Method, device, processor and electronic device for controlling movement of scrap

Abstract

This invention provides a method, apparatus, processor, and electronic device for controlling the movement of scrap steel. The method may include: acquiring first image data of the surface area of ​​a scrap steel trough; determining, based on the first image data, the type and location information of the scrap steel in the surface area; and controlling the scrap steel to move from the surface area to the preparation trough based on the scrap steel demand information, type information, and location information of the preparation trough, wherein the scrap steel demand information indicates the required content of different types of scrap steel. This invention solves the technical problem of the inability to automatically proportion scrap steel before smelting.

Description

Technical Field

[0001] The present invention relates to the field of steel production material preparation, and more specifically, to a method, apparatus, processor and electronic equipment for controlling the movement of scrap steel. Background Technology

[0002] Currently, a large amount of scrap steel is required in the steelmaking process. Due to the diverse sources and types of scrap steel, such as baled blocks, sheared scrap, round carbide wheels, slag steel, and heavy industrial waste, there are specific ratio requirements for different types of scrap steel depending on the needs of producing different types of finished steel.

[0003] In related technologies, scrap steel needs to be sorted manually. Based on the proportion of scrap steel required for different types of finished steel, the required types and quantities are selected from the sorted scrap steel. Since manual sorting is required, there may be errors in sorting and the process is time-consuming. Therefore, there is still a technical problem that scrap steel cannot be automatically proportioned before smelting.

[0004] There is currently no effective solution to the technical problem of not being able to automatically proportion scrap steel before smelting in the aforementioned related technologies. Summary of the Invention

[0005] This invention provides a method, apparatus, processor, and electronic device for controlling the movement of scrap steel, so as to at least solve the technical problem of the inability to automatically proportion scrap steel before smelting.

[0006] To achieve the above objectives, according to one aspect of the present invention, a method for controlling the movement of scrap steel is provided. The method may include: acquiring first image data of a surface area of ​​a scrap steel trough; determining, based on the first image data, the type and location information of the scrap steel in the surface area; and controlling the movement of the scrap steel from the surface area to the preparation trough based on scrap steel demand information, type information, and location information of a preparation trough, wherein the scrap steel demand information indicates the required content of different types of scrap steel.

[0007] Optionally, based on the first image data, determining the type information of scrap steel in the surface area and its location information includes: determining the type information of scrap steel in the surface area based on the first image data; generating a target matrix of the surface area based on the type information; and determining the target matrix as location information.

[0008] Optionally, after determining the target matrix as location information, the method further includes: acquiring second image data of the surface region, wherein the first image data represents a planar image of the surface region and is used to determine the color and shape of the scrap steel, and the second image data represents a three-dimensional image of the surface region and is used to determine the size of the scrap steel; determining the type data of the scrap steel in the surface region based on the second image data, wherein the type data is used to mark different types of scrap steel; and updating the location information based on the type data in response to inconsistencies between the type data and the type information.

[0009] Optionally, after determining the type data of scrap steel on the surface region based on the second image data, the method further includes: issuing a prompt message in response to the scrap steel size exceeding a size threshold, wherein the prompt message is used to prompt the scrap steel with a size exceeding the size threshold to be cut.

[0010] Optionally, based on the scrap steel demand information, type information, and location information of the preparation trough, the scrap steel is controlled to move from the surface area to the preparation trough, including: converting the address mask into coordinate data, where the location information is the address mask; detecting whether the preparation trough is fully loaded and obtaining the detection result; comparing the actual scrap steel information of the preparation trough with the scrap steel demand information and obtaining the comparison result, where the actual scrap steel information of the preparation trough is the proportion of different types of scrap steel in the preparation trough; and based on the coordinate data, detection result, and comparison result, controlling the scrap steel handling unit to move the scrap steel from the surface area to the preparation trough.

[0011] Optionally, detecting whether the material preparation trough is in a full-load state and obtaining a detection result includes: in response to the total amount of scrap steel carried by the material preparation trough reaching the full-load threshold, obtaining a detection result used to characterize that the material preparation trough is in a full-load state, wherein the full-load threshold is the limit range of the volume of scrap steel carried by the material preparation trough.

[0012] Optionally, based on coordinate data, detection results, and comparison results, controlling the scrap steel handling unit to move scrap steel from the surface area to the preparation trough includes: in response to the detection results used to characterize whether the preparation trough is in a non-full or full-load state, and the comparison results used to characterize that the actual scrap steel information is different from the scrap steel demand information, determining the scrap steel in the scrap steel ratio that is lower than the scrap steel demand information; and based on the coordinate data of the scrap steel that is lower than the scrap steel demand information, controlling the scrap steel handling unit to move the scrap steel to the preparation trough.

[0013] Optionally, based on coordinate data, detection results, and comparison results, controlling the scrap steel handling unit to move scrap steel from the surface area to the preparation trough includes: in response to the detection results indicating that the preparation trough is not fully loaded, and the comparison results indicating that the actual scrap steel information is the same as the scrap steel demand information, controlling the scrap steel to move from the surface area to the preparation trough sequentially; or in response to the detection results indicating that the preparation trough is fully loaded and the comparison results indicating that the actual scrap steel information is the same as the scrap steel demand information, stopping the movement of scrap steel from the surface area.

[0014] To achieve the above objectives, according to another aspect of the present invention, an apparatus for controlling the movement of scrap steel is also provided. The apparatus may include: an acquisition unit for acquiring first image data of a surface area of ​​a scrap steel trough, wherein the first image data represents the shape and color of the scrap steel in the surface area; a determination unit for determining, based on the first image data, the type information and location information of the scrap steel in the surface area; and a control unit for controlling the movement of scrap steel from the surface area to the preparation trough based on scrap steel demand information, type information, and location information of the preparation trough, wherein the scrap steel demand information represents the content requirements of different types of scrap steel in the smelted scrap steel finished product.

[0015] To achieve the above objectives, according to another aspect of the present invention, a processor is also provided, the processor being configured to run a program stored in a memory, wherein the program, when running, executes the method for controlling the movement of scrap steel as described in any of the preceding embodiments.

[0016] To achieve the above objectives, according to another aspect of the present invention, an electronic device is also provided, the electronic device including one or more processors and a memory, the memory being used to store the method for controlling the movement of scrap steel implemented by the one or more processors as described in any one of the above embodiments.

[0017] In this embodiment of the invention, first image data of the surface area of ​​the scrap steel trough is acquired; based on the first image data, the type information and location information of the scrap steel in the surface area are determined; based on the scrap steel demand information, type information, and location information of the preparation trough, the scrap steel is controlled to move from the surface area to the preparation trough. The scrap steel demand information indicates the required content of different types of scrap steel. In other words, this embodiment of the invention determines the shape and color of the scrap steel in the surface area using the acquired first image data. After determining the shape and color, the type information of the scrap steel in the surface area can be determined for different shapes and colors, and the scrap steel is classified into different types for the first time, and the location information of the surface area is determined. The scrap steel can be controlled to move from the surface area to the preparation trough using the scrap steel demand information, type information, and location information of the preparation trough. Since the scrap steel is classified using the first image data, the purpose of automatically classifying scrap steel types is achieved, thus solving the technical problem of not being able to automatically proportion scrap steel before smelting, and realizing the technical effect of automatically proportioning scrap steel before smelting. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 This is a flowchart of a method for controlling the movement of scrap steel according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of a scrap steel pool according to an embodiment of the present invention;

[0021] Figure 3 This is a flowchart of another method for controlling the movement of scrap steel according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of a source address scrap steel detection module according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the types of scrap steel in the surface area of ​​a scrap steel car body / scrap steel pool according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of an address mask obtained based on the type of scrap steel in the surface region according to an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of a device for controlling the movement of scrap steel according to an embodiment of the present invention;

[0026] Figure 8This is an electronic device according to an embodiment of the present invention. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the invention described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are information and data authorized by the user or fully authorized by all parties. For example, this system has an interface with relevant users or organizations. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain the relevant information after receiving consent information from the aforementioned user or organization.

