An intelligent grading method for scrap steel

Abstract

The present invention provides a method for intelligent grading of scrap steel, including that the unloading point of the scrap steel vehicle is set in the scrap steel storage yard for the unloading point of the scrap steel vehicle; a movable steel grabbing machine can work at any point in the stockyard; a vertical pole device is arranged on one side of the scrap steel unloading point, and a cross beam is arranged at its top, and an image acquisition device and an LED display device are arranged on the cross beam; the image acquisition device is electrically connected to the steel grabbing machine, and when the image acquisition device recognizes that scrap steel has been dumped at a certain point, a signal is sent to the steel grabbing machine to operate at that point. The present invention provides a method for intelligent grading of scrap steel, which improves the receiving efficiency and enhances the utilization rate of the stockyard.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent grading methods for scrap steel, and particularly to an intelligent grading method for scrap steel. Background Art

[0002] In order to reduce the dependence on iron ore, many domestic and foreign steel mills use scrap steel as an important raw material for steelmaking. The types of scrap steel are numerous, the material types are complex, the shapes and sizes are diverse, and there are often impurities such as soil slag and oil stains attached. After the steel mill purchases scrap steel, it needs to conduct grading and evaluation. The current mainstream intelligent grading system conducts grading on the scrap steel truck, that is, takes pictures and grades the scrap steel in the truck during the unloading process, and uploads the grading results to the ERP or MES system. This method has the following disadvantages: 1) The truck driver needs to wait in the yard for the unloading process to complete. When there are many vehicles, there will be a serious queuing phenomenon, and the transfer efficiency is low; 2) The scrap steel unloading point requires a large space, and only a limited number of unloading points can be divided in a yard, resulting in low yard utilization; 3) Each point requires a set of unloading devices and labor, and the labor and material costs are high. Summary of the Invention

[0003] Aiming at the defects in the prior art, the present invention provides an intelligent grading method for scrap steel, which improves the receiving efficiency and the utilization rate of the yard.

[0004] The present invention provides an intelligent grading method for scrap steel. The intelligent grading system for scrap steel includes:

[0005] A scrap steel truck unloading point, which is set in the scrap steel warehouse and is used as the unloading point for the scrap steel truck;

[0006] A movable steel grabbing machine, which can work at any point in the yard;

[0007] A vertical pole device, which is set on one side of the scrap steel unloading point. A cross beam is arranged at the top of the vertical pole device, and an image acquisition device, a supplementary light device and an LED display device are arranged on the cross beam;

[0008] The image acquisition device is electrically connected to the steel grabbing machine. When the image acquisition device recognizes that scrap steel has been dumped at a certain point, it sends a signal to the steel grabbing machine to operate at that point.

[0009] Preferably, the vertical pole device includes a vertically arranged vertical pole support, and the inside of the vertical pole support is hollow.

[0010] Preferably, the image acquisition device is a bullet and dome integrated camera.

[0011] Preferably, the bullet and dome integrated camera includes a bullet camera and a dome camera. The bullet camera is responsible for the overall vision control of the entire unloading point area, and the dome camera is responsible for magnifying and taking pictures of the area after grabbing.

[0012] Preferably, the LED display device can prompt the operator of the system status, and the operator controls the steel grabber to grab the scrap steel at the unloading point and put it on the large pile for storing the scrap steel according to the instructions prompted on the LED display device.

[0013] A grading method is also provided, which uses the above-mentioned intelligent grading method for scrap steel, and comprises the following steps:

[0014] Step 1: The transfer vehicle transports the scrap steel to the material yard, selects any cleaned unloading platform, and confirms that the LED display device at that point shows "unloading allowed", then the scrap steel can be dumped on the unloading platform at that point. After the gun camera recognizes the unloading completion status, the license plate number is read into the system through license plate recognition, and the intelligent grading system of the scrap steel of this vehicle is started. At this time, the LED display jumps to "scrap grading in progress", and the driver can drive the empty vehicle out of the material yard;

[0015] Step 2: After the system starts taking photos and judging the grade, it locates the unloading pile through the image recognition of the gun camera, divides the unloading pile into multiple areas evenly, and mobilizes the ball camera to zoom in and take pictures of the surface of the scrap steel in each area; after the shooting is completed, it waits for the steel grabber to grab it;

[0016] Step 3: The steel grabber arrives at the point to grab the scrap steel. The gun machine tracks the complete trajectory of the steel grabber from unloading the material pile to grabbing it, locates the grabbing position, and moves the ball camera to aim at the newly exposed scrap steel after grabbing. The magnification is calculated according to the position information, and the camera is adjusted to the corresponding magnification to take pictures. The system model recognizes the thickness, material type and other information of the scrap steel in each frame of the image;

[0017] Step 4: Repeat step 3 until all scrap steel on the ground can no longer be picked up by the steel grabber;

[0018] Step 5: After the gun recognizes that the material pile is about to be grabbed and the steel grabber stops grabbing, the ball camera is started to take a picture of the bottom slag according to the segmented area in step 2, and the slag amount is identified and the weight is calculated;

[0019] Step 6: Give the grade and weight deduction results of the whole truckload of scrap steel, and automatically end the grade determination of this truckload;

[0020] Step 7: After the grading is completed, use a bulldozer to clean up the remaining scrap steel and slag on the ground. After the gun recognizes that the unloading ground has been cleaned, the LED display screen will jump to "unloading allowed" before the next truck can be unloaded.

