure the tilt angle of the converter;

The slag tank is set on the slag tank trolley;

The slag tank trolley position detection device is used to detect the real-time position of the slag tank trolley;

Image acquisition device for acquiring real-time images of the hot slag flow during the slag dumping process of the converter;

An image processing module for processing the real-time image;

The storage module is used to store the real-time image and/or the real-time image processed by the image processing module;

The image recognition and calculation module is used to recognize the real-time image to determine the characteristic boundary of the hot slag flow, and calculate the area of the slag in the selected tracking area in real time;

The control module is respectively connected with the converter, the converter inclination angle measuring device, the slag tank trolley, the slag tank trolley position detection device, the image recognition and calculation module, and the control module is set to: when the slag in the tracking area When the area is greater than the set detection threshold, the real-time tilting angular velocity of the converter is controlled according to the ratio of the slag area in the tracking area to the area of the tracking area; and the real-time tilting angular velocity of the converter is calculated according to the real-time tilting angular velocity. Real-time tilting angle, and based on the real-time tilting angle of the converter, calculate the real-time position of the slag pot trolley so that the slag pot can receive the slag poured from the converter in real time; when the area of the slag in the tracking area is less than or equal to the set When the threshold is detected, the converter is controlled to stop tilting and shake back to stop the slag dumping.

Further, in the system for fully automatic slag dumping of a converter according to the present invention, the above-mentioned image acquisition device includes one of a visible light camera, an infrared camera, and a far infrared camera.

Further, in the converter full-automatic slag dumping system of the present invention, the converter inclination angle measuring device includes an encoder or an inclinometer.

Further, in the converter full-automatic slag dumping system of the present invention, the slag tank trolley position detection device includes a non-contact distance meter.

In the above solution, the slag tank trolley position detection device in the converter full-automatic slag dumping system of the present invention may include a non-contact distance meter, and the slag tank trolley position detection device may be connected to the control module to Realize the real-time monitoring of the position of the slag tank trolley, so that the slag tank trolley is always aligned with the hot slag flow.

Compared with the prior art, the safe and reliable method and system for fully automatic converter slag dumping of the present invention has the following advantages and beneficial effects:

The method for fully automatic slag dumping of the converter according to the present invention is simple, accurate, safe and reliable, has wide applicability, and can be applied to various production lines. In addition to replacing the manual operation method of the prior art, it can also effectively improve the success rate of slag dumping, shorten the slag dumping time, reduce the labor intensity of related operators, reduce the probability of potential accidents, and improve the working environment.

In addition, the fully automatic converter slag dumping system 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 method for fully automatic slag dumping of a converter according to an embodiment of the application;

FIG. 2 is a schematic flow chart of a method for fully automatic slag dumping of a converter according to an embodiment of the application;

FIG. 3 is a schematic diagram of the operation flow of the system for fully automatic slag dumping of a converter provided by an embodiment of the application.

Detailed ways

The following will further explain the converter fully automatic slag dumping method and system of the present invention according to the specific embodiments of the present invention and the accompanying drawings, but the description does not constitute an improper limitation of the present invention.

Fig. 1 is a schematic structural diagram of a method for fully automatic slag dumping of a converter according to an embodiment of the application.

As shown in Figure 1, in this embodiment, the converter can be used to perform the slag dumping action. When the converter starts the slag dumping operation, the converter is tilted so that the converter can be tilted from a vertical position to an angle with the ground. The slag position and tilt angle can be measured with a converter tilt angle measuring device.

When the converter is tilted to the slag dumping position, the converter slag in the converter can flow from the large furnace mouth of the converter into the slag pot on the slag pot trolley. Among them, when performing the slag dumping operation, the image acquisition device can collect real-time images of the hot slag flow of the converter during the slag dumping process, and can transmit the collected real-time image data to the computer system. The computer system may include a storage module, Image processing module, image recognition and calculation module, and control module.

Among them, the image processing module can process the real-time image of the hot slag flow, convert the real-time image of the hot slag flow into a grayscale image, and can binarize the grayscale image. The storage module can store the real-time image of the hot slag flow transmitted by the image acquisition device and the real-time image processed by the image processing module. The image recognition and calculation module can recognize the real-time image, determine the characteristic boundary of the hot slag flow, and calculate the area of the slag in the selected tracking area in real time. When in use, the image recognition and calculation module can first determine a tracking area After the hot slag flow passes through the tracking area, the characteristic boundary of the hot slag flow is determined from the binarized image, and the area of the slag in the tracking area can be calculated in real time based on the characteristic boundary, which can realize the correction Dynamic tracking of hot slag flow. The control module can be connected to the converter, the converter inclination device, the slag tank trolley, the image recognition and the calculation module. Based on the real-time change of the hot slag flow, it can output the tilting angular velocity to the converter tilting control system to automatically control the converter's At the same time, the control module can also calculate the real-time position of the slag tank trolley according to the position model of the slag tank trolley, and input the real-time travel displacement of the slag tank trolley to the control system that controls the slag tank trolley. The motor is controlled to drive the slag pot trolley to the target position determined according to the model, so that the slag pot on the slag pot trolley can accept the slag poured from the converter in real time.

