Slag grabbing control system, method, electronic device and storage medium

Abstract

The present invention discloses a slag grabbing control system, method, electronic device, and storage medium. In the slag grabbing control system, a scanning module is used to scan the water-slag piles in the slag pool, obtain the stacking height and stacking area of ​​each water-slag pile, and send the information to a scanning image generation module. The scanning image generation module is used to generate a scanning image of the water-slag piles in the slag pool based on the stacking height and stacking area of ​​each water-slag pile; the slag grabbing module is used to control a grab bucket to grab slag in the slag pool based on the scanning image; and the water-slag conveying module is used to control the grab bucket to move after the grab bucket grabs the slag, so as to transfer the water-slag in the grab bucket to a water-slag bin. By scanning the water-slag piles in the slag pool to obtain a scanning image including information on the stacking height and stacking range of the water-slag piles, and controlling the grab bucket to grab the slag and convey it to the water-slag bin based on the scanning image, the slag grabbing process is automated, manpower and material costs are saved, and the slag grabbing effect is good.

Description

Technical Field

[0001] The present invention relates to the field of metallurgical technology, and in particular to a slag grabbing control system, method, electronic equipment and storage medium. Background Art

[0002] Blast furnaces usually produce a large amount of slag during the ironmaking process. The slag is placed in the slag area. In order to avoid excessive accumulation of slag, the slag needs to be regularly transferred from the slag area to the slag bin.

[0003] In the existing technology, slag grabbing operations are usually performed manually by operating an overhead crane. However, the high vapor density of slag in the slag-water area can easily affect the operator's vision. This increases the likelihood of manual error, which can require multiple attempts to successfully grab slag. It can also cause the crane bucket to collide with the slag pool wall, or even damage the bucket. This is not only time-consuming and labor-intensive, but also incurs high manpower and material costs, and results in poor slag grabbing results. Summary of the Invention

[0004] The present invention provides a slag grabbing control system to solve the problems of time-consuming and labor-intensive manual slag grabbing operations, high manpower and material costs, and poor slag grabbing effects.

[0005] In a first aspect, the present invention provides a slag grabbing control system, comprising: a scanning module, a scanning image generating module, a slag grabbing module, and a water slag conveying module, wherein the scanning module, the scanning image generating module, the slag grabbing module, and the water slag conveying module are connected in sequence;

[0006] The scanning module is used to scan the water-slag piles in the slag pool, obtain the stacking height and stacking area of ​​each water-slag pile, and send them to the scanning image generation module;

[0007] The scanning image generating module is used to generate a scanning image of the water-slag pile in the slag pool according to the stacking height and stacking area of ​​each water-slag pile;

[0008] The slag grabbing module is used to control the grab bucket to grab slag in the slag pool according to the scanned image;

[0009] The water slag conveying module is used to control the grab bucket to unload the slag after the grab bucket grabs the slag.

[0010] In a second aspect, the present invention provides a slag grabbing control method, comprising:

[0011] Scan the water slag piles in the slag pool to obtain the stacking height and stacking area of ​​each water slag pile and send them to the scanning image generation module,

[0012] generating a scan image of the water-slag pile in the slag pool according to the stacking height and stacking area of ​​each water-slag pile;

[0013] controlling a grab bucket to grab slag in the slag pool according to the scanned image;

[0014] After the grab bucket grabs the slag, the grab bucket is controlled to unload the slag.

[0015] In a third aspect, the present invention provides an electronic device, comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the slag grabbing control method described in the first aspect of the present invention.

[0019] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the slag grabbing control method described in the first aspect of the present invention when executed.

[0020] The slag grabbing control system of the present invention includes a scanning module, a scanned image generation module, a slag grabbing module, and a water-slag conveying module. The scanning module is used to scan the water-slag piles in the slag pool, obtain the stacking height and stacking area of ​​each water-slag pile, and send the information to the scanned image generation module. The scanned image generation module is used to generate a scanned image of the water-slag piles in the slag pool based on the stacking height and stacking area of ​​each water-slag pile. The slag grabbing module is used to control a grab bucket to grab slag in the slag pool based on the scanned image. The water-slag conveying module is used to control the grab bucket to move after grabbing slag to transfer the water-slag in the grab bucket to a water-slag bin. By scanning the water-slag piles in the slag pool to obtain a scanned image containing information on the stacking height and stacking area of ​​the water-slag piles, and controlling the grab bucket to grab slag and convey it to the water-slag bin based on the scanned image, the slag grabbing process is automated, saving manpower and material costs. Furthermore, the scanning module can accurately determine the area and height of the water-slag piles. The slag grabbing control system can accurately control the grab bucket to perform slag grabbing operations, achieving effective slag grabbing results.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a structural diagram of a slag grabbing control system provided according to the first embodiment of the present invention;

