A method, apparatus and system for controlling the rotation of a torpedo canister

Abstract

This application discloses a method, apparatus, and system for controlling the rotation direction of a torpedo can. The method includes sending a test rocking command to the torpedo can, so that the torpedo can performs forward and reverse test rocking actions according to the test rocking command; obtaining the relative positional offset between the torpedo can mouth and a positioning device during the test rocking process, and determining a first tilting rotation direction of the torpedo can based on the relative positional offset, wherein the positioning device is located on one side of the torpedo can body; associating the first tilting rotation direction of the torpedo can with a first pushing operation of an operating handle, so that the operating handle receives the user's first pushing operation and controls the torpedo can to tilt and unload iron according to the first pushing operation. The technical solution provided by this application can improve the operational safety of torpedo can rotation control.

Description

Technical Field

[0001] This application belongs to the field of torpedo can tipping control technology, and in particular relates to a torpedo can rotation control method, device and system. Background Technology

[0002] In the metallurgical industry, during the smelting of molten metal, torpedo ladle transport vehicles carry torpedo ladles containing molten metal from the ironworks to the steelmaking transfer station. The molten metal is then poured from the torpedo ladle into the molten iron ladle on the transfer station's iron platform by tilting. In this process, the accuracy of torpedo ladle rotation control is crucial for improving operational safety.

[0003] Due to the large number of torpedo ladles in the reverse-flow station, the inconsistent forward and reverse wiring of the DC motors, and the different tapping directions of each production line, controlling the rotation direction of the torpedo ladles presents a challenge for operators. The existing method involves plugging in the motor control connector after the torpedo ladle car enters the station, and the operator pushes a lever back and forth to control the tapping. However, because the rotation direction of each torpedo ladle varies depending on the lever's movement, misoperation is easily caused, resulting in the torpedo ladle tipping over in the opposite direction and spilling molten iron onto the ground. Summary of the Invention

[0004] The embodiments of this application provide a torpedo can rotation control method, device, and system, which can at least to some extent associate the user operation of the operating handle with the tilting direction of the torpedo can, so that the operator can control the torpedo can to tilt and deliver iron in the correct rotation direction through simple operation, thereby improving the operational safety of torpedo can rotation control.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to a first aspect of the embodiments of this application, a torpedo can rotation control method is provided, comprising:

[0007] Send a test rocking command to the torpedo canister so that the torpedo canister can perform a forward test rocking action and a reverse test rocking action according to the test rocking command;

[0008] During the test shaking of the torpedo canister, the relative position offset between the canister opening and the positioning device is obtained, and the first tilting direction of the torpedo canister is determined based on the relative position offset. The positioning device is located on one side of the torpedo canister body.

[0009] The first tilting rotation direction of the torpedo can is associated with the first push operation of the operating handle, so that the operating handle receives the user's first push operation and controls the torpedo can to tilt and discharge iron according to the first tilting rotation direction.

[0010] In some embodiments of this application, based on the foregoing scheme, before sending a test rocking command to the torpedo canister, the following method is further included:

[0011] Obtain the initial weight data on the molten iron trolley, and determine whether the molten iron trolley has been loaded with a ladle based on the initial weight data. If so, send a test rocking command to the torpedo ladle.

[0012] In some embodiments of this application, based on the foregoing scheme, after determining the first tilting direction of the torpedo canister according to the relative position offset, the method further includes:

[0013] The system receives image data containing torpedo canisters, identifies the image data to obtain the second tilting direction of the torpedo canisters, and verifies the first tilting direction using the second tilting direction.

[0014] In some embodiments of this application, based on the foregoing scheme, the process of tipping over the torpedo can to unload iron further includes:

[0015] Obtain real-time weight data and / or real-time net liquid level data of the molten iron ladle;

[0016] Based on the real-time weight data and / or the real-time liquid level clearance data, determine whether the preset iron output amount has been exceeded. If so, send a limit tilting command to the torpedo ladle so that the torpedo ladle stops tilting and outputting iron according to the limit tilting command.

