A device, method and system for identifying a ladle

Abstract

The present application belongs to the technical field of image recognition processing, and specifically relates to a device, method and system for molten iron ladle recognition, which realizes molten iron ladle determination by extracting effective features of the molten iron ladle, especially combines the unique shape of the molten iron ladle and the temperature of the wall of the molten iron ladle in the transportation process, which are two features that other devices such as molten iron ladles, slag pots and scrap steel transport vehicles do not have, to realize reliable and personalized recognition; after the determination signal is generated, it can be automatically transmitted to the next link to provide a basic condition for the automatic transformation of the steel plant, and subsequent scheduling can be performed according to the signal to plan the batching, weighing and transportation, thereby shortening the instruction transmission time, improving the operation accuracy, ensuring that each scheduling is more scientific and reasonable, and being beneficial to improving the overall production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image recognition processing, in particular to a device, method and system for identifying a ladle. BACKGROUND

[0002] With the continuous development of China's steel industry, the crude steel output has broken through 1 billion tons in 2021, and has ranked first in the world for 26 consecutive years. In addition to the molten metal reaction container, the safety of the storage and transportation container is also worth paying attention to. The ladle is a transportation carrier for transferring molten iron from the blast furnace to the converter or electric furnace. Since most enterprises transport the ladle with an open mouth, and the maximum loading capacity of liquid metal can reach 80% of the volume, it becomes the equipment with the highest transportation risk coefficient in the plant. Steel plants usually use the mode of carrying by car or train, so that the ladle is directly sent to the steelmaking workshop after receiving molten iron in the ironmaking workshop. At present, most of the operations in steel plants are still mechanized, and have not yet reached the degree of automation. The position information of the ladle also relies on the intercom report or video monitoring tracking. Especially after entering the steelmaking workshop with a complex environment and high noise, the dispatcher and the on-site workers need to be more vigilant to prevent production safety accidents. Manual operation is greatly affected by environmental and human factors, and sudden situations such as intercom signal attenuation, employee mental fatigue, and monitoring equipment flow interruption may occur, so that the ladle entering the steelmaking workshop is not found, increasing the risk of regional operation, and even causing accidents. There have been reports of using radio frequency identification, wireless network and other technologies to track the position of the ladle, but due to cost and stability reasons, they have not been widely applied. Therefore, there are still the following problems in the identification and early warning of the ladle entering the steelmaking workshop:

[0003] (1) Low efficiency and reliability of manual identification: In addition to the ladle, the equipment that frequently enters and exits the steelmaking workshop also includes the steel ladle, slag tank, scrap steel transport vehicle, etc. Relying on manual identification of complex situations is prone to fatigue. Moreover, due to the continuous production mode of the steel plant, normal operation needs to be ensured even in night, bad weather and other conditions, at which time the reliability of manual identification is reduced.

[0004] (2) No personalized identification method developed for the ladle: Compared with other equipment, the ladle has obvious differences in shape and temperature, but the existing ladle tracking method is still a simple migration of some methods used in other fields, and the unique characteristics of the ladle have not been fully explored and applied.

[0005] (3) Cannot automatically associate subsequent scheduling operations: After the ladle enters the steelmaking workshop, the dispatcher needs to be informed through the intercom, and then the dispatcher gives instructions to the crane driver according to the current steelmaking situation, and contacts the scrap steel scale to weigh the scrap steel. The above operations are based on information transmission between humans, which is not conducive to the development of steel plants towards automation and intelligence. SUMMARY

[0006] To solve the problems in the prior art, the main purpose of the present application is to provide a device, method and system for identifying a ladle.

[0007] To solve the above technical problems, according to one aspect of the present application, the present application provides the following technical solutions:

[0008] A device for identifying a ladle, comprising:

[0009] a laser range finder, an infrared temperature measuring instrument, a high-speed camera, a universal gimbal, and a computer;

[0010] The laser range finder and the infrared temperature measuring instrument form an included angle of 30-60° in the horizontal direction, the high-speed camera is arranged on the universal gimbal, and the measurement or shooting data generated is transmitted to the computer for storage and analysis;

[0011] The laser range finder is used to measure the distance between the transportation equipment and the current point, and is linked with the infrared temperature measuring instrument and the high-speed camera; the infrared temperature measuring instrument is used to obtain the temperature of the measured object; the high-speed camera is used to shoot the image of the transportation equipment; and the computer has an image processing and analysis system to obtain the final result and transmit a signal.