[0031] Example 1

[0032] According to an embodiment of the present invention, an embodiment of a method for controlling the movement of scrap steel is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0033] Figure 1 This is a flowchart of a method for controlling the movement of scrap steel according to an embodiment of the present invention, such as... Figure 1 As shown, the method may include the following steps:

[0034] Step S 102: Obtain first image data of the surface area of ​​the scrap steel trough.

[0035] In the technical solution provided in step S102 of the present invention, first image data of the surface area of ​​the scrap steel trough can be obtained. Based on the first image data, the shape and color of the scrap steel in the surface area can be determined, which is used to distinguish the types of scrap steel by their shape and color. The first image data can represent a planar image of the surface area and can be an image taken with a regular camera. The first image data can be used to determine the shape and color of the scrap steel. The surface area can be the area where the outermost layer of the scrap steel trough is located. The scrap steel trough can be used for areas where all types of scrap steel are randomly piled up; it can be a scrap steel truck or a scrap steel pool. It should be noted that this is only an example and does not impose specific limitations on the first image data or the scrap steel trough.

[0036] Optionally, the first image data of the surface area of ​​the scrap steel bin can be intelligently analyzed and detected using a regular camera. For example, computer image vision analysis can be used to separate all the scrap steel in the first image data of the surface area, analyze all the separated scrap steel, determine the shape and color of each scrap steel in the surface area, and analyze the shape and color of the scrap steel to further determine the type of scrap steel.

[0037] For example, ordinary cameras can be deployed around the scrap steel pool to provide full-scene monitoring. First image data can be collected from the surface area of ​​the scrap steel pool, and analysis of this data can determine the type of scrap steel in the surface area. It should be noted that this is merely an example and does not impose specific limitations on the deployment location of the ordinary cameras or the process and method of determining the shape and color of the scrap steel from the first image data. Any deployment location that covers the entire scrap steel pool's field of view, and any method and process for determining the shape, color, and type of scrap steel from the first image data, are within the protection scope of this invention.

[0038] In this embodiment of the invention, a large amount of image data of different types of scrap steel and their corresponding types can be collected. The intelligent analysis and detection process for determining the shape, color and type of scrap steel from the first image data is trained extensively using a deep learning algorithm. Since the accuracy of the intelligent analysis and detection process can be improved by training more times, the technical effect of improving the accuracy of determining the type of scrap steel is achieved.

[0039] Step S104: Based on the first image data, determine the type information and location information of the scrap steel in the surface area.

[0040] In the technical solution provided in step S104 of the present invention, after obtaining the first image data of the surface area of ​​the scrap steel, the shape and color of the scrap steel can be determined through the first image data, and further, the type information of the scrap steel can be determined through the shape and color of the scrap steel. Using the type information of all scrap steel in the surface area and the location information of each scrap steel, where the type information can be used to characterize the type of all scrap steel in the surface area, and the location information can be the location of all scrap steel in the surface area, also known as an address mask, that is, a corresponding matrix composed of all types of scrap steel, the scrap steel can be classified into heavy scrap steel, steel plate, scalloped steel, and round wheel hub, etc., based on shape and color, size and thickness. It should be noted that this is only an example and does not impose specific limitations on the basis for classifying scrap steel types or the classification categories.

[0041] Optionally, after obtaining the types of all scrap steel in the surface region through intelligent analysis and detection of the first image, the matrix of the surface region can be assigned values ​​based on the masks corresponding to all types of scrap steel to obtain the address mask of the surface region.

[0042] For example, the mask for heavy scrap can be set to 1, the mask for steel plates to 2, the mask for scalloped scrap to 3, and the mask for round wheel hubs to 4. After obtaining the first image data of the surface area of ​​the scrap pool, the shape, color, and type of all scrap in the surface area can be determined based on the first image data. For example, the types of scrap in the first row of the surface area can be heavy scrap, heavy scrap, and scalloped scrap; the types of scrap in the second row can be steel plates, scalloped scrap, and round wheel hubs; and the types of scrap in the third row can be scalloped scrap, heavy scrap, and steel plates. Mask values ​​can be assigned based on the type of scrap in each row of the surface area. For example, the mask for the first row of scrap in the surface area can be 1, 1, and 3; the mask for the second row can be 2, 3, and 4; and the mask for the third row can be 3, 1, and 2. After obtaining the mask for each row of scrap, the corresponding 3×3 matrix of the surface area can be assigned values ​​to obtain the address mask:

[0043]

[0044] It should be noted that this is merely an illustrative example and does not impose specific limitations on the mask assignment and address mask determination process for different types of scrap steel. Any process or method for determining the address mask of the surface area based on the type of scrap steel is within the protection scope of this invention.

[0045] Step S106: Based on the scrap steel demand information, type information and location information of the preparation trough, control the scrap steel to move from the surface area to the preparation trough. The scrap steel demand information is used to indicate the content requirements of different types of scrap steel.

[0046] In the technical solution provided by step S106 of the present invention, after determining the type and location information of the surface area based on the first image data, the scrap steel can be controlled to move from the surface area to the preparation tank to await smelting based on the scrap steel demand information of the preparation tank and the type and location information. The scrap steel demand data of the preparation tank can represent the content requirements of different types of scrap steel for the smelted finished product, that is, the proportion of different types of scrap steel, or the production process requirement data, i.e., the scrap steel ratio in the production process requirements. The preparation tank can be a scrap steel hopper, used to store the proportioned scrap steel ready for smelting.

[0047] Optionally, the actual scrap steel ratio in the preparation trough can be collected, and the required scrap steel ratio in the finished smelting product can be determined. The two can be compared to determine whether it is necessary to move the missing scrap steel from the scrap pool. If the scrap steel ratio in the preparation trough is inconsistent with the scrap steel ratio in the finished smelting product, it indicates that the missing scrap steel needs to be moved from the scrap pool to the preparation trough until the two scrap steel ratios are consistent. Conversely, it indicates that it is not necessary to control the movement of scrap steel in the scrap pool. The scrap steel ratio in the finished smelting product can be a pre-set ratio or a ratio set according to requirements.

[0048] In this embodiment of the invention, the relationship between the scrap steel ratio in the preparation tank and the scrap steel ratio required by the production process can be determined. Based on this relationship, it is determined whether to move the required type of scrap steel from the scrap steel pool to the preparation tank. Since different production processes require different ratios of different types of scrap steel, the goal of targeted scrap steel ratios based on different production process requirements is achieved, thereby improving the accuracy of scrap steel ratios.