[0024] Figure 2 Schematic diagram of a slag grabbing control system provided according to embodiment 1 of the present invention;

[0025] Figure 3 This is a flow chart of a slag grabbing control method provided according to the second embodiment of the present invention;

[0026] Figure 4 It is a structural diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0028] Example 1

[0029] Figure 1 This is a structural diagram of a slag grabbing control system provided in the first embodiment of the present invention. This embodiment is applicable to the case where the water slag in the slag pool is grabbed and transported to the water slag bin. Figure 1 As shown, the slag grabbing control system includes a scanning module 100, a scanning image generation module 200, a slag grabbing module 300 and a water slag conveying module 400, and the scanning module 100, the scanning image generation module 200, the slag grabbing module 300 and the water slag conveying module 400 are connected in sequence.

[0030] The scanning module is used to scan the water slag piles in the slag pool, obtain the stacking height and stacking area of ​​each water slag pile and send them to the scanning image generation module.

[0031] Figure 2 This is a schematic diagram of a slag grabbing control system of this embodiment, as shown in FIG. Figure 2As shown, the scanning module includes a moving rod 2 disposed above the slag pool 8 and a scanner 3 disposed on the moving rod 2. When the scanning module scans the water-slag piles in the slag pool 8, the scanner 3 can move laterally on the moving rod 2, while the moving rod 2 can move longitudinally above the slag pool 8. In this way, the scanner 3 can scan the water-slag accumulation status in the entire slag pool 8. Specifically, a scanning route of the scanner 3 can be pre-set. The scanning module can control the moving rod 2 to move to the target position according to the scanning route, and then drive the scanner 3 to move on the moving rod 2 at a preset scanning speed, while scanning the water-slag piles to obtain the accumulation height and accumulation area of ​​each water-slag pile, wherein the accumulation area is the area enclosed by the boundary of the water-slag pile. The scanner 3 in this embodiment can also be a 3D scanner. The scanner 3 is equipped with a radar object detection device. After emitting a laser to the water slag pile in the slag pool 8, the reflected signal of the water slag pile is received to generate a three-dimensional coordinate point set on the surface of the water slag pile. The scanning module can obtain the stacking height and stacking area of ​​each water slag pile based on the three-dimensional coordinate point set on the surface of the water slag pile. The scanning image generation module is used to generate a scanning image of the water slag pile in the slag pool according to the stacking height and stacking area of ​​each water slag pile.

[0032] The scanning image generation module can be provided in a computer with image processing capabilities. Based on the accumulation height and accumulation area of ​​the water-slag pile captured by the scanning device, the scanning image generation module draws a scanned image of the water-slag pile within the slag pool within the original image of the slag pool. The original image of the slag pool is equivalent to a map of the slag pool. The location and accumulation area of ​​the water-slag pile can be marked within the original image to obtain multiple image regions. The image regions can then be differentiated based on the accumulation height. For example, a label indicating the accumulation height can be set within the image region. The label can be a specific numerical value of the accumulation height, a height range to which the accumulation height belongs, or semantic information indicating the accumulation degree of the water-slag pile, such as thick, medium, or thin. This is not limited by the present invention.

[0033] The slag grabbing module is used to control the grab bucket to grab slag in the slag pool according to the scanned image.

[0034] The grab bucket is composed of multiple openable and closable bucket-shaped jaws that combine to form a storage space.

[0035] The different stacking heights and different stacking areas are distinguished and marked in the scanned image of the slag pool. The slag grabbing module can set the slag grabbing order and amount for each water slag pile according to the information in the scanned image, and then perform slag grabbing in the slag pool according to the settings. Figure 2As shown, the grab 1 is suspended on the mobile trolley 9. The slag grab module can control the drive motor (not shown) to control the movement of the mobile trolley 9, and then control the movement of the grab 1. The mobile trolley 9 is set on the running track. The running track can be a mesh track arranged above the slag pool 8, or it can be a straight track that moves longitudinally above the slag pool 8. The mobile trolley 9 can run in the running track, thereby driving the grab 1 to move above the slag pool 8.