[0017] In some embodiments of this application, based on the foregoing scheme, the real-time weight data is collected by a weighing device installed on the molten iron trolley, and the liquid level clearance data is collected by a liquid level detection device installed above the tapping position. The method further includes:

[0018] Determine whether the weighing device and / or the liquid level detection device are faulty; if so, send a perceptible fault indication signal to the operating handle.

[0019] Receive the interlock control release command sent by the operating handle, and stop acquiring real-time weight data and / or real-time liquid level clearance data of the molten iron ladle according to the interlock control release command;

[0020] The interlock control release command is generated by the user pressing the control handle.

[0021] In some embodiments of this application, based on the foregoing scheme, the process of tipping over the torpedo can to unload iron further includes:

[0022] Send an overload alarm signal to the alarm device so that the alarm device can issue a voice alarm based on the overload alarm signal.

[0023] According to a second aspect of the embodiments of this application, a torpedo canister rotation control device is provided, comprising:

[0024] The instruction sending module is used to send a test rocking instruction to the torpedo tank, so that the torpedo tank can perform a forward test rocking action and a reverse test rocking action according to the test rocking instruction;

[0025] The rotation direction determination module is used to obtain the relative positional offset between the torpedo can mouth and the positioning device during the test shaking process, and to determine the first tilting rotation direction of the torpedo can based on the relative positional offset. The positioning device is located on one side of the torpedo can body.

[0026] The association module is used to associate the first tilting rotation direction of the torpedo can with the first pushing operation of the operating handle, so that the operating handle receives the user's first pushing operation and controls the torpedo can to tilt and discharge iron according to the first tilting rotation direction.

[0027] According to a third aspect of the embodiments of this application, a torpedo canister rotation control method is provided, comprising:

[0028] Receive the user's first push operation, and control the torpedo can to tilt and discharge iron according to the first tilting direction;

[0029] The first tilting direction is determined in the following way:

[0030] The controller sends a test rocking command to the torpedo canister, so that the torpedo canister can perform a forward test rocking action and a reverse test rocking action according to the test rocking command;

[0031] The controller acquires the relative positional offset between the torpedo can mouth and the positioning device during the test shaking process, determines the first tilting direction of the torpedo can based on the relative positional offset, and associates the first tilting direction of the torpedo can with the first pushing operation of the operating handle. The positioning device is located on one side of the torpedo can body.

[0032] According to a fourth aspect of the embodiments of this application, a torpedo can rotation control system is provided, comprising:

[0033] The controller is used to send a test rocking command to the torpedo canister, obtain the relative positional offset between the torpedo canister opening and the positioning device during the test rocking process, determine the first tilting rotation direction of the torpedo canister based on the relative positional offset, and associate the first tilting rotation direction of the torpedo canister with the first pushing operation of the operating handle. The positioning device is located on one side of the torpedo canister body.

[0034] An operating handle is used to receive a first push operation from the user and to control the torpedo can to tilt and discharge iron in a first tilting direction according to the first push operation.

[0035] In some embodiments of this application, based on the aforementioned scheme, the operating handle includes a handle body, the handle body is provided with a joystick and an interlock control release button, the joystick is used to receive a first push operation from the user, and the interlock control release button is used to receive a press operation from the user.

[0036] According to a fifth aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein at least one piece of program code is stored therein, the at least one piece of program code being loaded and executed by a processor to perform the operations performed by the method described in any one of the first or third aspects above.

[0037] According to a sixth aspect of the present application, an electronic device is provided, including one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to perform the operation as described in any of the first or third aspects above.