[0012] As a preferred scheme of the device for identifying a ladle, the present application has the following features:

[0013] The laser range finder has a continuous measurement function, and the measurement range is 0-100 m, and the accuracy is ±0.5 m;

[0014] The temperature measurement range of the infrared temperature measuring instrument is -30-600℃, and the accuracy is ±1℃;

[0015] The high-speed camera has a flash, which can provide light in an environment with poor lighting conditions.

[0016] To solve the above technical problems, according to another aspect of the present application, the present application provides the following technical solutions:

[0017] A method for identifying a ladle, which adopts the above device, and comprises the following steps:

[0018] S1. The laser range finder is started in a continuous measurement mode, when the laser range finder measures a set value range, the universal gimbal turns the high-speed camera to the direction of the laser range finder for continuous shooting until the measurement data of the laser range finder exceeds the value range; at the same time, the infrared temperature measuring instrument is automatically started to measure the temperature at the current position, when the temperature at the measurement point exceeds 100℃, the universal gimbal turns the high-speed camera to the direction of the infrared temperature measuring instrument for continuous shooting until the measurement temperature of the infrared temperature measuring instrument is lower than the temperature value;

[0019] S2. Use a computer to process the image acquired by the high-speed camera in step S1, calculate its shape feature value, and compare the current shape feature value with the shape feature value in the database to determine whether it is within the threshold range.

[0020] S3. Use a computer to analyze the temperature measured by the infrared thermometer in step S1, obtain its temperature characteristics, and compare it with the temperature characteristic values ​​in the database to determine whether it is within the threshold range.

[0021] S4. Generate a judgment signal and transmit it to the next working node for broadcasting safety reminders on-site in the steelmaking workshop or for automatically running the next process step.

[0022] In a preferred embodiment of the method for identifying molten iron ladles according to the present invention, the method further includes the following steps before step S1:

[0023] S0. Use a high-speed camera to capture images of the molten iron ladle placed on the transport equipment from various angles and distances, and use an infrared thermometer to measure the temperature. Perform Blob analysis on the images captured by the high-speed camera to remove other backgrounds outside the molten iron ladle, and use the Sobel operator to obtain the precise outline of the molten iron ladle as shape features. Analyze the temperature data measured by the infrared thermometer to obtain temperature features. Based on the shape features and temperature features, establish a molten iron ladle judgment database and determine the threshold range.

[0024] In a preferred embodiment of the method for identifying molten iron ladles according to the present invention, the following steps are taken: the upper side length, lower side length, overall height, and diagonal dimension of the molten iron ladle outline are measured respectively, and then four parameters are calculated as shape features: the ratio of upper side length to lower side length, the ratio of upper side length to overall height, the ratio of lower side length to overall height, and the ratio of diagonal dimension to overall height.

[0025] In a preferred embodiment of the method for identifying molten iron ladles according to the present invention, the temperature data measured by an infrared thermometer is analyzed, and the highest temperature value is selected as the temperature feature.

[0026] In a preferred embodiment of the method for identifying molten iron ladles according to the present invention, in step S1, the high-speed camera is installed at the center line of the height of the molten iron ladle being transported, and the image captured by the high-speed camera must completely include the molten iron ladle.

[0027] In a preferred embodiment of the method for identifying molten iron ladles according to the present invention, in step S2, if the shape of the object is within the threshold range, it indicates that the shape of the object basically conforms to the characteristics of a molten iron ladle, and it may be a molten iron ladle.

[0028] In a preferred embodiment of the method for identifying molten iron ladles according to the present invention, in step S3, if the object is within a threshold range, it is indicated that the object may be a molten iron ladle or a slag ladle; if the shape features are also within the threshold range in step S2, it is determined to be a molten iron ladle, otherwise it is a slag ladle.

[0029] To solve the above-mentioned technical problems, according to another aspect of the present invention, the present invention provides the following technical solution:

[0030] A system for identifying molten iron ladles by implementing the above-described method for identifying molten iron ladles.

[0031] The beneficial effects of this invention are as follows:

[0032] (1) High recognition efficiency and reliability

[0033] Using this method, there is no need for manual judgment or video monitoring to track molten iron ladles, effectively avoiding interference from human and environmental factors and improving identification efficiency. Even under harsh conditions where human error is likely, it maintains high reliability and accuracy, meeting the production safety requirements of steel plants and demonstrating significant practical value.