[0049] In steps S102 to S106 of this embodiment of the invention, the shape and color of the scrap steel in the surface area are determined by acquiring the first image data. After determining the shape and color, the scrap steel of different shapes and colors can be classified into different types in the surface area, and the location information of the surface area is determined. The scrap steel can be moved from the surface area into the preparation tank by using the scrap steel demand information, type information, and location information. Since the scrap steel is classified by the first image data, the purpose of automatically classifying scrap steel types is achieved, thus solving the technical problem of not being able to automatically proportion scrap steel before smelting and realizing the technical effect of automatically proportioning scrap steel before smelting.

[0050] The method described in this embodiment will be further described below.

[0051] As an optional embodiment, step S104, based on the first image data, determines the type information of scrap steel in the surface area and its location information, including: based on the first image data, determining the type information of scrap steel in the surface area; based on the type information, generating a target matrix of the surface area; and determining the target matrix as location information.

[0052] In this embodiment, during the process of determining the type information and category information of the surface area based on the first image data, the shape and color of all scrap steel on the surface area can be determined based on the first image data. Based on the shape and color, all scrap steel in the surface area can be distinguished into different categories. Based on the category information of all scrap steel in the surface area, a target matrix of the surface area can be generated, and the target matrix can be determined as location information, that is, an address mask. Each element in the target matrix can be used to characterize the type of scrap steel at the corresponding position on the surface area.

[0053] Optionally, intelligent analysis and detection can be performed on the first image data. This involves target separation of all scrap steel in the surface area of ​​the first image data, analysis of all separated scrap steel to obtain their shape and color, and determination of the type of scrap steel with that shape and color. A corresponding mask is assigned to each type of scrap steel, allowing for labeling of all scrap steel types in the surface area based on the mask. This leads to the determination of a target matrix containing the mask of all scrap steel in the surface area, which is then used as an address mask.

[0054] In related technologies, scrap steel can be manually sorted. However, manual sorting is time-consuming and prone to errors, resulting in low accuracy in scrap steel proportioning. In this embodiment of the invention, by processing the first image data, the types of all scrap steel in the surface area can be determined, and the codes of all scrap steel types can be aggregated into an address mask for the surface area. This automates the scrap steel sorting process and improves the accuracy of scrap steel proportioning.

[0055] As an optional embodiment, in step S104, after determining the target matrix as location information, the method further includes: acquiring second image data of the surface region, wherein the first image data represents a planar image of the surface region and is used to determine the color and shape of the scrap steel, and the second image data represents a three-dimensional image of the surface region and is used to determine the size of the scrap steel; determining the type data of the scrap steel in the surface region based on the second image data, wherein the type data is used to mark different types of scrap steel; and updating the location information based on the type data in response to inconsistencies between the type data and the type information.

[0056] In this embodiment, after determining the target matrix as an address mask, second image data of the surface area of ​​the scrap steel can be obtained. Based on the second image data, the size and thickness of the scrap steel in the surface area can be determined, thereby identifying all types of scrap steel in the surface area based on their size and thickness, thus obtaining type data. When the type data is inconsistent with the type information, the address mask determined by the first image data can be updated using the type data. The second image data can represent a three-dimensional image of the surface area, and can be an image captured by a three-dimensional camera (3D camera). The second image data can be used to determine the size and thickness of the scrap steel. The type data can correspond one-to-one with the type of scrap steel and can be a mask for the type of scrap steel.

[0057] Optionally, after detecting the surface area of ​​the scrap steel with a regular camera to obtain the first image data and determine the corresponding address mask, a depth camera can be used to intelligently analyze and detect the second image data of the surface area of ​​the scrap steel. For example, computer image vision analysis can be used to separate all the scrap steel in the second image data of the surface area, analyze all the separated scrap steel, determine the thickness and size of each scrap steel, and determine the type of scrap steel based on the thickness and size, thereby obtaining type data, and further updating the address mask determined from the first image data.

[0058] For example, a guide rail for a depth camera, a retractable robotic arm for the depth camera, and the depth camera itself can be deployed around the scrap steel pool to provide full-scene monitoring of the pool. The dimensions and thickness of the scrap steel in a localized area on the surface of the pool can be collected, allowing for the determination of the scrap steel type based on these dimensions and thickness. It should be noted that this is merely an example and does not impose specific limitations on the deployment location of the depth camera or related equipment. Any deployment location capable of covering the entire scrap steel pool's field of view, and any method and process that uses second image data to determine the scrap steel type and supplement the address mask determined by the first image data, falls within the protection scope of this invention.

[0059] Since ordinary cameras can only detect the shape and color of scrap steel, but not its size and thickness, classifying scrap steel depends not only on its shape and color but also on its size and thickness. By considering multiple factors in scrap steel classification, the accuracy of classification can be improved. However, relying solely on ordinary cameras to detect the shape and color of scrap steel to determine its type is prone to errors and can lead to inaccuracies in the address mask determined from the first image data. Therefore, in this embodiment of the invention, a depth camera can be used to detect the size and thickness of scrap steel in a localized area of ​​the surface region, thereby supplementing the address mask determined from the first image data and effectively improving the accuracy of scrap steel classification.

[0060] As an optional embodiment, in step S104, after determining the type data of scrap steel on the surface area based on the second image data, the method further includes: issuing a prompt message in response to the scrap steel size exceeding a size threshold, wherein the prompt message is used to prompt the scrap steel whose size exceeds the size threshold to be cut.

[0061] In this embodiment, after determining the type of scrap steel on the surface area based on the second image data, it can be determined whether the size of the scrap steel exceeds a size threshold. When the size of the scrap steel exceeds the size threshold, a prompt message can be issued. The size threshold can be a pre-set value or a value set by the furnace opening diameter of the converter or electric furnace. The prompt message can be used to indicate that scrap steel exceeding the size threshold should be cut. It should be noted that this is only an example and does not impose specific restrictions on the furnace used for smelting scrap steel.

[0062] Optionally, after intelligent analysis and detection of the second image data, the type of scrap steel can be further determined by the size and thickness of the scrap steel, and type data can be obtained. Since the second image data can detect the size of the scrap steel, the scrap steel in the surface area that exceeds the size limit can be limited by the second image data, and a prompt message can be sent to the relevant staff to inform them that there is scrap steel that exceeds the size limit and that they need to manually cut the scrap steel.

[0063] Oversized scrap steel can clog the furnace opening of converters or electric furnaces during the smelting process. If the furnace opening is blocked, scrap steel smelting cannot continue, potentially reducing smelting efficiency. Therefore, in this embodiment of the invention, the size of the scrap steel in the surface area can be detected using second image data acquired by a depth camera, and the relationship between the size of all scrap steel in the surface area and a size threshold can be determined. If the size is greater than the size threshold, it indicates that the size is oversized, and a prompt message can be issued to relevant personnel, allowing for manual trimming of the oversized scrap steel. This reduces the probability of scrap steel clogging the furnace opening, thereby improving the efficiency of scrap steel smelting.