[0038] The technical solution proposed in this application determines the correct tilting direction of the torpedo can by controlling it to perform forward and reverse trial shaking. This tilting direction is then associated with a first push operation of the operating handle. The operating handle receives the user's first push operation and controls the torpedo can to tilt and unload iron according to the first tilting direction. Unlike existing technologies where a single push operation may correspond to different tilting directions, this application pre-sets the tilting direction of the torpedo can. The user only needs to perform a push operation to control the torpedo can to tilt and unload iron according to the correct tilting direction, making the operation simple and highly safe.

[0039] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0041] Figure 1 A flowchart of a torpedo can rotation control method according to an embodiment of this application is shown;

[0042] Figure 2 A schematic diagram of the layout of a torpedo ladle relative to a molten iron trolley on a production line is shown according to an embodiment of this application;

[0043] Figure 3 A structural block diagram of a torpedo canister rotation control device according to an embodiment of this application is shown;

[0044] Figure 4 A structural block diagram of a torpedo can rotation control system according to an embodiment of this application is shown;

[0045] Figure 5 A schematic diagram of the structure of an operating handle according to an embodiment of this application is shown;

[0046] Figure 6 A schematic diagram of a computer-readable storage medium according to an embodiment of this application is shown;

[0047] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0050] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0051] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0052] It should also be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of these terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described.

[0053] Because the rotation direction of each torpedo can varies depending on the forward and backward operation of the joystick—for example, pushing the joystick forward for the first torpedo can results in forward rotation, while pushing it forward for the second torpedo can results in reverse rotation—this can easily lead to misoperation, causing the torpedo can to tip over and eject molten iron in the wrong direction, resulting in spillage. To solve this problem, this application proposes a torpedo can rotation direction control method. This method determines the correct tilting rotation direction by controlling the torpedo can to perform forward and reverse trial rocking. Then, the tilting rotation direction is associated with the first push operation of the operating handle, so that the operating handle receives the user's first push operation and controls the torpedo can to tilt and eject molten iron according to the first tilting rotation direction. Unlike the prior art where a certain push operation may correspond to different rotation directions, this application pre-sets the rotation direction of the torpedo can. The user only needs to perform a push operation to control the torpedo can to tilt and eject molten iron in the correct rotation direction, making the operation simple and highly safe.

[0054] The following detailed description of a torpedo can rotation control method proposed in the first aspect of the present application is provided through specific embodiments.

[0055] See Figure 1 The diagram shows a flowchart of a torpedo can rotation control method according to an embodiment of this application.

[0056] like Figure 1 As shown, this application provides a torpedo canister rotation control method, including but not limited to steps S1-S3:

[0057] Step S1. Send a test rocking command to the torpedo canister so that the torpedo canister can perform a forward test rocking action and a reverse test rocking action according to the test rocking command;

[0058] It should be noted that after the torpedo ladle car enters the station, the motor control plug is connected, and the molten iron trolley reaches the tapping position, a test rocking command is automatically sent to the torpedo ladle. Upon receiving the test rocking command, the torpedo ladle performs forward and reverse rocking actions according to the command. For example, the torpedo ladle performs a forward rocking for 3 seconds, then a reverse rocking for 3 seconds to return to the zero position; then a reverse rocking for 3 seconds, and then a forward rocking for 3 seconds to return to the original position. It is important to note that the molten iron inside the torpedo ladle must not overflow during the forward and reverse rocking actions. Therefore, the amplitude of the rocking action should be small. For example, a small rocking threshold should be set, and the rocking amplitude of the torpedo ladle during the test should not exceed this threshold, thereby preventing the molten iron inside the torpedo ladle from overflowing.

[0059] In some embodiments of step S1, based on the foregoing scheme, before sending the test rocking command to the torpedo canister, the following is also included:

[0060] Obtain the initial weight data on the molten iron trolley, and determine whether the molten iron trolley has been loaded with a ladle based on the initial weight data. If so, send a test rocking command to the torpedo ladle.