[0036] The water slag conveying module is used to control the grab bucket to unload the slag after the grab bucket grabs the slag.

[0037] After the grab bucket grabs the slag, the slag conveying module controls the grab bucket to rise and move it above the slag, then controls the grab bucket jaw to open to release the slag in the grab bucket into the slag bin. Similarly, the slag conveying module can also control the movement of the grab bucket by controlling the drive motor.

[0038] The slag grabbing control system of the embodiment of the present invention includes a scanning module, a scanning image generating module, a slag grabbing module and a water slag conveying module. The scanning module, the scanning image generating module, the slag grabbing module and the water slag conveying module are connected in sequence. The scanning module is used to scan the water slag pile in the slag pool, obtain the stacking height and stacking area of ​​each water slag pile and send them to the scanning image generating module. The scanning image generating module is used to generate a scanning image of the water slag pile in the slag pool according to the stacking height and stacking area of ​​each water slag pile; the slag grabbing module is used to control the grab bucket to grab slag in the slag pool according to the scanning image; the water slag conveying module is used to control the grab bucket to move after the grab bucket grabs the slag, so as to transfer the water slag in the grab bucket to the water slag bin. By scanning the water slag pile in the slag pool, a scanning image including the stacking height and stacking range information of the water slag pile is obtained, and the grab bucket is controlled to grab the slag and transport it to the water slag bin based on the scanned image, thereby realizing the automation of the slag grabbing process and saving manpower and material costs. In addition, the scanning module can accurately determine the area, height, etc. of the water slag pile. The slag grabbing control system can accurately control the grab bucket's slag grabbing operation, and the slag grabbing effect is good.

[0039] In an optional embodiment of the present invention, the scanned image generation module includes an image region drawing submodule, a target color determination submodule, a target color determination submodule, and a scanned image generation submodule.

[0040] The image area drawing submodule is used to draw the image area corresponding to the accumulation area of ​​each water slag pile in the initial image of the slag pool; the target color determination submodule is used to determine the color corresponding to the accumulation height of each water slag pile, and different colors correspond to different ranges of accumulation heights; the scanned image generation submodule is used to fill the image area of ​​each water slag pile with the corresponding color to obtain a scanned image of the water slag pile in the slag pool.

[0041] The initial image of the slag pool can be a blank image or an image with various devices in the actual scene drawn on it. The initial image can be used to represent the structure of the slag pool. For example, if the slag pool is square, the area corresponding to the slag pool in the initial image can also be square. The image area corresponding to the accumulation area of ​​each water slag pile is drawn in the initial image, that is, the location area of ​​the water slag pile in the slag pool is marked in the initial image. Then, according to the accumulation height of each water slag pile, the corresponding image area is filled with the corresponding color. For example, the color of each image area can be set according to the height range to which the accumulation height belongs. For example, if the accumulation height of the water slag pile is set to h (unit: m), the colors corresponding to the image area corresponding to the water slag pile are red (h>3), yellow (2<h≤3), green (1<h≤2), and black (h≤1). After filling, the scanned image of the water slag pile in the slag pool is obtained.

[0042] In an optional embodiment of the present invention, the slag grabbing module includes a grabbing order determination submodule and a slag grabbing submodule. The grabbing order determination submodule is used to determine the grabbing order of each water slag pile according to the stacking height of the water slag pile; the slag grabbing submodule is used to control the grab bucket to grab the water slag pile corresponding to the image area according to the grabbing order and the scanned image.

[0043] The image areas corresponding to slag piles of varying heights in the scanned image are assigned different colors. Given that higher heights are less conducive to slag removal from the blast furnace ironmaking system, higher slag piles can be prioritized for slag removal. The slag piles can be sorted in reverse order of height, and this order is then used as the order in which to capture them, with each pile labeled in the image area corresponding to the slag pile. Since slag piles of 0-1 meter have a smaller volume, slag capture can be omitted. Furthermore, the number of slag captures can be set based on the pile height; for taller piles, the number of captures can be increased accordingly.

[0044] In an optional embodiment of the present invention, the slag grabbing submodule includes a first grabbing bucket lowering control unit, a target image area determining unit, a grabbing bucket horizontal movement control unit, a second grabbing bucket lowering control unit and a slag grabbing unit.