[0034] (2) Personalized identification of molten iron ladles can be achieved.

[0035] Compared to general methods for identifying and tracking molten iron ladles, this invention is more targeted, achieving identification by extracting effective features of the ladle. In particular, it combines the unique shape of the molten iron ladle and the temperature characteristics of the ladle wall during molten iron transportation—features not found in other equipment such as ladles, slag ladles, and scrap steel transport vehicles—to achieve reliable and personalized identification.

[0036] (3) Can automatically associate with subsequent scheduling operations

[0037] Once the judgment signal is generated, it can be automatically transmitted to the next stage, providing the foundation for the automation transformation of steel plants. Subsequent scheduling can use this signal to plan material batching, weighing, and transportation, shortening instruction transmission time, improving operational accuracy, ensuring that each scheduling is more scientific and reasonable, and contributing to improved overall production efficiency. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0039] Figure 1 This is a flowchart illustrating the method for identifying molten iron ladles according to an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of a device for identifying molten iron ladles according to an embodiment of the present invention;

[0041] Figure 3 This is a diagram showing the shape features of the molten iron ladle for identification according to an embodiment of the present invention;

[0042] Figure 4 This is a temperature feature display diagram for identifying molten iron ladles according to an embodiment of the present invention.

[0043] Explanation of icon numbers:

[0044] 21-Iron ladle transport vehicle, 22-Iron ladle, 23-Universal gimbal, 24-Laser rangefinder, 25-Infrared thermometer, 26-High-speed camera, 27-Computer, 31-Top length, 32-Bottom length, 33-Overall height, 34-Diagonal dimension.

[0045] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] The technical solutions described below in conjunction with the embodiments will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] This invention provides a device, method, and system for identifying molten iron ladles. It achieves ladle identification by extracting effective features of the ladle, particularly by combining the unique shape of the ladle and the temperature of the ladle wall during molten iron transportation—features not found in other equipment such as ladle transport vehicles, slag ladle transport vehicles, and scrap steel transport vehicles. This enables reliable and personalized identification. Once a determination signal is generated, it can be automatically transmitted to the next stage, providing a foundation for the automation transformation of steel plants. Subsequent scheduling can use this signal for batching, weighing, and transportation planning, shortening instruction transmission time, improving operational accuracy, ensuring more scientific and rational scheduling each time, and contributing to improved overall production efficiency.

[0048] According to one aspect of the present invention, the present invention provides the following technical solution:

[0049] like Figure 2 As shown, a device for identifying molten iron ladles includes:

[0050] 24. Laser rangefinder; 25. Infrared thermometer; 26. High-speed camera; 23. Universal gimbal; 27. Computer.

[0051] The laser rangefinder 24 and the infrared thermometer 25 are at an angle of 30° to 60° in the horizontal direction, with the installation direction of the infrared thermometer 25 as the front. The high-speed camera 26 is mounted on the pan-tilt head 23, and the measurement or shooting data generated is transmitted to the computer 27 for storage and analysis.

[0052] A laser rangefinder 24 is used to determine the distance of transport equipment (such as a ladle transport vehicle 21, a slag ladle transport vehicle, a scrap steel transport vehicle, etc.) from the current location, and is linked with an infrared thermometer 25 and a high-speed camera 26. The laser rangefinder 24 has a continuous measurement function, a measurement range of 0 to 100 m, and an accuracy of ±0.5 m. The infrared thermometer 25 is used to obtain the temperature of the measured object (such as a ladle 22, a slag ladle, etc.). The infrared thermometer 25 has a temperature measurement range of -30 to 600℃ and an accuracy of ±1℃. The high-speed camera 26 is used to capture images of the transport equipment. The high-speed camera 26 is equipped with a flash, which can provide supplementary lighting in environments with poor lighting conditions. The computer 27 has an image processing and analysis system to obtain the final results and transmit signals.