[0061] It should be noted that after the torpedo ladle car enters the station, the motor control plug is plugged in, and the molten iron car reaches the tapping position, the above-mentioned judgment logic will be automatically triggered. That is, the initial weight data on the molten iron car is obtained, and the initial weight data is used to determine whether the molten iron car has been loaded with a ladle. Specifically, the initial weight data on the molten iron car is obtained by a weighing device, such as an electronic scale, and compared with the preset weight data, so as to determine whether the molten iron car has been loaded with a ladle. When the ladle is not seated on the molten iron trolley, the weight measured by the electronic scale should be 0. The weight of the molten iron ladle is usually in the range of 100-120 tons. The weight data is preset to 100 tons. When the weight data measured by the electronic scale is less than 100 tons, it means that the molten iron ladle is not seated on the molten iron trolley or is not in the predetermined position. If the torpedo car is allowed to tip over to pour iron at this time, it may cause the molten iron to not be poured into the ladle accurately. Therefore, by adding this judgment step and using the weight data on the molten iron trolley exceeding the preset weight data as the allowable condition for tipping the torpedo ladle, it is possible to effectively prevent molten iron spillage accidents caused by improper installation of the molten iron ladle.

[0062] Of course, it is understood that in another embodiment of this application, the determination of the torpedo car tipping condition may not necessarily be before the torpedo can performs the test rocking action, or it may be before the torpedo can officially tip and rotate to tap iron. What is shown here is only one kind of control logic and does not limit the scope of protection of this application.

[0063] Step S2. Obtain the relative position offset between the torpedo can mouth and the positioning device during the test shaking process, and determine the first tilting direction of the torpedo can based on the relative position offset. The positioning device is located on one side of the torpedo can body.

[0064] like Figure 2 As shown, it should be noted that the torpedo ladle transfer station usually has two operating lines, namely Line 1 and Line 2. After the torpedo ladle enters the transfer station, it may enter Line 1 or Line 2. When the molten iron platform reaches the iron discharge position, the molten iron platform is located between Line 1 and Line 2 and is located diagonally below the torpedo ladle.

[0065] Based on this, the embodiments of this application use a positioning device to assist in determining the tilting direction of the torpedo canister. Preferably, the positioning device is a laser positioning device; more preferably, a single laser positioning device is provided and located on one side of the torpedo canister body. By setting the laser positioning device on one side of the torpedo canister body, for example, outside line 2, the laser is irradiated on the canister opening in real time. During the test shaking of the torpedo canister, the position of the canister opening and the laser positioning device shift relative to each other. For example, when the torpedo canister is located at line 2, the relative distance between the torpedo canister and the laser positioning device increases during a test shaking to the left and decreases during a test shaking to the right; when the torpedo canister is located at line 1, the relative distance between the torpedo canister and the laser positioning device increases during a test shaking to the left and decreases during a test shaking to the right. The rotation direction of the torpedo canister can be determined by the change in relative distance. For example, when the torpedo canister is located on line 1, the direction of rotation that decreases in relative distance from the positioning device should be taken as the tilting direction of the torpedo canister. When the torpedo canister is located on line 2, the direction of rotation that increases in relative distance from the positioning device should be taken as the tilting direction of the torpedo canister.

[0066] In some embodiments of this application, based on the foregoing scheme, after determining the first tilting direction of the torpedo canister according to the relative position offset, the method further includes:

[0067] The system receives image data containing torpedo canisters, identifies the image data to obtain the second tilting direction of the torpedo canisters, and verifies the first tilting direction using the second tilting direction.

[0068] It should be noted that the embodiments of this application employ an image acquisition device, such as a camera, to acquire image data containing the torpedo ladle, and more specifically, image data containing the relative positional layout of the torpedo ladle and the molten iron trolley. By recognizing the image data, that is, based on the changes in the three-dimensional coordinates during forward and reverse movements, the direction of rotation of the ladle is automatically determined. For example, if the torpedo ladle is identified as being located on line 1, it is assumed that the tilting direction of the torpedo ladle should be to the right.

