Trolley automatic traveling method and system during converter tapping

Abstract

The invention discloses a trolley automatic traveling method during converter tapping. The trolley automatic traveling method comprises the steps: (1) a real-time image of a steel flow in the converter tapping process is collected and stored; (2) the real-time image of the steel flow is converted into a grayscale image, the converted grayscale image is subjected to image enhancement processing, and then the grayscale image subjected to image enhancement processing is binarized and denoised; (3) the characteristic boundary of the steel flow is determined from the binarized image, and the position of the real-time center line of the steel flow is obtained based on the characteristic boundary to dynamically track the steel flow; and (4) based on the real-time change of the position of the real-time center line of the steel flow, the trolley traveling amount of a trolley is output so as to enable the trolley to travel along with the change of the position of the steel flow to accurately bear molten steel. In addition, the invention further discloses a trolley automatic traveling system. The trolley automatic traveling system comprises an image collecting device, an image storing module, an image processing module, a dynamic tracking module and a control module.

Description

technical field [0001] The invention relates to a steelmaking method and system in the metallurgical industry, in particular to a method and system for controlling the movement of a ladle trolley during the tapping process of a converter. Background technique [0002] At present, major steel mills around the world basically have automatic converter smelting, which can effectively improve the success rate of smelting, shorten the smelting cycle, improve output and quality, reduce raw material consumption and cost, and greatly reduce the labor intensity of workers. However, although the automatic steelmaking of the converter has been relatively popular in the prior art, the tapping of the converter is generally carried out manually. [0003] Usually converter tapping includes the following steps: [0004] 1) Determine that the composition and temperature of the molten steel end point meet the tapping requirements; [0005] 2) After driving the ladle car to the position of ac...

AI Technical Summary

Problems solved by technology

[0015] None of the above-mentioned three published patent documents discloses how the ladle trolley, which receives molten steel during the tapping process, automatically walks to the tapping position

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