[0053] According to another aspect of the present invention, the present invention provides the following technical solution:

[0054] like Figure 1 As shown, a method for identifying molten iron ladles, using the above-mentioned device, includes the following steps:

[0055] S1. The laser rangefinder 24 activates continuous measurement mode. When the laser rangefinder 24 measures a set value range (e.g., 0-60m), the gimbal 23 rotates the high-speed camera 26 to the direction of the laser rangefinder 24 for continuous shooting until the laser rangefinder 24 measures data exceeding the set value range. At the same time, the infrared thermometer 25 is automatically activated to measure the temperature at the current location. When the temperature at the measurement point exceeds 100°C, the gimbal 23 rotates the high-speed camera 26 to the direction of the infrared thermometer 25 for continuous shooting until the infrared thermometer 25 measures a temperature lower than the set value.

[0056] S2. Using a computer, perform Blob analysis on the image acquired by the high-speed camera 26 in step S1 to remove other backgrounds outside the molten iron ladle 22, and use the Sobel operator to obtain the accurate outline of the molten iron ladle 22, such as... Figure 3As shown, the top length 31, bottom length 32, overall height 33, and diagonal dimension 34 of the outline of the molten iron ladle 22 are measured respectively. Then, four parameters are calculated as shape features: the ratio of top length 31 to bottom length 32, the ratio of top length 31 to overall height 33, the ratio of bottom length 32 to overall height 33, and the ratio of diagonal dimension 34 to overall height 33. The current shape feature values ​​are compared with the shape feature values ​​in the database to determine whether they are within the threshold range. If they are within the threshold range, it means that the shape of the object basically conforms to the characteristics of a molten iron ladle, and it may be a molten iron ladle. However, misjudgment may still occur due to shooting angle or environmental reasons, and further judgment based on temperature is needed to rule out the possibility of a molten steel ladle. Slag ladles and scrap steel troughs have significantly different shapes from molten iron ladles, and the probability of misjudgment is extremely small.

[0057] S3. Using computer 27, analyze the temperature measured by infrared thermometer 25 in step S1, select the highest temperature value as the temperature feature, and compare it with the temperature feature value in the database to determine whether it is within the threshold range; if it is within the threshold range, it indicates that the object may be a ladle of molten iron or a slag pot; if the shape feature is also within the threshold range in step S2, it is determined to be a ladle of molten iron, otherwise it is a slag pot.

[0058] S4. Generate a judgment signal and transmit it to the next working node for broadcasting safety reminders on-site in the steelmaking workshop or for automatically running the next process step.

[0059] Preferably, the method further includes the following steps before step S1:

[0060] S0. The molten iron ladle 22, placed on the molten iron ladle transport car 21, is photographed from various angles and distances using a high-speed camera 26. The temperature is measured using an infrared thermometer 25. Blob analysis is performed on the images captured by the high-speed camera 26 to remove background elements other than the molten iron ladle 22. The Sobel operator is used to obtain a precise outline of the molten iron ladle 22. The upper side length 31, lower side length 32, overall height 33, and diagonal dimension 34 of the outline of the molten iron ladle 22 are measured. Then, four parameters are calculated as shape features: the ratio of upper side length 31 to lower side length 32, the ratio of upper side length 31 to overall height 33, the ratio of lower side length 32 to overall height 33, and the ratio of diagonal dimension 34 to overall height 33. The temperature data measured by the infrared thermometer 25 is analyzed, and the highest temperature value is selected as the temperature feature. A molten iron ladle judgment database is established based on the shape features and temperature features. The shape features and temperature features are adjusted up and down according to specific circumstances to determine the threshold range.

[0061] In a preferred embodiment of the method for identifying molten iron ladles according to the present invention, in step S1, the high-speed camera 26 is mounted at the center line of the height of the molten iron ladle being transported, and the image captured by the high-speed camera 26 must completely include the molten iron ladle 22. When both distance and temperature conditions are triggered simultaneously, it indicates the presence of an object with a high temperature, which may be a molten iron ladle; at this time, all photos taken from both directions are transmitted to the computer for identification processing.

[0062] According to another aspect of the present invention, the present invention provides the following technical solution:

[0063] A system for identifying molten iron ladles by implementing the above-described method for identifying molten iron ladles.

[0064] The technical solution of the present invention will be further described below with reference to specific embodiments.

[0065] Example 1

[0066] This embodiment provides a device for identifying molten iron ladles, including:

[0067] Laser rangefinder, infrared thermometer, high-speed camera, pan-tilt unit, computer;

[0068] The laser rangefinder and the infrared thermometer are at an angle of 30° to 60° in the horizontal direction, with the installation direction of the infrared thermometer as the front. The high-speed camera is mounted on a pan-tilt-zoom platform, and the measurement or shooting data generated is transmitted to the computer for storage and analysis.