It should be noted that because the temperature and color of the hot slag stream are very different from the temperature and color of the surrounding environment, the image acquisition device can be a visible light camera, an infrared camera, or a far-infrared camera, all of which can realize the acquisition converter. The real-time image of the slag flow during the slag dumping process is stored by the storage module. The storage module can store the files continuously recorded by the image acquisition device in digital format to facilitate subsequent processing.

In some embodiments, the converter inclination angle measuring device for measuring the inclination angle of the converter may include an encoder or an inclinometer, the slag tank trolley may be provided with a slag tank trolley position detection device, and the slag tank trolley position detection device may include non-contact Type rangefinder. The slag tank trolley position detection device can be connected with the control module in the computer system to realize real-time monitoring of the position of the slag tank trolley, so that the slag tank trolley is always aligned with the hot slag flow.

Fig. 2 is a schematic flowchart of a method for fully automatic slag dumping of a converter provided by an embodiment of the application.

As shown in FIG. 2, in this embodiment, the method for fully automatic slag dumping of a converter according to the present invention can adopt the following contents:

Collect and store real-time images of the hot slag flow during the converter slag dumping process;

Determine the characteristic boundary of the hot slag flow based on image recognition;

Based on the characteristic boundary of the hot slag flow, select the tracking area in the path of the hot slag flow falling from the furnace mouth to the slag pot;

For the real-time image tracking area progressive scan pixel by pixel, the area of each pixel are summed to obtain the slag within the tracking area of S _i, achieved within the area of the slag is calculated in real time tracking area.

When the area of the slag in the tracking area is greater than the set detection threshold, the control module controls the real-time tilting angular velocity of the converter according to the ratio of the area of the slag in the tracking area to the area of the tracking area. The real-time tilting angle of the converter is obtained according to the real-time tilting angular velocity. Based on the real-time tilting angle of the converter, the real-time position of the slag tank trolley is calculated, and the motor is controlled to drive the slag tank trolley to the target position to make the slag tank The slag tank on the trolley accepts the slag poured from the converter in real time.

According to the area of the slag in the tracking area and the area of the tracking area reaching the maximum value, determine the moment to stop slag dumping, and the converter automatically stops tilting;

Wherein, when the area of the slag in the tracking area is less than or equal to the set detection threshold, stop the converter tilting and start the converter rollback.

Start the automatic reversal of the converter, and raise the furnace according to the set reversal model until the converter returns to the vertical position, and the automatic slag dumping ends.

In addition, it should be noted that to determine the characteristic boundary of the hot slag flow based on image recognition, a variety of image boundary recognition methods known in the art can be used. In this embodiment, only one of the practicable methods is used. For example, the real-time image of the hot slag flow can be converted into a grayscale image. Due to the poor environment of the slag dumping process, there is smoke and dust, and the image is not clear. Therefore, the grayscale image can be enhanced. For example, the existing technology can be used. Gradient sharpening method in the image enhancement. Then the gray image can be denoised and binarized. The denoising can be done by using an image denoising algorithm based on discrete cosine transform, because the noise of the image is in the discrete cosine transform result. In the high frequency part, the amplitude is generally very small, so the noise suppression of the image can be achieved. The binarization processing can be processed by a special function program, for example, metlab or openVC, or other methods known to those skilled in the art can be used.

It should be noted that the selected location of the tracking area can be on the path through which the hot slag flows, and can be selected with a fixed box, and then the characteristic boundary of the tracking area is determined.

Since the color and temperature of the hot slag flow are very different from the temperature and color of the background environment, the junction of the hot slag flow and the background can be used as the characteristic boundary. In the step of determining the characteristic boundary of the slag flow based on image recognition, in order to accurately determine the position of the boundary, a mathematical algorithm may be used to detect the characteristic boundary. The boundary detection algorithm can use existing technologies, such as Laplace operator, Sobel operator, or Canny operator. In the step of scanning the real-time image line by pixel in the tracking area, summing the area of each pixel to obtain the area of the slag in the tracking area, the real-time image can be scanned line by line and pixel by pixel to obtain the entire image the hot slag stream identification value of each pixel position, and then tracking area may heat the slag flow state occupied by pixel summation, calculating slag in the tracking area of S _i.