[0064] For example, when inspecting the scrap steel in the surface area of ​​the second image data and determining its size, if the size exceeds a size threshold, an alarm siren or voice prompt such as "Scrap steel exceeding size limit exists" can be issued to alert relevant personnel. The location of the oversized scrap steel can also be shown to them, for example, by sending its coordinates, allowing personnel to quickly locate and cut it. It should be noted that this is merely an example and does not impose specific limitations on the alert messages sent.

[0065] As an optional embodiment, step S106, based on the scrap steel demand information, type information, and location information of the preparation trough, controls the movement of scrap steel from the surface area to the preparation trough, including: converting the address mask into coordinate data, wherein the location information is the address mask; detecting whether the preparation trough is in a full-load state and obtaining the detection result; comparing the actual scrap steel information of the preparation trough with the scrap steel demand information and obtaining the comparison result, wherein the actual scrap steel information of the preparation trough is the proportion of different types of scrap steel in the preparation trough; and based on the coordinate data, the detection result, and the comparison result, controlling the scrap steel handling unit to move the scrap steel from the surface area to the preparation trough.

[0066] In this embodiment, during the process of controlling the movement of scrap steel from the surface area to the preparation tank for smelting based on the scrap steel ratio and address mask of the preparation tank, the address mask can be converted into coordinate data. It is also possible to detect whether the preparation tank is fully loaded and obtain the detection result, or to compare the actual scrap steel information with the scrap steel demand information and obtain the comparison result. Based on the coordinate data, detection results, and comparison results, the scrap steel handling unit can be controlled to move the scrap steel from the surface area to the preparation tank for smelting. The detection result can represent the status of the scrap steel handling unit, which may include a fully loaded state and a partially loaded state. The comparison result can include two cases: the scrap steel ratio is the same as or different from the production process demand data. The scrap steel handling unit can be a suction cup or a gripper, used to move scrap steel from the surface area to the preparation tank. The scrap steel demand information can be the proportion of different types of scrap steel required for the finished scrap steel smelting product. The actual scrap steel information can be the proportion of different types of scrap steel currently contained in the preparation tank.

[0067] Optionally, the address mask of the surface area can be converted into coordinates to determine the coordinate data corresponding to the mask of each scrap steel in the surface area. This allows determination of whether the material preparation trough is fully loaded. If so, it can be further determined whether the scrap steel ratio matches the production process requirements. If they match, the process of moving the scrap steel in the surface area can be stopped.

[0068] Optionally, when it is determined that the material preparation trough is fully loaded, and it is further determined that the scrap steel ratio is different from the production process requirements, scrap steel with a ratio less than the production process requirements can be selected for movement. The scrap steel handling unit can be controlled to move the scrap steel from the surface area to the material preparation trough based on the coordinate data corresponding to the scrap steel with a ratio less than the production process requirements.

[0069] As an optional embodiment, step S106, detecting whether the material preparation trough is in a full-load state and obtaining a detection result, includes: in response to the total amount of scrap steel carried by the material preparation trough reaching the full-load threshold, obtaining a detection result used to characterize that the material preparation trough is in a full-load state, wherein the full-load threshold is the limit range of the volume of scrap steel carried by the material preparation trough.

[0070] In this embodiment, during the process of detecting whether the material preparation trough is fully loaded and determining the detection result, when the total amount of scrap steel currently carried by the material preparation trough reaches the full load threshold, the detection result can be determined that the material preparation trough is fully loaded. When the total amount of scrap steel currently carried by the material preparation trough does not reach the full load threshold, the detection result can be determined that the material preparation trough is not fully loaded. The full load threshold can be the limit range of the volume of scrap steel that the material preparation trough can carry; it can be a pre-preset volume range or a volume range set according to the actual size of the material preparation trough.

[0071] Optionally, the full-load threshold of the material preparation trough can be determined based on its size, which can be [V]. min V max ], where V min V can be used to represent the minimum volume of a material preparation trough at its full load limit; max This can be used to represent the maximum volume of the fully loaded feed trough, and can also be used to represent the current total amount of scrap steel V in the feed trough. sum If the total amount of scrap steel detected reaches the full load threshold V, then... min However, it did not reach V. max When the scrap steel ratio is not the same as the production process requirements, it can be indicated that the material preparation trough is fully loaded. However, in this case, if the scrap steel ratio is not the same as the production process requirements, smaller scrap steel can be grabbed from the surface area to make the scrap steel ratio the same as the production process requirements, thereby stopping the movement of scrap steel.

[0072] As an optional embodiment, step S106, based on coordinate data, detection results, and comparison results, controls the scrap steel handling unit to move the scrap steel from the surface area to the preparation trough, including: in response to the detection results used to characterize whether the preparation trough is in a non-full or full-load state, and the comparison results used to characterize that the actual scrap steel information is different from the scrap steel demand information, determining the scrap steel in the scrap steel ratio that is lower than the scrap steel demand information; based on the coordinate data of the scrap steel that is lower than the scrap steel demand information, controlling the scrap steel handling unit to move the scrap steel to the preparation trough.

[0073] In this embodiment, during the process of controlling the scrap steel handling unit to move scrap steel from the surface area to the preparation tank for smelting based on coordinate data, detection results, and comparison results, when the detection results are used to characterize whether the preparation tank is fully loaded or not, and the comparison results are used to characterize that the actual scrap steel information is different from the scrap steel demand information, it can be determined that the scrap steel in the scrap steel ratio is lower than the production process demand data, and based on the coordinate data of the scrap steel lower than the production process demand data, the scrap steel handling unit is controlled to move the scrap steel to the preparation tank for smelting.

[0074] Optionally, if the test results are used to characterize that the material preparation tank is at full load, and the comparison results are used to characterize that the scrap steel ratio differs from the production process requirements, then it can be concluded that the total amount of scrap steel in the material preparation tank has reached the full load threshold range, but has not reached the maximum volume limit V. max Therefore, it can be concluded that the scrap steel handling unit can grab scrap steel at this time. It can identify scrap steel with a proportion that differs from the production process requirements and select that scrap steel for movement.

[0075] Optionally, if the detection results indicate that the material preparation trough is not fully loaded, and the comparison results indicate that the scrap steel ratio differs from the production process requirements, then it can be concluded that the scrap steel handling unit can continue to grab scrap steel. Therefore, the scrap steel with a ratio that differs from the production process requirements can be selected for movement.

[0076] As an optional embodiment, step S106, based on coordinate data, detection results, and comparison results, controls the scrap steel handling unit to move scrap steel from the surface area to the preparation trough, including: in response to the detection results indicating that the preparation trough is not fully loaded, and the comparison results indicating that the actual scrap steel information is the same as the scrap steel demand information, controlling the scrap steel to move from the surface area to the preparation trough sequentially; or in response to the detection results indicating that the preparation trough is fully loaded and the comparison results indicating that the actual scrap steel information is the same as the scrap steel demand information, stopping the movement of scrap steel from the surface area.

[0077] In this embodiment, during the process of controlling the scrap steel handling unit to move scrap steel from the surface area to the preparation tank for smelting based on coordinate data, detection results, and comparison results, when the detection results indicate that the preparation tank is not fully loaded, and the comparison results indicate that the actual scrap steel information matches the scrap steel demand information, the scrap steel can be moved sequentially from the surface area to the preparation tank for smelting by controlling the scrap steel handling unit. Alternatively, when the detection results indicate that the preparation tank is fully loaded, and the comparison results indicate that the actual scrap steel information matches the scrap steel demand information, the movement of scrap steel from the surface area can be stopped.