[0069] It is worth noting that when the first tilting direction and the second tilting direction are correctly determined, the first tilting direction should be the same as the second tilting direction. This allows the first tilting direction to be verified by the second tilting direction, further ensuring the accuracy of the torpedo tank tilting direction determination.

[0070] Step S3. Associate the first tilting rotation direction of the torpedo can with the first push operation of the operating handle, so that the operating handle receives the user's first push operation and controls the torpedo can to tilt and discharge iron according to the first tilting rotation direction.

[0071] It should be noted that due to the inconsistent forward and reverse wiring methods of the motors in different torpedo canisters and the different iron discharge directions on each production line, the same joystick push direction may correspond to different rotation directions when operating the existing handles. For example, pushing the joystick forward controls the rotation in the first torpedo canister, but in the second torpedo canister, it controls the rotation in the reverse direction. This requires operators to manually memorize the motor wiring methods of the torpedo canisters and the iron discharge direction of the production line, but in actual operation, misoperation is still very easy to occur, leading to iron spillage accidents.

[0072] To address this issue, this embodiment of the application, after determining the tilting direction of the torpedo canister, associates the tilting direction with a first pushing operation of the operating handle. Preferably, the first pushing operation is a forward pushing operation. For example, if the tilting direction of the torpedo canister is forward rotation, the operator can control the torpedo canister to rotate forward by pushing the joystick forward. In other words, this embodiment of the application solves the problem of operators needing to manually memorize the torpedo canister's rotation direction through program settings, making the operator's control of the torpedo canister's rotation direction simpler and more accurate.

[0073] Of course, it is understood that the embodiments of this application may also include a second push operation of the operating handle. Preferably, the second push operation is a rocker arm pull-back operation, and the rocker arm pull-back operation is associated with the torpedo canister reset control.

[0074] In some embodiments of this application, based on the foregoing scheme, the process of tipping over the torpedo can to unload iron further includes:

[0075] Obtain real-time weight data and / or real-time net liquid level data of the molten iron ladle;

[0076] Preferably, the real-time weight data is collected by a weighing device installed on the molten iron trolley, and the liquid level clearance data is collected by a liquid level detection device installed above the iron tapping position; more preferably, the weighing device is an electronic scale, including four weighing sensors, a control power supply, a signal transmission radio, and a weighing screen, and the liquid level detection device is a high-temperature resistant radar liquid level detection device; wherein, the electronic scale is connected to the controller wirelessly, and the radar liquid level detection device is fixedly installed on the dust cover above the iron tapping position, and the detection signal is connected to the controller via 4-20mA.

[0077] Based on the real-time weight data and / or the real-time liquid level clearance data, determine whether the preset iron output amount has been exceeded. If so, send a limit tilting command to the torpedo ladle so that the torpedo ladle stops tilting and outputting iron according to the limit tilting command.

[0078] Specifically, under normal circumstances, the weight data measured by the electronic scale is generally within the range of 0-350 tons. If the weight exceeds 350 tons, the ladle of molten iron is overweight, and an overweight alarm can be triggered, while simultaneously preventing the torpedo ladle from continuing to tip over and discharge iron. Similarly, under normal circumstances, the clear distance of the liquid surface measured by the radar liquid level detection device is usually within the range of 0-9 meters. When the clear distance of the liquid surface is greater than 9 meters, an overflow alarm is triggered, while simultaneously preventing the torpedo ladle from continuing to tip over and discharge iron.

[0079] In some embodiments of this application, based on the foregoing scheme, the method further includes:

[0080] Determine whether the weighing device and / or the liquid level detection device are faulty; if so, send a perceptible fault indication signal to the operating handle.

[0081] Specifically, the types of malfunctions of the weighing device or the liquid level detection device include, but are not limited to, communication failures and abnormal detection data; the perceptible fault indication signals include, but are not limited to, setting an indicator light on the operating handle, and using the flashing indicator light to remind the operator that there is a hardware malfunction in the weighing device or the liquid level detection device.