[0045] The first control unit for the grab bucket's descent is used to control the bucket's descent from its initial position to a preset height. The initial position is typically the center of the slag pool when the bucket's descent distance is zero. A timer can be included on the first control unit to calculate the time it takes for the grab bucket to descend. This timer can then determine whether the preset height has been reached based on the height of the grab bucket from its initial position to the slag filter, the descent time, and the descent speed. The initial position is typically fixed, and the descent speed is also a pre-set parameter.

[0046] The target image region determining unit is used to determine the target image region and the color of the target image region in the scanned image according to the grabbing order. The icon image region corresponds to the water slag pile to be grabbed, and the color of the target image region corresponds to the accumulation height of the water slag pile.

[0047] The grab bucket horizontal movement control unit is used to control the grab bucket to move horizontally to above the accumulation area corresponding to the target image area. For example, the grab bucket moves horizontally to above the accumulation area corresponding to the target image area, that is, the height of the grab bucket is kept unchanged while the horizontal position of the grab bucket is adjusted. It can be moved to a position above the highest point of the accumulation area, or it can be moved to a position above the center of the smallest circle containing the accumulation area. When determining the position of the grab bucket, the center of gravity, center point, etc. of the grab bucket can be used as the target point for detecting the position of the grab bucket.

[0048] The second control unit for the grab bucket's descent is used to control the grab bucket's descent to a height corresponding to the color of the target image area, and the slag grabbing unit is used to control the grab bucket to grab the slag. Different target areas may correspond to different colors, and different colors represent different accumulation heights of the slag pile. The distance between the slag piles of different accumulation heights and the grab bucket is also different, so the height to which the grab bucket continues to descend from its current position is also different. For example, when the accumulation height of the slag pile is greater than 3m, the grab bucket continues to descend 2m, and when the accumulation height is between 2-3m, the grab bucket continues to descend 3m. Before grabbing the slag, the grab bucket's jaw is in the open state. After the grab bucket descends to the descent height corresponding to the color of the target image area, the slag grabbing unit will control the grab bucket's jaw to close to grab the slag into the grab bucket.

[0049] In an optional embodiment of the present invention, the slag grabbing control system further includes a position detector, such as Figure 2 As shown, the slag pool 8 is surrounded by walls, and the position detector 4 can be set on the wall at a preset height from the water slag filter 7. In the present invention, the position of the water slag filter 7 can be used as the zero position to calculate and set the height direction.

[0050] The slag grabbing module is also used to control the grab bucket to move to the center of the slag pool and rise to a preset height after the grab bucket grabs the slag; the position detector is used to generate a first position signal when it detects that the grab bucket has risen to a preset height and send it to the water slag conveying module; the water slag conveying module is also used to control the grab bucket to move to the water slag bin and unload the slag when receiving the first position signal.

[0051] The position detector is connected to the first control unit of the grab bucket descent. The position detector can emit a horizontal laser to detect whether the position of the grab bucket has reached the preset height, and send a signal to the first control unit of the grab bucket descent when the grab bucket reaches the preset height. The position detector is set at a position lower than the scanning device, such as Figure 2As shown, the position detector 4 can be installed on the wall surrounding the slag pool 8, and its position is lower than the scanner 3 and the moving rod 2. Since the slag is composed of iron slag and water, the water or iron slag in the grab bucket may be scattered during the grab bucket's ascent. To prevent the water or iron slag from falling onto the scanning device and damaging it, when the position detector detects the grab bucket, the slag conveying module controls the grab bucket to stop ascending and controls the slag to be moved to the slag bin for unloading.

[0052] In an optional embodiment of the present invention, the slag grabbing control system also includes a position detector, and the water slag conveying module is also used to control the grab bucket to move from the water slag bin to the center position of the slag pool at a preset height when the grab bucket releases water slag; the position detector is also used to generate a second position signal and send it to the slag grabbing module when it detects that the grab bucket has moved to the center position of the slag pool at a preset height; the slag grabbing module is also used to control the grab bucket to grab slag in the slag pool according to the scanned image when receiving the second position signal.