FIG. 3 is a schematic diagram of the operation flow of the system for fully automatic slag dumping of a converter provided by an embodiment of the application.

As shown in Figure 3, in this embodiment, the position of the converter is in the vertical position, confirm that the slag tank trolley has been cleared at the starting position (ie 0), the converter terminates blowing, and the equipment and public auxiliary conditions of the relevant system (Including the equipment's hydraulic pressure, lubricating oil, etc.) meet the conditions for dumping slag, click the "Automatic slag dumping start" button, the converter will automatically tilt according to the tilting model, and the image acquisition device installed at the slag dumping site can real-time thermal state The video of the slag stream is recorded, and the signal is transmitted to the storage module of the computer system for digital continuous storage.

In this implementation manner, it can be specifically implemented as follows:

During the converter slag dumping operation, press the converter "auto slag dumping" button, the converter will automatically tilt, the tilt angle of the converter is determined according to the model of formula (1):

θ _i =θ ₀ +ω _i t(1), where θ _i represents the real-time tilting angle of the _{converter, θ 0} represents the initial tilting angle of the converter, t represents the slag _{dumping time of the converter, and ω i} represents the real-time tilting angular velocity of the converter . When the converter is vertical, θ ₀ =0. At this time, the converter _{starts to tilt at an angular velocity of ω 1} , and the tilt angle of the converter is θ ₁ =ω ₁ t.

Calculated in real time tracking of the slag in the region of the area, when there is hot slag flow out from the converter mouth, enters into the tracking area, this time can be calculated within the slag S _i tracking area of the image recognition method.

When S _i > S _min is detected, it indicates that a hot slag flow has flowed into the tracking area. Among them, S _min represents the set detection threshold, and the technician can select and set the corresponding S _min according to the needs in the actual application. At this time, the tilting angular velocity ω _{i of the} converter is determined by the formula (2) model:

Where, S _i represents the area of the tracking area of the slag, S ₀ represents the area of the tracking area; b. Represents adjustment coefficient, which is in the range of 0 <b≤1.

In addition, the real-time position x _{i of the} slag tank trolley can also be determined according to the formula (3) model:

x _i = x ₀ + βθ _i (3), where x ₀ represents the initial position of walking; β represents the adjustment coefficient, which ranges from 0.01 to 0.1, the unit parameter is meters/degree (m/°), and θ _i represents The real-time tilt angle of the converter.

Determine the real-time position x _i of the slag tank trolley according to the model, and send the real-time travel displacement (x _i -x ₀ ) of the slag tank trolley to the control system that controls the slag tank trolley, and the motor drives the slag tank trolley to travel to According to the target position x _i determined by the model, the slag tank can accurately receive the hot slag flow.

When the area of the slag in the detected tracking area reaches the maximum value, then the area will gradually decrease. When the area of the slag in the tracking area is less than or equal to the set detection threshold, the converter is controlled to stop tilting and roll back. Stop slag dumping and send a signal to the motor that drives the converter to tilt. The motor drives the converter to start to roll back to the vertical position, and the automatic slag dumping ends. The rollback can be controlled according to the formula (4) model:

θ _i =θ _max -ω _i t(4), where θ _max represents the converter angle at the end of slag dumping, ω _i represents the angular velocity of the converter during reversing, t represents the time to raise the furnace, in s, and θ _i represents the real-time converter Tilt angle.

It should be noted that those skilled in the art set the value _{of the tilting angular velocity ω i} of the converter according to the converter capacity, structure, and operation process of each factory. The tilt angle of the converter can be rotated freely within the range of 360°. The definition of the positive or negative tilt angle or the position of the tilt angle varies according to the operating habits of each production line, but its setting does not affect the setting of the function model, that is to say , The function model has wide applicability and can be effectively applied to various production lines.

In summary, it can be seen that the fully automatic converter slag dumping method of the present invention can control the tilting angular velocity of the converter through the area change of the tracking area recognized by the image, and realize the automatic tilting of the converter; according to the real-time tilting of the converter By turning the angle, the slag tank trolley runs automatically, realizing the precise matching between the automatic tilting of the converter and the automatic traveling of the slag tank trolley. The method is simple, accurate, safe and reliable, and replaces the manual operation method of the prior art, effectively improves the success rate of slag dumping, shortens the slag dumping time, and reduces the labor intensity of related operators, reduces the probability of accidents, and improves work environment.

In addition, the fully automatic converter slag dumping system of the present invention also has the above-mentioned advantages and beneficial effects.

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 Contradictions arise between each other.