[0069] A laser rangefinder is used to determine the distance of the transport equipment from the current location and is linked with an infrared thermometer and a high-speed camera. The laser rangefinder has continuous measurement capabilities, a measurement range of 0–100 m, and an accuracy of ±0.5 m. The infrared thermometer is used to acquire the temperature of the object being measured, with a measurement range of -30–600℃ and an accuracy of ±1℃. The high-speed camera is used to capture images of the transport equipment and is equipped with a flash to provide supplementary lighting in low-light conditions. The computer has an image processing and analysis system to obtain the final results and transmit signals.

[0070] This embodiment also provides a method for identifying molten iron ladles using the above-described device for identifying molten iron ladles, comprising the following steps:

[0071] S0. The molten iron ladle, placed on the transport car, is photographed from various angles and distances using a high-speed camera. The temperature is measured using an infrared thermometer. Blob analysis is performed on the high-speed camera images to remove background elements outside the ladle. The Sobel operator is used to obtain a precise outline of the molten iron ladle. The top length, bottom length, overall height, and diagonal dimension of the ladle outline are measured. Then, the ratios of the top to bottom length, the top to overall height, and the bottom to overall height, as well as the diagonal dimension, are calculated. The shape features are defined by four parameters: the ratio of the top length to the overall height, the ratio of the top length to the overall height, and the ratio of the bottom length to the overall height. The highest temperature value is selected as the temperature feature. Based on the shape features and temperature features, a database for judging molten iron ladles is established to determine the threshold range, where the ratio of the top length to the bottom length is 1.10-1.30, the ratio of the top length to the overall height is 0.90-1.0, the ratio of the bottom length to the overall height is 0.75-0.85, the ratio of the diagonal dimension to the overall height is 1.20-1.40, and the temperature is greater than 150℃.

[0072] S1. The laser rangefinder activates continuous measurement mode. When the laser rangefinder measures a distance of 30m, the gimbal rotates the high-speed camera to the direction of the laser rangefinder for continuous shooting until the laser rangefinder's measurement data exceeds the range of 0-60m. Simultaneously, the infrared thermometer automatically starts to measure the temperature of the current location. The temperature at the measurement point is 165℃ (e.g., ...). Figure 4 (As shown), the omnidirectional pan-tilt unit rotates the high-speed camera towards the infrared thermometer, continuously shooting until the infrared thermometer measures a temperature below 100℃; the high-speed camera is mounted at the center line of the height of the transported molten iron ladle, and the camera's shot must completely encompass the molten iron ladle. The simultaneous triggering of both distance and temperature conditions indicates the presence of an object with a high temperature, likely a molten iron ladle. All photos taken from both directions are transmitted to the computer for identification and processing.

[0073] S2. Using a computer, perform Blob analysis on the image acquired by the high-speed camera in step S1 to remove background elements other than the molten iron ladle. Use the Sobel operator to obtain a precise outline of the molten iron ladle. Measure the top length, bottom length, overall height, and diagonal dimension of the ladle outline. Then calculate four parameters: the ratio of top to bottom length, the ratio of top to overall height, the ratio of bottom to overall height, and the ratio of diagonal dimension to overall height (top to bottom length ratio is 1.21, top to overall height ratio is 0.96, bottom to overall height ratio is 0.79, and diagonal dimension to overall height ratio is 1.33) as shape features. Compare the current shape feature values ​​with those in the database to determine if they are within a threshold range. It can be seen that the current shape features are within the threshold range, indicating that the object's shape basically conforms to the characteristics of a molten iron ladle and is likely a molten iron ladle. However, misjudgment may still occur due to the shooting angle or environmental factors, requiring further assessment based on temperature to rule out the possibility of a molten iron ladle.

[0074] S3. Use a computer to analyze the temperature measured by the infrared thermometer in step S1, select the highest temperature value of 186℃ as the temperature feature, and compare it with the temperature feature values ​​in the database to determine whether it is within the threshold range; it can be seen that the current temperature feature is within the threshold range, combined with the determination result of step S2, indicating that the object is a molten iron ladle.