[0082] Receive the interlock control release command sent by the operating handle, and stop acquiring real-time weight data and / or real-time liquid level clearance data of the molten iron ladle according to the interlock control release command;

[0083] The interlock control release command is generated by the user pressing the control handle.

[0084] It should be noted that the operating handle is equipped with a control button. After receiving a perceptible fault prompt signal, the user can press the button to generate an interlock control release command on the operating handle. This command will cause the controller to stop interlock control, i.e., stop acquiring real-time weight data and / or real-time liquid level clearance data of the molten iron ladle. The user can then complete the tapping process of the torpedo ladle through manual monitoring.

[0085] In some embodiments of this application, based on the foregoing scheme, the process of tipping over the torpedo can to unload iron further includes:

[0086] Send an overload alarm signal to the alarm device so that the alarm device can issue an audio alarm based on the overload alarm signal, thereby alerting the operator and improving the operator's work awareness.

[0087] Based on the disclosed solution, this application's embodiments determine the correct tilting direction of the torpedo can by controlling it to perform forward and reverse trial shaking. This tilting direction is then associated with a first push operation of the operating handle, allowing the handle to receive the user's first push operation and control the torpedo can to tilt and unload iron according to the first tilting direction. Unlike existing technologies where a single push operation may correspond to different directions, this application pre-sets the torpedo can's tilting direction. The user only needs to perform a push operation to control the torpedo can to tilt and unload iron according to the correct direction. This method is simple to operate, highly safe, and improves operational efficiency.

[0088] The following describes an apparatus embodiment of this application, which can be used to perform the methods described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the methods described in the above embodiments of this application.

[0089] like Figure 3 As shown, according to a second aspect of the embodiments of this application, a torpedo can rotation control device is provided, comprising:

[0090] The instruction sending module 101 is used to send a test rocking instruction to the torpedo tank, so that the torpedo tank can perform a forward test rocking action and a reverse test rocking action according to the test rocking instruction;

[0091] The rotation direction determination module 102 is used to obtain the relative position offset between the torpedo can mouth and the positioning device during the test shaking process, and to determine the first tilting rotation direction of the torpedo can based on the relative position offset. The positioning device is located on one side of the torpedo can body.

[0092] The associated module 103 is used to associate the first tilting rotation direction of the torpedo can with the first pushing operation of the operating handle, so that the operating handle receives the first pushing operation from the user and controls the torpedo can to tilt and discharge iron according to the first tilting rotation direction.

[0093] According to a third aspect of the embodiments of this application, a torpedo canister rotation control method is provided, comprising:

[0094] Receive the user's first push operation, and control the torpedo can to tilt and discharge iron according to the first tilting direction;

[0095] The first tilting direction is determined in the following way:

[0096] The controller sends a test rocking command to the torpedo canister, so that the torpedo canister can perform a forward test rocking action and a reverse test rocking action according to the test rocking command;

[0097] The controller acquires the relative positional offset between the torpedo can mouth and the positioning device during the test shaking process, determines the first tilting direction of the torpedo can based on the relative positional offset, and associates the first tilting direction of the torpedo can with the first pushing operation of the operating handle. The positioning device is located on one side of the torpedo can body.

[0098] The torpedo can rotation control method provided in the third aspect of this application is a technical solution corresponding to the method provided in the first aspect. For details not disclosed in the third aspect of this application, please refer to the method embodiment of the first aspect of this application described above.

[0099] like Figure 4 As shown, according to a fourth aspect of the embodiments of this application, a torpedo can rotation control system is provided, comprising:

[0100] Controller 201, the controller is used to send a test shaking command to the torpedo can, obtain the relative position offset between the torpedo can mouth and the positioning device during the test shaking process, determine the first tilting rotation direction of the torpedo can based on the relative position offset, and associate the first tilting rotation direction of the torpedo can with the first pushing operation of the operating handle, the positioning device is located on one side of the torpedo can body;

[0101] Operating handle 202, the operating handle is used to receive the user's first push operation, and control the torpedo can to tilt and discharge iron in a first tilting direction according to the first push operation.