It should also be noted that the above-listed embodiments 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 are those skilled in the art can directly derive or easily associate from the disclosure of the present invention, and they should all fall within the protection scope of the present invention. .

Claims (10)

1. A method for fully automatic slag dumping of a converter is characterized in that it comprises:

   Collect and store real-time images of the hot slag flow during the converter slag dumping process;

   Determine the characteristic boundary of the hot slag flow based on image recognition;

   Based on the characteristic boundary of the hot slag flow, select the tracking area in the path of the hot slag flow falling from the furnace mouth to the slag pot;

   Real-time calculation of the area of the slag in the tracking area;

   When the area of the slag in the tracking area is greater than the set detection threshold, the real-time tilting angular velocity of the converter is controlled according to the ratio of the area of the slag in the tracking area to the area of the tracking area; and according to the Real-time tilting angular velocity calculates the real-time tilting angle of the converter, and based on the real-time tilting angle of the converter, calculates the real-time position of the slag tank trolley, and drives the slag tank trolley to the target position by controlling the motor, so that the slag tank can take the converter in real time Poured slag;

   When the area of the slag in the tracking area is less than or equal to the set detection threshold, stop the converter tilting and start the converter rollback.
2. The method for fully automatic slag dumping of a converter according to claim 1, wherein the real-time image includes one of a visible light image, an infrared image, and a far-infrared image.
3. The method for fully automatic slag dumping of a converter according to claim 1, wherein in the step of calculating the area of slag in the tracking area in real time, the real-time image in the tracking area is processed line by line and pixel by pixel. Scan, and sum the area of each pixel to obtain the area of the slag in the tracking area.
4. The method for fully automatic slag dumping of a converter according to claim 1, wherein the real-time tilting angular velocity ω _i of the converter is set to Set the first tilt angular velocity ω ₁ .
5. The method for fully automatic slag dumping of a converter according to claim 4, characterized in that, when the area of the slag in the tracking area is greater than a set detection threshold, the real-time tilting angular velocity ω _{i of the} converter is based on the following Model to determine:

   

   Where, S _i represents the area of the tracking area of the slag, S ₀ represents the area of a region tracking; B represents a multiplier, which in the range of 0 <b≤1.
6. The method for fully automatic slag dumping of a converter according to claim 5, characterized in that the real-time position x _{i of the} slag tank trolley is determined according to the following model:

   x _i = x ₀ + βθ _i

   Among them, x ₀ represents the initial position of the traveling; β represents the adjustment coefficient, and its value range is 0.01～0.1; θ _i = θ ₀ +ω _i t, where θ _i represents the real-time tilting angle of the _{converter, and θ 0} represents the initial converter's initial position. Tilting angle, t represents the slag dumping time of the converter.
7. A system for fully automatic slag dumping of a converter is characterized in that it comprises:

   Converter, used to perform slag dumping action;

   A converter tilt angle measuring device for measuring the tilt angle of the converter;

   The slag tank is set on the slag tank trolley;

   The slag tank trolley position detection device is used to detect the real-time position of the slag tank trolley;

   Image acquisition device for acquiring real-time images of the hot slag flow during the slag dumping process of the converter;

   An image processing module for processing the real-time image;

   The storage module is used to store the real-time image and/or the real-time image processed by the image processing module;

   The image recognition and calculation module is used to recognize the real-time image to determine the characteristic boundary of the hot slag flow, and calculate the area of the slag in the selected tracking area in real time;

   The control module is respectively connected with the converter, the converter inclination angle measuring device, the slag tank trolley, the slag tank trolley position detection device, the image recognition and calculation module, and the control module is set to: when the slag in the tracking area When the area is greater than the set detection threshold, the real-time tilting angular velocity of the converter is controlled according to the ratio of the slag area in the tracking area to the area of the tracking area; and the real-time tilting angular velocity of the converter is calculated according to the real-time tilting angular velocity. Real-time tilting angle, and based on the real-time tilting angle of the converter, calculate the real-time position of the slag pot trolley so that the slag pot can receive the slag poured from the converter in real time; when the area of the slag in the tracking area is less than or equal to the set When the threshold is detected, the converter is controlled to stop tilting and shake back to stop the slag dumping.
8. The system for fully automatic slag dumping of a converter according to claim 7, wherein the image acquisition device includes one of a visible light camera, an infrared camera, and a far infrared camera.
9. 8. The fully automatic converter slag dumping system of claim 7, wherein the converter inclination angle measuring device comprises an encoder or an inclinometer.
10. 8. The system for fully automatic slag dumping of a converter according to claim 7, wherein the slag tank trolley position detection device comprises a non-contact distance meter.

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