[0075] S4. Generate a judgment signal and transmit it to the next working node for broadcasting safety reminders on-site in the steelmaking workshop or for automatically running the next process step.

[0076] This invention achieves ladle identification by extracting effective characteristics of the ladle, specifically combining the unique shape of the ladle and the temperature of the ladle wall during molten iron transportation—features not found in other equipment such as ladles, slag pots, and scrap metal transport vehicles. This enables reliable and personalized identification. Once the identification signal is generated, it can be automatically transmitted to the next stage, providing a foundation for the automation transformation of steel plants. Subsequent scheduling can use this signal for batching, weighing, and transportation planning, shortening instruction transmission time, improving operational accuracy, ensuring more scientific and rational scheduling each time, and contributing to improved overall production efficiency.

[0077] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for identifying molten iron ladles, characterized in that, The apparatus used includes: Laser rangefinder, infrared thermometer, high-speed camera, pan-tilt unit, computer; The laser rangefinder and infrared thermometer are at an angle of 30° to 60° in the horizontal direction. The high-speed camera is mounted on a pan-tilt-zoom platform. The measurement or shooting data generated is transmitted to a computer for storage and analysis. The laser rangefinder is used to determine the distance of the transport equipment from the current location and is linked with an infrared thermometer and a high-speed camera; the infrared thermometer is used to obtain the temperature of the object being measured; the high-speed camera is used to capture images of the transport equipment; the computer has an image processing and analysis system to obtain the final results and transmit the signals. The method includes the following steps: S1. The laser rangefinder activates continuous measurement mode. When the laser rangefinder measures a value within the set range, the gimbal rotates the high-speed camera to the laser rangefinder for continuous shooting until the laser rangefinder's measurement data exceeds the set range. Simultaneously, the infrared thermometer is automatically activated to measure the temperature at the current location. When the temperature at the measurement point exceeds 100°C, the gimbal rotates the high-speed camera to the infrared thermometer for continuous shooting until the infrared thermometer measures a temperature lower than that value. S2. The image acquired by the high-speed camera in step S1 is processed by a computer to calculate its shape feature values, and the current shape feature values ​​are compared with the shape feature values ​​in the database to determine whether they are within the threshold range; the top length, bottom length, overall height, and diagonal dimension of the molten iron ladle outline are measured respectively, and then the four parameters of the ratio of top length to bottom length, the ratio of top length to overall height, the ratio of bottom length to overall height, and the ratio of diagonal dimension to overall height are calculated as shape features; S3. Use a computer to analyze the temperature measured by the infrared thermometer in step S1, obtain its temperature characteristics, and compare it with the temperature characteristic values ​​in the database to determine whether it is within the threshold range. S4. Generate a judgment signal and transmit it to the next working node for broadcasting safety reminders on-site in the steelmaking workshop or for automatically running the next process step.

2. The method according to claim 1, characterized in that, Before step S1, the following steps are also included: S0. Use a high-speed camera to capture images of the molten iron ladle placed on the transport equipment from various angles and distances, use an infrared thermometer to measure the temperature, perform Blob analysis on the images captured by the high-speed camera to remove other backgrounds outside the molten iron ladle, use the Sobel operator to obtain the precise outline of the molten iron ladle as shape features; analyze the temperature data measured by the infrared thermometer to obtain temperature features. A database for judging molten iron ladles was established based on both shape and temperature characteristics to determine the threshold range.

3. The method according to claim 1, characterized in that, The laser rangefinder has a continuous measurement function, a measurement range of 0~100m, and an accuracy of ±0.5m; The infrared thermometer has a temperature measurement range of -30~600℃ and an accuracy of ±1℃. The high-speed camera is equipped with a flash, which can provide supplemental lighting in low-light conditions.

4. The method according to claim 1 or 2, characterized in that, The temperature data measured by the infrared thermometer were analyzed, and the highest temperature value was selected as the temperature characteristic.

5. The method according to claim 1, characterized in that, In step S1, the high-speed camera is set at the center line of the height of the molten iron ladle being transported, and the high-speed camera's image must completely encompass the molten iron ladle.

6. The method according to claim 1, characterized in that, In step S3, if the object is within the threshold range, it is determined to be either a ladle or a slag ladle; if the shape features are also within the threshold range in step S2, it is determined to be a ladle, otherwise it is a slag ladle.

Images