[0102] like Figure 5 As shown, in some embodiments of this application, based on the aforementioned scheme, the operating handle includes a handle body 21, the handle body 21 is provided with a rocker arm 211 and an interlock control release button 212, the rocker arm 211 is used to receive the user's first push operation, and the interlock control release button 212 is used to receive the user's press operation.

[0103] like Figure 6As shown, based on the same inventive concept, this application provides a computer-readable storage medium 300, which stores at least one computer program instruction. The at least one computer program instruction is loaded and executed by a processor to perform the operation as described in any of the preceding third aspects.

[0104] The computer-readable storage medium 300 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the computer-readable storage medium 300 of this application is not limited thereto. In this application, the readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0105] The readable storage medium 300 may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the readable storage medium 300 include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0106] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0107] In another respect, this application also provides an electronic device 400 capable of implementing the above-described maintenance method.

[0108] Those skilled in the art will understand that various aspects of this application can be implemented as a system, method, or program product. Therefore, various aspects of this application can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as a "circuit," "module," or "system."

[0109] The following reference Figure 7 To describe an electronic device 400 according to this embodiment of the present application. Figure 7 The electronic device 400 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0110] like Figure 7 As shown, the electronic device 400 is manifested in the form of a general-purpose computing device. The components of the electronic device 400 may include, but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different system components (including storage unit 420 and processing unit 410).

[0111] The storage unit stores program code that can be executed by the processing unit 410, causing the processing unit 410 to perform the steps described in the "Embodiment Methods" section above according to various exemplary embodiments of this application.

[0112] Storage unit 420 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 421 and / or cache memory 422, and may further include a read-only memory (ROM) 423.

[0113] Storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0114] Bus 430 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0115] Electronic device 400 can also communicate with one or more external devices 500 (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 400, and / or any device that enables electronic device 400 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 450. Furthermore, electronic device 400 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 460. As shown, network adapter 460 communicates with other modules of electronic device 400 via bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0116] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the rotation direction of a torpedo canister, characterized in that, include: Send a test rocking command to the torpedo canister so that the torpedo canister can perform a forward test rocking action and a reverse test rocking action according to the test rocking command; During the test shaking process, the relative position offset between the torpedo can mouth and the positioning device is obtained, and the first tilting direction of the torpedo can is determined based on the relative position offset. The positioning device is located on one side of the torpedo can body. The shaking amplitude of the torpedo can during the test shaking process does not exceed the set test shaking threshold. The first tilting rotation direction of the torpedo can is associated with the first pushing operation of the operating handle, so that the operating handle receives the user's first pushing operation and controls the torpedo can to tilt and discharge iron according to the first tilting rotation direction. After determining the first tilting direction of the torpedo canister based on the relative position offset, the process also includes: The system receives image data containing torpedo canisters, identifies the image data to obtain the second tilting direction of the torpedo canisters, and verifies the first tilting direction using the second tilting direction.

2. The method according to claim 1, characterized in that, Before sending the test rocking command to the torpedo canister, the following is also included: Obtain the initial weight data on the molten iron trolley, and determine whether the molten iron trolley has been loaded with a ladle based on the initial weight data. If so, send a test rocking command to the torpedo ladle.

3. The method according to claim 1, characterized in that, The process of the torpedo pot tipping over and releasing iron also includes: Obtain real-time weight data and / or real-time net liquid level data of the molten iron ladle; Based on the real-time weight data and / or the real-time liquid level clearance data, determine whether the preset iron output amount has been exceeded. If so, send a limit tilting command to the torpedo ladle so that the torpedo ladle stops tilting and outputting iron according to the limit tilting command.