[0078] Optionally, the detection results can be determined. If the detection results are used to characterize that the material preparation tank is not fully loaded, the comparison results can be further determined. If the comparison results are used to characterize that the scrap steel ratio is the same as the production process requirement data, then according to the production process requirement data for producing scrap steel smelting finished products, the scrap steel required for smelting the finished scrap steel product can be selected from the surface area one by one. In this way, the scrap steel handling unit can be controlled to move the scrap steel to the material preparation tank according to the coordinate data of the corresponding required scrap steel.

[0079] Optionally, when it is determined that the test results are used to characterize that the material preparation tank is in a full-load state, the comparison results can be further determined. If the comparison results are used to characterize that the scrap steel ratio is the same as the production process requirement data, since the material preparation tank is already in a full-load state and the scrap steel ratio has reached the production process requirement data for producing the corresponding scrap steel smelting finished product, the movement of scrap steel from the surface area can be stopped. The scrap steel in the current material preparation tank and scrap steel handling unit has met the production process requirement data.

[0080] In this embodiment of the invention, first image data of the surface area of ​​the scrap steel trough is acquired; based on the first image data, the type information and location information of the scrap steel in the surface area are determined; based on the scrap steel demand information, type information, and location information of the preparation trough, the scrap steel is controlled to move from the surface area to the preparation trough. The scrap steel demand information indicates the required content of different types of scrap steel. In other words, this embodiment of the invention determines the shape and color of the scrap steel in the surface area using the acquired first image data. After determining the shape and color, the type information of the scrap steel in the surface area can be determined for different shapes and colors, and the scrap steel is classified into different types for the first time, and the location information of the surface area is determined. The scrap steel can be controlled to move from the surface area to the preparation trough using the scrap steel demand information, type information, and location information of the preparation trough. Since the scrap steel is classified using the first image data, the purpose of automatically classifying scrap steel types is achieved, thus solving the technical problem of not being able to automatically proportion scrap steel before smelting, and realizing the technical effect of automatically proportioning scrap steel before smelting.

[0081] Example 2

[0082] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0083] Currently, scrap steel is an important raw material in the steelmaking process. Due to the wide variety and large quantity of scrap steel, Figure 2 This is a schematic diagram of a scrap steel pool according to an embodiment of the present invention, as shown below. Figure 2 As shown, various types of scrap steel are mixed together in the scrap steel pool, requiring manual sorting. Therefore, there is a technical problem of low accuracy in the proportioning of scrap steel.

[0084] In a related technology, a device and method for automatically collecting and proportioning scrap steel from converters are proposed. This method includes: accurately determining the type of scrap steel loaded each time by positioning the scrap steel pool and the battery crane; and obtaining the accurate weight of the scrap steel loaded each time using a scrap steel hopper weighing device, thereby achieving automatic collection of the scrap steel proportion within the hopper. This invention is the first of its kind for converter scrap steel proportioning, realizing the automatic collection and transmission of converter scrap steel proportions. It can replace the traditional method of manual recording and transmission of scrap steel information, solving the problems of low efficiency and poor data accuracy in scrap steel information collection and transmission. However, the technical problem of not being able to automatically proportion scrap steel before smelting still exists.

[0085] To address the aforementioned problems, this invention proposes a method for controlling the movement of scrap steel. This method may include the following steps: intelligently analyzing and detecting the type of scrap steel in the surface area using both a conventional camera and a depth camera to determine the address mask of the surface area; converting the address mask into its own coordinate data; and, based on the required scrap steel ratio in the preparation trough and the coordinate data, moving the corresponding scrap steel from the surface area to the preparation trough.

[0086] The embodiments of the present invention will be further described below.

[0087] Figure 3 This is a flowchart of another method for controlling the movement of scrap steel according to an embodiment of the present invention, such as... Figure 3 As shown, the method may include the following steps:

[0088] Step S301: Set production process requirements data.

[0089] In the technical solution provided by step S301 of the present invention, production process requirement data can be set in advance, and then step S302 can be executed. The production process requirement data can be the proportion of different types of scrap steel required for the finished product of scrap steel smelting. Scrap steel can be classified into categories such as heavy scrap steel, steel plate, scalloped scrap, and round wheel hubs according to its shape, color, size, and thickness. It should be noted that this is only an example and does not impose specific limitations on the basis or classification of scrap steel types.

[0090] Optionally, since different scrap steel smelting products require different types of scrap steel, different production process requirement data can be set for the scrap steel smelting products to be produced according to their needs.

[0091] Step S302: Start the scrap steel detection in the scrap steel bin.

[0092] In the technical solution provided by step S302 of the present invention, scrap steel detection in the scrap steel bin can be started, and then step S303 can be executed.

[0093] Optionally, the device for controlling the movement of scrap steel in this embodiment of the invention may include at least a source address scrap steel detection module, a scrap steel handling module, and a scrap steel bin scrap steel detection module, wherein the source address scrap steel detection module may include a general camera and a depth camera, and the scrap steel in the surface area of ​​the source address (scrap steel pool) can be detected by the planar camera and the depth camera.

[0094] Optionally, Figure 4 This is a schematic diagram of a source address scrap steel detection module according to an embodiment of the present invention, as shown below. Figure 4As shown, the source address scrap steel detection module may include a general camera 401, a depth camera 402, a telescopic robotic arm 403, and a depth-level camera guide rail 404. Based on the above components in the source address scrap steel detection module, it can perform full-scene supervision of the scrap steel car body / scrap steel pool 405.

[0095] Optionally, the ordinary camera in the source address scrap steel detection module performs intelligent analysis and detection on the first image data of the surface area of ​​the scrap steel. For example, computer image vision analysis can be used to separate all the scrap steel in the first image data of the surface area, analyze all the separated scrap steel, determine the shape and color of each scrap steel in the surface area, and analyze the shape and color of the scrap steel to further determine the type of scrap steel.

[0096] For example, ordinary cameras can be deployed around the scrap steel pool to provide full-scene monitoring. First image data can be collected from the surface area of ​​the scrap steel pool, and analysis of this data can determine the type of scrap steel in the surface area. It should be noted that this is merely an example and does not impose specific limitations on the deployment location of the ordinary cameras or the process and method of determining the shape and color of the scrap steel from the first image data. Any deployment location that covers the entire scrap steel pool's field of view, and any method and process for determining the shape, color, and type of scrap steel from the first image data, are within the protection scope of this invention.

[0097] Optionally, intelligent analysis and detection can be performed on the first image data. This involves target separation of all scrap steel in the surface area of ​​the first image data, analysis of all separated scrap steel to obtain their shape and color, and determination of the type of scrap steel with that shape and color. A corresponding mask is assigned to each type of scrap steel, allowing for labeling of all scrap steel types in the surface area based on the mask. This leads to the determination of a target matrix containing the mask of all scrap steel in the surface area, which is then used as an address mask.