[0053] The grab bucket can only handle one slag pile at a time. After completing a grab, it returns to the center of the slag pool at a preset height, where the center of the slag pool intersects the laser beam emitted by the position detector. When the detector detects the grab bucket, it determines that it has completed unloading and is ready for the next grab. The grab module then controls the grab bucket to continue grabbing slag within the slag pool based on the scanned image.

[0054] When scraping each slag pile, the scraping mark should be made in the scanned image. For example, if each slag pile corresponds to a preset number of scraping times in a round of scraping, then after each scraping operation for a slag pile is completed, the color of the corresponding image area in the scanned image can be changed to gray, indicating that the scraping of the image area is completed. Then, the next target image area is determined in the other image areas according to the scraping order, and the scraping operation is performed on the accumulation area corresponding to the target image area until the color of all image areas turns gray, completing this round of scraping. The preset number of scraping times corresponding to each slag pile can be 1, or it can be a number set according to the pile height of the slag pile, and the present invention is not limited to this.

[0055] After each round of slag grabbing is completed, the scanning device can also re-scan the slag pool to determine whether there is any water slag pile to be grabbed. If so, the entire slag grabbing control system will perform the next round of slag grabbing; if not, the slag grabbing control system controls the grab bucket to return to its initial position, and the scanning device scans the slag pool at a preset cycle, or waits for the slag pool scanning instruction. The slag pool scanning instruction can be a manually sent instruction, or it can be an instruction automatically generated by the slag grabbing control system after the slag grabbing control system detects that iron slag is put into the blast furnace.

[0056] In an optional embodiment of the present invention, Figure 2As shown, the slag grabbing control system further includes a liquid level meter 6 and a water pump (not shown), wherein the liquid level meter 6 is arranged in the slag pool 8 and can measure the liquid level of the water-slag filtrate 5.

[0057] The liquid level meter is used to detect the liquid level of the water slag filtrate in the slag pool and send it to the slag grab module and the water pump; the slag grab module is used to control the grab bucket to stop grabbing the slag when the water slag filtrate is higher than the water slag filter; the water pump is used to extract the water slag filtrate when the water slag filtrate is higher than the water slag filter.

[0058] Considering that the slag contains iron slag and a large amount of water, when the water pump fails to remove the water filtered by the slag filter in time, and when the slag filtrate is higher than the slag filter, it is easy to affect the slag grabbing operation. Therefore, monitoring the slag filtrate can better ensure the implementation effect of the slag grabbing operation.

[0059] In an optional embodiment of the present invention, the slag grab control system also includes a water slag pile volume determination module and a water slag pile volume calculation module. The water slag pile volume determination module is used to determine the volume of the water slag pile based on the accumulation height of the water slag pile and a preset height-volume correspondence. The water slag pile volume calculation module is used to calculate the water slag grab volume based on the volume of the water slag pile, so that relevant personnel can view and retrieve data. The height-volume correspondence can be a formula or a trained calculation model. The height-volume correspondence is obtained based on historical statistical height data and the actual slag grab volume data corresponding to the height data.

[0060] The slag grabbing control system of the present invention includes a scanning module, a scanned image generation module, a slag grabbing module, and a water-slag conveying module. The scanning module is used to scan the water-slag piles in the slag pool, obtain the stacking height and stacking area of ​​each water-slag pile, and send the information to the scanned image generation module. The scanned image generation module is used to generate a scanned image of the water-slag piles in the slag pool based on the stacking height and stacking area of ​​each water-slag pile. The slag grabbing module is used to control a grab bucket to grab slag in the slag pool based on the scanned image. The water-slag conveying module is used to control the grab bucket to move after grabbing slag to transfer the water-slag in the grab bucket to a water-slag bin. By scanning the water-slag piles in the slag pool to obtain a scanned image containing information on the stacking height and stacking area of ​​the water-slag piles, and controlling the grab bucket to grab slag and convey it to the water-slag bin based on the scanned image, the slag grabbing process is automated, saving manpower and material costs. Furthermore, the scanning module can accurately determine the area and height of the water-slag piles. The slag grabbing control system can accurately control the grab bucket to perform slag grabbing operations, achieving effective slag grabbing results.

[0061] Example 2

[0062] Figure 3This is a flow chart of a slag grabbing control method provided in the second embodiment of the present invention. The embodiment of the present invention is optimized based on the above-mentioned first embodiment. Figure 3 As shown, the slag grabbing control method includes:

[0063] S301. Scan the water slag piles in the slag pool to obtain the stacking height and stacking area of ​​each water slag pile.