4. The method according to claim 3, characterized in that, The real-time weight data is collected by a weighing device installed on the molten iron trolley, and the liquid level clearance data is collected by a liquid level detection device installed above the iron tapping position. The method further includes: Determine whether the weighing device and / or the liquid level detection device are faulty; if so, send a perceptible fault indication signal to the operating handle. Receive the interlock control release command sent by the operating handle, and stop acquiring real-time weight data and / or real-time liquid level clearance data of the molten iron ladle according to the interlock control release command; The interlock control release command is generated by the user pressing the control handle.

5. The method according to claim 1, characterized in that, The process of the torpedo can tipping over and releasing iron also includes: Send an overload alarm signal to the alarm device so that the alarm device can issue a voice alarm based on the overload alarm signal.

6. A torpedo canister rotation control device, characterized in that, include: The instruction sending module is used to send a test rocking instruction to the torpedo tank, so that the torpedo tank can perform a forward test rocking action and a reverse test rocking action according to the test rocking instruction; The rotation direction determination module is used to obtain the relative positional offset between the torpedo can mouth and the positioning device during the test shaking process, and to determine the first tilting rotation direction of the torpedo can based on the relative positional offset. The positioning device is located on one side of the torpedo can body. The shaking amplitude of the torpedo can during the test shaking process does not exceed the set test shaking threshold. The association module is used to associate the first tilting rotation direction of the torpedo can with the first pushing operation of the operating handle, so that the operating handle receives the first pushing operation from the user and controls the torpedo can to tilt and discharge iron according to the first tilting rotation direction based on the first pushing operation; After determining the first tilting direction of the torpedo canister based on the relative position offset, the process also includes: The system receives image data containing torpedo canisters, identifies the image data to obtain the second tilting direction of the torpedo canisters, and verifies the first tilting direction using the second tilting direction.

7. A method for controlling the rotation direction of a torpedo canister, characterized in that, include: Receive the user's first push operation, and control the torpedo can to tilt and discharge iron according to the first tilting direction; The first tilting direction is determined in the following way: The controller sends a test rocking command to the torpedo canister, so that the torpedo canister can perform a forward test rocking action and a reverse test rocking action according to the test rocking command, wherein the rocking amplitude of the torpedo canister during the test rocking process does not exceed the set test rocking threshold. The controller acquires the relative positional offset between the torpedo can's mouth and the positioning device during the test shaking process, determines the first tilting rotation direction of the torpedo can based on the relative positional offset, and associates the first tilting rotation direction of the torpedo can with the first pushing operation of the operating handle. The positioning device is located on one side of the torpedo can's body. After determining the first tilting rotation direction of the torpedo can based on the relative positional offset, the controller further includes: receiving image data containing the torpedo can, identifying the image data to obtain the second tilting rotation direction of the torpedo can, and verifying the first tilting rotation direction using the second tilting rotation direction.

8. A torpedo canister rotation control system, characterized in that, include: The controller is used to send a test rocking command to the torpedo canister, obtain the relative positional offset between the canister opening and the positioning device during the test rocking process, determine the first tilting rotation direction of the torpedo canister based on the relative positional offset, and associate the first tilting rotation direction of the torpedo canister with the first pushing operation of the operating handle. The positioning device is located on one side of the torpedo canister body. The rocking amplitude of the torpedo canister during the test rocking process does not exceed the set test rocking threshold. After determining the first tilting rotation direction of the torpedo canister based on the relative positional offset, the controller further includes: receiving image data containing the torpedo canister, identifying the image data to obtain the second tilting rotation direction of the torpedo canister, and verifying the first tilting rotation direction through the second tilting rotation direction. An operating handle is used to receive a first push operation from the user and to control the torpedo can to tilt and discharge iron in a first tilting direction according to the first push operation.

9. The system according to claim 8, characterized in that, The operating handle includes a handle body, which is equipped with a joystick and an interlock control release button. The joystick is used to receive the user's first push operation, and the interlock control release button is used to receive the user's press operation.

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