[0098] Optionally, after detecting the surface area of ​​the scrap steel with a regular camera to obtain the first image data and determine the corresponding address mask, a depth camera can be used to intelligently analyze and detect the second image data of the surface area of ​​the scrap steel. For example, computer image vision analysis can be used to separate all the scrap steel in the second image data of the surface area, analyze all the separated scrap steel, determine the thickness and size of each scrap steel, and determine the type of scrap steel based on the thickness and size, thereby obtaining type data, and further updating the address mask determined from the first image data.

[0099] For example, a guide rail for a depth camera, a retractable robotic arm for the depth camera, and the depth camera itself can be deployed around the scrap steel pool to provide full-scene monitoring of the pool. The dimensions and thickness of the scrap steel in a localized area on the surface of the pool can be collected, allowing for the determination of the scrap steel type based on these dimensions and thickness. It should be noted that this is merely an example and does not impose specific limitations on the deployment location of the depth camera or related equipment. Any deployment location capable of covering the entire scrap steel pool's field of view, and any method and process that uses second image data to determine the scrap steel type and supplement the address mask determined by the first image data, falls within the protection scope of this invention.

[0100] Since ordinary cameras can only detect the shape and color of scrap steel, but not its size and thickness, classifying scrap steel depends not only on its shape and color but also on its size and thickness. By considering multiple factors in scrap steel classification, the accuracy of classification can be improved. However, relying solely on ordinary cameras to detect the shape and color of scrap steel to determine its type is prone to errors and can lead to inaccuracies in the address mask determined from the first image data. Therefore, in this embodiment of the invention, a depth camera can be used to detect the size and thickness of scrap steel in a localized area of ​​the surface region, thereby supplementing the address mask determined from the first image data and effectively improving the accuracy of scrap steel classification.

[0101] Optionally, after obtaining the types of all scrap steel in the surface region through intelligent analysis and detection of the first image, the matrix of the surface region can be assigned values ​​based on the masks corresponding to all types of scrap steel to obtain the address mask of the surface region.

[0102] For example, the mask for heavy scrap (heavy waste) can be set to 1, the mask for steel plates to 2, the mask for studded edges to 3, and the mask for round wheel hubs to 4. After obtaining the first image data of the surface area of ​​the scrap pool, the shape, color, and type of all scrap in the surface area can be determined based on the first image data. Figure 5 This is a schematic diagram illustrating the types of scrap steel in the surface area of ​​a scrap steel car body / scrap steel pool according to an embodiment of the present invention, such as... Figure 5 As shown, for example, the types of scrap steel in the first row of the surface area are heavy scrap, heavy scrap, scalloped scrap, and steel plate; the types of scrap steel in the second row are steel plate, steel plate, scalloped scrap, and round wheel hub; the types of scrap steel in the third row are heavy scrap, heavy scrap, heavy scrap, and steel plate; and the types of scrap steel in the fourth row are scalloped scrap, steel plate, heavy scrap, and scalloped scrap.

[0103] For another example, a mask value can be assigned based on the type of scrap steel in each row of the surface area. Figure 6This is a schematic diagram of an address mask obtained based on the type of scrap steel in the surface region according to an embodiment of the present invention, such as... Figure 6 As shown, it can be based on Figure 5 For each type of scrap steel obtained from the surface region, a 4×4 matrix corresponding to the surface region is assigned a value to obtain an address mask. The address mask for the first row of scrap steel is 1132; the address mask for the second row of scrap steel is 2234; the address mask for the third row of scrap steel is 1112; and the address mask for the fourth row of scrap steel is 3313.

[0104] Optionally, the scrap steel handling module can convert the address mask of the surface area into coordinates, determine the coordinate data corresponding to the mask of each scrap steel in the surface area of ​​the address mask, and thus, the scrap steel handling module can automatically control the suction cup or gripper of the scrap steel handling unit to grab the corresponding type of scrap steel from the source address, i.e. the surface area of ​​the scrap steel pool, and put it into the scrap steel hopper.

[0105] Step S303: Determine whether the total amount of scrap steel in the scrap steel hopper has reached the full load threshold.

[0106] In the technical solution provided in step S303 of the present invention, it is possible to detect whether the scrap steel hopper has reached the full load threshold. If the full load threshold is reached, the detection result of the scrap steel hopper being in a fully loaded state can be determined; if the full load threshold is not reached, the detection result of the scrap steel hopper being in a non-fully loaded state can be determined. If the full load threshold is reached, step S304 can be executed; if the full load threshold is not reached, step S306 can be executed. The scrap steel hopper can also be referred to as a material preparation trough.

[0107] Optionally, the scrap steel detection module can determine the full-load threshold of the scrap steel hopper based on its size, which can be [V]. min V max ], where V min V can be used to represent the minimum volume of a scrap steel hopper at its full load limit; max This can be used to represent the maximum volume of a scrap steel hopper at its full load limit, and can also be used to represent the current total amount of scrap steel, V, in the hopper. sum If the total amount of scrap steel detected reaches the full load threshold V, then... min However, it did not reach V. max When the total amount of scrap steel detected is less than the full load threshold V, it indicates that the scrap steel hopper is fully loaded; if the total amount of scrap steel detected is less than the full load threshold V, it indicates that the scrap steel hopper is fully loaded. min This indicates that the scrap steel hopper is not fully loaded.

[0108] Step S304: Determine whether the scrap steel ratio is the same as the production process requirements.

[0109] In the technical solution provided by step S304 of the present invention, based on determining whether the scrap steel hopper has reached the full load threshold, it can be further determined whether the scrap steel ratio and the production process requirement data are the same. If they are the same, step S305 can be executed; if they are different, step S308 can be executed. The scrap steel ratio can be the proportion of different types of scrap steel in the scrap steel hopper. The production process requirement data can be the proportion of different types of scrap steel required for the finished scrap steel smelting product.

[0110] Optionally, the detection results can be determined. When the detection results are determined to indicate that the scrap steel hopper is in a full-load state, the comparison results can be further determined. If the comparison results indicate that the scrap steel ratio is the same as the production process requirement data, since the scrap steel hopper is already in a full-load state and the scrap steel ratio has reached the production process requirement data for producing the corresponding scrap steel smelting finished product, the movement of scrap steel from the surface area can be stopped. The scrap steel in the current scrap steel handling module and the material preparation trough already meets the production process requirement data.

[0111] Optionally, the test results can be determined. If the test results indicate that the scrap hopper is fully loaded, and the comparison results indicate that the scrap ratio differs from the production process requirements, then it can be concluded that the total amount of scrap in the scrap hopper has reached the full-load threshold range, but has not reached the maximum volume limit V. max Therefore, it can be concluded that the scrap steel handling unit can grab scrap steel at this time. It can identify scrap steel with a proportion that differs from the production process requirements and select that scrap steel for movement.

[0112] Step S305: End scrap loading.

[0113] In the technical solution provided by step S305 of the present invention, scrap steel loading can be terminated when it is determined that the scrap steel hopper has reached the full load threshold and the scrap steel ratio is the same as the production process requirement data.

[0114] Step S306: Determine whether the scrap steel ratio is the same as the production process requirements.

