Slag adding robot slag adding method and device based on deep learning network

Abstract

The invention provides a slag adding robot slag adding method and device based on a deep learning network. According to the method, a working environment image of the slag adding robot is analyzed through a deep learning network, the position of an obstacle, the position of a crystallizer and the position of a worker in the working environment image are recognized, and then the walking track of the slag adding robot is planned through visual guidance, so that the slag adding robot accurately captures the position of the crystallizer; obstacle avoidance and personnel mistaken entry alarm in the slag adding process are effectively achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent manufacturing, in particular to a slag adding method and device for a slag adding robot based on a deep learning network. Background technique [0002] Steelmaking and continuous casting is a crucial link in the production of iron and steel enterprises. In 1963, Europe began to adopt the submerged nozzle protection pouring technology. With its unique advantages, it was quickly promoted all over the world. In order to solve the problem of lubrication and heat transfer between the continuous casting slab shell and the mold, the researchers developed the application technology of mold slag, so that the liquid slag film formed by melting the mold slag fills the gap between the slab shell and the mold, effectively solving the problem of open casting There are problems such as poor lubrication and cracks in the machine. In 1965, Japan applied powder mold slag casting on the continuous casting machi...

AI Technical Summary

Problems solved by technology

Although the operation requirements of "adding frequently, adding less, adding evenly, ensuring black surface operation, and strengthening slag thickness measurement" are put forward, it is difficult to guarantee them in the actual operation process

Manual slag addition requires the operator to push mold slag into the mold from time to time, which may easily cause instantaneous agitation of the molten steel surface in the crystallization, resulting in slag entrainment; due to the control of parameters such as slag addition amount and slag addition rate in manual slag addition operation Relying largely on the experience of the operator, it is difficult to produce a stable liquid slag layer; moreover, the manual slag addition operation cannot solve the phenomenon of mold slag returning to moisture during storage

[0004] The use of slag adding robots to replace manual and automatic mold slag adding is a major research and development direction to solve the above problems. However, the current slag adding robots can avoid obstacles, alarm people when they enter the slag adding process, and accurately capture the crystallizer. The location and other functions are not perfect enough

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