[0064] S302: Generate a scan image of the water-slag pile in the slag pool according to the stacking height and stacking area of ​​each water-slag pile.

[0065] S303: Control the grab bucket to grab slag in the slag pool according to the scanned image.

[0066] S304, controlling the grab bucket to unload the slag after the grab bucket grabs the slag.

[0067] In an optional embodiment of the present invention, generating a scanned image of the water-slag pile in the slag pool according to the stacking height and stacking area of ​​each water-slag pile includes:

[0068] Drawing image areas corresponding to accumulation areas of each water slag pile in the initial image of the slag pool;

[0069] Determine the color corresponding to the stacking height of each slag pile, with different colors corresponding to different ranges of stacking heights;

[0070] The image area of ​​each water-slag pile is filled with a corresponding color to obtain a scanned image of the water-slag pile in the slag pool.

[0071] In an optional embodiment of the present invention, controlling a grab bucket to grab slag in a slag pool according to a scanned image includes:

[0072] Determine the grabbing order of each slag pile according to the accumulation height of the slag pile;

[0073] According to the grabbing order and the scanned image, the grab is controlled to grab the water slag pile corresponding to the image area.

[0074] In an optional embodiment of the present invention, controlling the grab bucket to grab the slag pile corresponding to the image area according to the grabbing order and the scanned image includes:

[0075] Control the grab bucket to descend from the center of the slag pool to the preset height;

[0076] Determine the target image area and the color of the target image area according to the capture order;

[0077] Control the grab bucket to move horizontally to above the accumulation area corresponding to the target image area;

[0078] Control the grab bucket to descend to a height corresponding to the color of the target image area;

[0079] Control the grab bucket to grab the slag.

[0080] In an optional embodiment of the present invention, it further includes:

[0081] After the grab bucket grabs the slag, it controls the grab bucket to move to the center of the slag pool and rises to a preset height;

[0082] When it is detected that the grab bucket rises to a preset height, the grab bucket is controlled to move to the slag bin and unload the slag.

[0083] In an optional embodiment of the present invention, the slag grabbing control method further includes:

[0084] When the grab bucket is detected to release water slag, the grab bucket is controlled to move from the water slag bin to the center of the slag pool at a preset height;

[0085] When it is detected that the grab bucket moves to the center of the slag pool at a preset height, the grab bucket is controlled to grab the slag in the slag pool according to the scanned image.

[0086] In an optional embodiment of the present invention, the slag grabbing control method further includes:

[0087] Detect the liquid level of water slag filtrate in the slag pool;

[0088] When the liquid level of the water slag filtrate is higher than the water slag filter, the grab bucket is controlled to stop grabbing the slag and the water slag filtrate is extracted.

[0089] The slag grabbing control method provided in the embodiment of the present invention can be applied to the slag grabbing control system provided in the first embodiment of the present invention, and has the corresponding beneficial effects of the slag grabbing control system.

[0090] Example 3

[0091] Figure 4 A schematic diagram of the structure of an electronic device 40 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0092] like Figure 4As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., which is communicatively connected to the at least one processor 41. The memory stores a computer program that can be executed by the at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 into the random access memory (RAM) 43. Various programs and data required for the operation of the electronic device 40 can also be stored in the RAM 43. The processor 41, ROM 42, and RAM 43 are connected to each other via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0093] Multiple components in the electronic device 40 are connected to the I / O interface 45, including an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a magnetic disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0094] The processor 41 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as the slag grabbing control method.

[0095] In some embodiments, the slag control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the review task assignment method described above can be performed. Alternatively, in other embodiments, the processor 41 can be configured to execute the slag control method in any other appropriate manner (for example, by means of firmware).