[0115] In the technical solution provided by step S306 of the present invention, after determining that the total amount of scrap steel currently loaded in the scrap steel hopper has not reached the full load threshold, it can be further determined whether the scrap steel ratio is the same as the production process requirement data. If they are the same, step S307 can be executed; if they are not the same, step S308 can be executed.

[0116] Step S307: Select and handle scrap steel types one by one according to the production process requirements data.

[0117] In the technical solution provided by step S307 of the present invention, when it is determined that the scrap steel hopper has not reached the full load threshold and the scrap steel ratio is the same as the production process requirement data, the scrap steel handling unit can be controlled to select scrap steel of different types for handling in turn according to the production process requirement data.

[0118] Optionally, the test results can be determined. If the test results are used to characterize that the scrap steel hopper is not fully loaded, the comparison results can be further determined. If the comparison results are used to characterize that the scrap steel ratio is the same as the production process requirements, then according to the production process requirements for producing scrap steel smelting finished products, the required scrap steel to be smelted into the steel can be selected from the surface area one by one, and the scrap steel handling unit can be controlled to move the scrap steel to the preparation trough according to the corresponding coordinate data.

[0119] Step S308: Select scrap steel with a proportion less than the production process requirements and move it.

[0120] In the technical solution provided by step S308 of the present invention, if it is determined that the scrap steel hopper has not reached the full load threshold and the scrap steel ratio is different from the production process requirement data, scrap steel with a ratio less than the production process requirement data can be selected for movement.

[0121] Optionally, if the detection result indicates that the scrap steel hopper has not reached the full load threshold, it can be said that the detection result is used to characterize that the scrap steel hopper is in a non-full load state, and the comparison result is used to characterize that the scrap steel ratio is different from the production process requirements data, which can be said that the scrap steel hopper can still continue to grab scrap steel. Therefore, the proportion of scrap steel whose scrap steel ratio is different from the production process requirements data can be identified, and that scrap steel can be selected for movement.

[0122] Step S309: Detect the type of scrap steel from the source address and find the address of the corresponding type of scrap steel.

[0123] In the technical solution provided by step S309 of the present invention, after determining whether the scrap steel hopper needs to grab scrap steel from the surface area of ​​the scrap steel pool, and which type of scrap steel to grab, the scrap steel type at the source address can be detected, and the address corresponding to the type of scrap steel to be grabbed can be found.

[0124] Optionally, a combination of ordinary cameras and depth cameras is used to intelligently analyze and detect the types of scrap steel in the scrap steel pool, obtaining the address masks of various types of scrap steel on the surface of the scrap steel compartment or pool, and sending these address masks to the scrap steel handling module. The scrap steel handling module converts the address masks into its own coordinate system and handles the scrap steel according to the required types. After one handling is completed, the scrap steel at the source address changes, exposing new scrap steel. At this time, the depth camera is triggered to move along the guide rail and the telescopic robotic arm to the vicinity of the scrap steel change area, detect the size and thickness of the newly exposed scrap steel on the surface, determine the type of scrap steel, and then refresh the scrap steel types detected by the ordinary camera.

[0125] Optionally, after intelligent analysis and detection of the second image data, the type of scrap steel can be further determined by the size and thickness of the scrap steel, and type data can be obtained. Since the second image data can detect the size of the scrap steel, the scrap steel in the surface area that exceeds the size limit can be limited by the second image data, and a prompt message can be sent to the relevant staff to inform them that there is scrap steel that exceeds the size limit and that they need to manually cut the scrap steel.

[0126] Oversized scrap steel can clog the furnace opening of converters or electric furnaces during the smelting process. If the furnace opening is blocked, scrap steel smelting cannot continue, potentially reducing smelting efficiency. Therefore, in this embodiment of the invention, the size of the scrap steel in the surface area can be detected using second image data acquired by a depth camera, and the relationship between the size of all scrap steel in the surface area and a size threshold can be determined. If the size is greater than the size threshold, it indicates that the size is oversized, and a prompt message can be issued to relevant personnel, allowing for manual trimming of the oversized scrap steel. This reduces the probability of scrap steel clogging the furnace opening, thereby improving the efficiency of scrap steel smelting.

[0127] Step S310: Transfer the scrap steel from the scrap steel pool to the material preparation trough.

[0128] In the technical solution provided by step S310 of the present invention, the scrap steel in the scrap steel pool can be transported to the material preparation tank.

[0129] Optionally, after determining the coordinate data of the scrap steel to be grabbed, the scrap steel handling unit can be controlled to move to the corresponding position and move the scrap steel into the scrap steel hopper.

[0130] Step S311: Update the scrap steel detection types and scrap steel ratios in the scrap steel bin.

[0131] In the technical solution provided by step S311 of the present invention, during the process of moving the scrap steel in the surface area, the type of scrap steel in the surface area and the scrap steel bucket is detected in real time, the scrap steel ratio is refreshed, and the process returns to re-execute step S303.

[0132] This invention, through the acquisition of first image data, determines the shape and color of scrap steel in the surface area. After determining the shape and color, it identifies the type of scrap steel in the surface area based on different shapes and colors, performing an initial classification of the scrap steel into different types and determining the location information of the surface area. The movement of the surface scrap steel into the preparation trough can be controlled by the scrap steel demand information, type information, and location information. Because the scrap steel is classified using the first image data, the purpose of automatically classifying scrap steel types is achieved, thus solving the technical problem of not being able to automatically proportion scrap steel before smelting and realizing the technical effect of automatically proportioning scrap steel before smelting.

[0133] Example 3

[0134] According to an embodiment of the present invention, a device for controlling the movement of scrap steel is also provided. It should be noted that this device for controlling the movement of scrap steel can be used to execute the method for controlling the movement of scrap steel in Embodiment 1.

[0135] Figure 7 This is a schematic diagram of a device for controlling the movement of scrap steel according to an embodiment of the present invention. Figure 7 As shown, the device 700 for controlling the movement of scrap steel may include: an acquisition unit 702, a determination unit 704, and a control unit 708.

[0136] The acquisition unit 702 is used to acquire first image data of the surface area of ​​the scrap steel trough.

[0137] The determining unit 704 is used to determine the type information and location information of the scrap steel in the surface area based on the first image data.

[0138] The control unit 706 is used to control the movement of scrap steel from the surface area to the preparation tank based on the scrap steel demand information, type information and location information of the preparation tank. The scrap steel demand information is used to indicate the content requirements of different types of scrap steel.

[0139] Optionally, the determining unit 704 may include: a first determining module, used to determine the type information of scrap steel on the surface area based on the first image data; a generating module, used to generate a target matrix of the surface area based on the type information; and a second determining module, used to determine the target matrix as location information.

[0140] Optionally, the device may further include: a first acquisition module, configured to acquire second image data of the surface region, wherein the first image data represents a planar image of the surface region and is used to determine the color and shape of the scrap steel, and the second image data represents a three-dimensional image of the surface region and is used to determine the size of the scrap steel; a second determination module, configured to determine the type data of the scrap steel in the surface region based on the second image data, wherein the type data is used to mark different types of scrap steel; and an update module, configured to update the location information based on the type data in response to inconsistencies between the type data and the type information.

[0141] Optionally, the determining unit 704 may include: a prompting module, used to issue a prompting message in response to the scrap steel's size exceeding a size threshold, wherein the prompting message is used to prompt the scrap steel whose size exceeds the size threshold to be cut.

[0142] Optionally, the control unit 706 may include: a conversion module for converting an address mask into coordinate data, wherein the location information is the address mask; a third determination module for detecting whether the material preparation trough is in a full-load state and obtaining a detection result; a fourth determination module for comparing the actual scrap steel information of the material preparation trough with the scrap steel demand information and obtaining a comparison result, wherein the actual scrap steel information of the material preparation trough is the proportion of different types of scrap steel in the material preparation trough; and a fifth determination module for controlling the scrap steel handling unit to move the scrap steel from the surface area to the material preparation trough based on the coordinate data, the detection result, and the comparison result.

[0143] Optionally, the third determining module may include: a first determining submodule, used to obtain a detection result characterizing that the material preparation trough is in a fully loaded state in response to the total amount of scrap steel carried by the material preparation trough reaching the full load threshold, wherein the full load threshold is the limit range of the volume of scrap steel carried by the material preparation trough.

[0144] Optionally, the fifth determining module may include: a second determining submodule, used to determine the scrap steel in the scrap steel ratio that is lower than the scrap steel demand information in response to the detection result indicating that the material preparation trough is in a non-full or full-load state, and the comparison result indicating that the actual scrap steel information is different from the scrap steel demand information; and a first control submodule, used to control the scrap steel handling unit to move the scrap steel to the material preparation trough based on the coordinate data of the scrap steel that is lower than the scrap steel demand information.

[0145] Optionally, the fifth determining module may further include: a moving submodule, used to control the movement of scrap steel from the surface area to the preparation trough in response to the detection result indicating that the preparation trough is not fully loaded and the comparison result indicating that the actual scrap steel information is the same as the scrap steel demand information; and a stopping submodule, used to stop moving scrap steel from the surface area in response to the detection result indicating that the preparation trough is fully loaded and the comparison result indicating that the actual scrap steel information is the same as the scrap steel demand information.

[0146] In this embodiment of the invention, an acquisition unit acquires first image data of the surface area of ​​the scrap steel trough; a determination unit determines the type information and location information of the scrap steel in the surface area based on the first image data; and a control unit controls the scrap steel to move from the surface area to the preparation trough based on the scrap steel demand information, type information, and location information of the preparation trough. The scrap steel demand information indicates the required content of different types of scrap steel, thereby solving the technical problem of not being able to automatically proportion scrap steel before smelting and achieving the technical effect of automatically proportioning scrap steel before smelting.

[0147] Example 4

[0148] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program executes the method for controlling the movement of scrap steel described in Embodiment 1.

[0149] Example 5

[0150] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes the method for controlling the movement of scrap steel described in Embodiment 1.

[0151] Example 6

[0152] According to embodiments of the present invention, an electronic device is also provided. Figure 8 This is an electronic device according to an embodiment of the present invention, such as... Figure 8 As shown, the electronic device includes a processor, a storage medium, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: acquiring first image data of the surface area of ​​the scrap steel trough; determining the type information and location information of the scrap steel in the surface area based on the first image data; and controlling the scrap steel to move from the surface area to the preparation trough based on the scrap steel demand information, type information, and location information of the preparation trough. The scrap steel demand information is used to indicate the content requirements of different types of scrap steel.

[0153] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0154] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0155] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0156] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0157] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0158] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0159] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the movement of scrap steel, characterized in that, include: Acquire first image data of the surface area of ​​the scrap steel trough; Based on the first image data, determine the type information of the scrap steel on the surface area; Based on the aforementioned category information, a target matrix for the surface region is generated; The target matrix is ​​determined as location information; A second image data of the surface region is acquired, wherein the first image data represents a planar image of the surface region and is used to determine the color and shape of the scrap steel, and the second image data represents a three-dimensional image of the surface region and is used to determine the size of the scrap steel; based on the second image data, the type data of the scrap steel in the surface region is determined, wherein the type data is used to mark different types of scrap steel; in response to a discrepancy between the type data and the type information, the location information is updated based on the type data; Based on the scrap steel demand information of the preparation trough, the type information, and the location information, the scrap steel is controlled to move from the surface area to the preparation trough, wherein the scrap steel demand information is used to indicate the content requirements of different types of scrap steel. The method of controlling the movement of scrap steel from the surface area to the storage tank based on the scrap steel demand information, the type information, and the location information includes: converting an address mask into coordinate data, wherein the location information is the address mask; detecting whether the storage tank is fully loaded and obtaining a detection result; comparing the actual scrap steel information in the storage tank with the scrap steel demand information and obtaining a comparison result, wherein the actual scrap steel information in the storage tank is the proportion of different types of scrap steel in the storage tank; and controlling the scrap steel handling unit to move the scrap steel from the surface area to the storage tank based on the coordinate data, the detection result, and the comparison result.

2. The method according to claim 1, characterized in that, After determining the type of scrap steel in the surface region based on the second image data, the method further includes: In response to the scrap steel exceeding a size threshold, a prompt message is issued, wherein the prompt message is used to prompt the scrap steel exceeding the size threshold to be cut.

3. The method according to claim 1, characterized in that, The detection results, including whether the material preparation trough is fully loaded, are obtained: In response to the total amount of scrap steel carried in the preparation trough reaching the full load threshold, a detection result is obtained to characterize that the preparation trough is in a full load state, wherein the full load threshold is the limit range of the volume of scrap steel carried by the preparation trough.

4. The method according to claim 1, characterized in that, Based on the coordinate data, the detection results, and the comparison results, controlling the scrap steel handling unit to move the scrap steel from the surface area to the material preparation trough includes: In response to the detection result indicating that the material preparation trough is in a non-full-load or full-load state, and the comparison result indicating that the actual scrap steel information is different from the scrap steel demand information, the scrap steel in the scrap steel ratio is determined to be lower than the scrap steel demand information. Based on the coordinate data of the scrap steel corresponding to the scrap steel demand information, the scrap steel handling unit is controlled to move the scrap steel to the material preparation trough.

5. The method according to claim 1, characterized in that, Based on the coordinate data, the detection results, and the comparison results, controlling the scrap steel handling unit to move the scrap steel from the surface area to the material preparation trough includes: In response to the detection result indicating that the material preparation trough is not fully loaded, and the comparison result indicating that the actual scrap steel information is the same as the scrap steel demand information, the scrap steel is sequentially moved from the surface area to the material preparation trough; or In response to the detection result indicating that the material preparation trough is fully loaded and the comparison result indicating that the actual scrap steel information is the same as the scrap steel demand information, the movement of the scrap steel from the surface area is stopped.

6. A device for controlling the movement of scrap steel, characterized in that, The method of claim 1 includes: The acquisition unit is used to acquire first image data of the surface area of ​​the scrap steel trough; The determining unit is used to determine the type information and location information of the scrap steel in the surface area based on the first image data. The control unit is used to control the scrap steel to move from the surface area to the preparation tank based on the scrap steel demand information, the type information and the location information, wherein the scrap steel demand information is used to indicate the content requirements of different types of scrap steel.

7. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method for controlling the movement of scrap steel as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method for controlling the movement of scrap steel as described in any one of claims 1 to 5.

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