[0096] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0098] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0099] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0100] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0101] A computing system may include clients and servers. The clients and servers are generally remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0102] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0103] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A slag grabbing control system, characterized in that: include: A scanning module, a scanning image generation module, a slag grabbing module, and a water-slag conveying module are connected in sequence; the scanning module includes a moving rod arranged above the slag pool and a scanner arranged on the moving rod, the moving rod can move longitudinally above the slag pool, and the scanner can move laterally on the moving rod; the slag grabbing control system also includes a position detector, a liquid level gauge, and a water pump, and the position detector is arranged at a position lower than the scanner; The scanning module is used to scan the water-slag piles in the slag pool, obtain the stacking height and stacking area of ​​each water-slag pile, and send them to the scanning image generation module; The scanning image generating module is used to generate a scanning image of the water-slag pile in the slag pool according to the stacking height and stacking area of ​​each water-slag pile; The slag grabbing module is used to control the grab bucket to grab slag in the slag pool according to the scanned image; The water slag conveying module is used to control the grab bucket to unload the slag after the grab bucket grabs the slag; The slag grabbing module is also used to control the grabbing bucket to move to the center of the slag pool and rise to a preset height after the grabbing bucket grabs the slag; The position detector is used to generate a first position signal and send it to the slag conveying module when detecting that the grab bucket rises to a preset height; The slag conveying module is further configured to control the grab bucket to move to the slag bin and unload the slag upon receiving the first position signal; During the rising process of the grab bucket, when the position detector detects the grab bucket, the water slag conveying module controls the grab bucket to stop rising and controls the grab bucket to move to the water slag bin for unloading; The liquid level meter is used to detect the liquid level of the water slag filtrate in the slag pool and send it to the slag grab module and the water pump; The slag grabbing module is used to control the grab bucket to stop grabbing slag when the liquid level of the water slag filtrate is higher than the water slag filter screen; The water pump is used to extract the water slag filtrate when the liquid level of the water slag filtrate is higher than the water slag filter screen.

2. The system according to claim 1, wherein The scan image generation module includes: An image region drawing submodule, configured to draw image regions corresponding to the accumulation regions of the water-slag piles in the initial image of the slag pool; A target color determination submodule is used to determine the color corresponding to the stacking height of each of the water slag piles, with different colors corresponding to different ranges of stacking heights; The scanning image generating submodule is used to fill the image area of ​​each water-slag pile with a corresponding color to obtain a scanning image of the water-slag pile in the slag pool.

3. The system according to claim 2, wherein: The slag grabbing module comprises: A grabbing sequence determination submodule, configured to determine the grabbing sequence of each of the water slag piles according to the stacking height of the water slag piles; The slag grabbing submodule is used to control the grab bucket to grab the slag from the water slag pile corresponding to the image area according to the grabbing sequence and the scanned image.

4. The system according to claim 3, wherein: The slag grabbing submodule includes: A first control unit for descending the grab bucket, used for controlling the grab bucket to descend from an initial position to a preset height; a target image region determining unit, configured to determine a target image region and a color of the target image region according to the capture order; A grab bucket horizontal movement control unit, used to control the grab bucket to move horizontally to above the accumulation area corresponding to the target image area; A second control unit for descending the grab bucket, used for controlling the grab bucket to descend to a height corresponding to the color of the target image area; The slag grabbing unit is used to control the grabbing bucket to grab the slag.

5. The system according to any one of claims 1 to 4, wherein: The water slag conveying module is further configured to control the grab bucket to move from the water slag bin to the center of the slag pool at a preset height when detecting that the grab bucket releases water slag; The position detector is further configured to generate a second position signal and send the second position signal to the slag grab module when detecting that the grab bucket moves to the center of the slag pool at a preset height; The slag grabbing module is further configured to control the grab bucket to grab slag in the slag pool according to the scanned image when the second position signal is received.

6. A slag grabbing control method, characterized in that: include: Scan the water slag pile in the slag pool, obtain the stacking height and stacking area of ​​each water slag pile and send them to the scanning image generation module, generating a scan image of the water-slag pile in the slag pool according to the stacking height and stacking area of ​​each water-slag pile; controlling a grab bucket to grab slag in the slag pool according to the scanned image; After the grab bucket grabs the slag, the grab bucket is controlled to unload the slag; specifically, after the grab bucket grabs the slag, the grab bucket is controlled to move to the center of the slag pool and rise to a preset height; When the grab bucket is detected to have risen to a preset height, the grab bucket is controlled to move to the slag bin and unload the slag; during the grab bucket's ascent, when the position detector detects the grab bucket, the slag conveying module controls the grab bucket to stop rising; Detect the liquid level of water slag filtrate in the slag pool; When the liquid level of the water slag filtrate is higher than the water slag filter, the grab bucket is controlled to stop grabbing the slag and the water slag filtrate is extracted.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to execute the slag grabbing control method according to claim 6.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the slag grabbing control method according to claim 6 when executed.

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