[0021] Beneficial effects of the present invention

[0022] The present invention provides a method for intelligent grading of scrap steel. The method for intelligent grading of scrap steel enables the scrap steel transfer vehicle to unload at any point without waiting for the grading process. When the steel grabbing machine is idle, it can come to grab the scrap steel and stack it, and automatically give the grading and weight deduction results. There is no need for the unloading steel grabbing machine to wait at the unloading point all the time. One steel grabbing machine can be multiplexed at multiple points in a time-sharing manner, realizing all-weather cyclic transfer of scrap steel, improving the transfer efficiency of scrap steel. The steel grabbing machine is used instead of the original crane suction cup. The steel grabbing machine has a large activity range, and one steel grabbing machine can be multiplexed at multiple points in a time-sharing manner, saving labor and material costs. The requirements for the space of the unloading point are relatively low, and more unloading points can be demarcated in the stockyard, improving the utilization rate of the stockyard.

[0023] After the transfer vehicle transports the scrap steel, all the scrap steel is dumped in the ground storage area and then the vehicle can drive away without waiting. The utilization efficiency and turnover rate of the transfer vehicle are effectively improved. Multiple unloading points can be freely demarcated in the stockyard. After one stockpile is full, it immediately switches to the next unloading point without transferring the scrap steel in the stockpile, improving the utilization rate of the stockyard. Brief Description of the Drawings

[0024] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0025] Wherein, 1 - steel grabbing machine, 2 - unloading point, 3 - image acquisition device, 4 - supplementary light device, 5 - LED display device, 6 - vertical pole device. Detailed Embodiments

[0026] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those of ordinary skill in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0027] Refer to Figure 1

[0028] The present invention provides a method for intelligent grading of scrap steel.

[0029] The present invention provides a method for intelligent grading of scrap steel. The intelligent grading system for scrap steel includes: a scrap steel truck unloading point 2, a steel grabbing machine 1, a vertical pole device 6, an image acquisition device 3, a supplementary light device 4, and an LED display device 5. The scrap steel truck unloading point 2 is arranged in the scrap steel storage yard and is used as the unloading point 2 for the scrap steel truck. The scrap steel unloading points 2 can be arbitrarily divided within the yard. After the scrap steel truck enters the yard, it can unload the scrap steel at any cleaned unloading point 2. After dumping the scrap steel on the designated ground, the scrap steel truck can leave by itself. The movable steel grabbing machine 1 can work at any point within the yard. The vertical pole device 6 is arranged on one side of the scrap steel unloading point 2, and a crossbeam is provided at its top. The image acquisition device 3, the supplementary light device 4, and the LED display device 5 are arranged on the crossbeam. The image acquisition device 3 is electrically connected to the steel grabbing machine 1. When the image acquisition device 3 recognizes that scrap steel has been dumped at a certain point, it sends a signal to the steel grabbing machine 1 to operate at that point. The supplementary light device 4 is used for supplementary lighting during the acquisition by the image acquisition device 3, which can meet the lighting requirements during night operations and ensure the imaging quality of the scrap steel pictures. The LED display device 5 is used to prompt the operator about the status of the system. The operator operates the steel grabbing machine 1 according to the instructions prompted on the LED display device 5 to grab the scrap steel on the unloading platform onto the large scrap steel pile for storage.

[0030] In one of the embodiments, the vertical pole device 6 includes a vertically arranged vertical pole support, and the inside of the vertical pole support is hollow. Multiple adjacent points can share one vertical pole device 6. All communication lines and power supply lines are routed through the inside of the support, eliminating the exposure of the lines in a complex environment and improving safety and durability.

[0031] In one of the embodiments, the image acquisition device 3 is a bullet and dome integrated camera. The bullet and dome integrated camera includes a bullet camera and a dome camera. The bullet camera is responsible for the overall view control of the entire unloading point 2 area, and the dome camera is responsible for magnifying and photographing the area after grabbing. The bullet and dome are linked, which can ensure that the scales of the scrap steel pictures taken are uniform, the imaging is clear, and the minimum time interval required for photographing is shortened.

[0032] A grading method is also provided. Using the above-mentioned method for intelligent grading of scrap steel, it includes the following steps:

[0033] Step 1: The transport vehicle transports the scrap steel to the yard, selects any cleaned unloading platform, confirms that the "unloading allowed" is displayed on the LED display device at this point, and then can dump the scrap steel on the unloading platform at this point. After recognizing the unloading completion status through the bullet camera, the license plate number is read into the system through license plate recognition, and the intelligent grading system for the scrap steel of this vehicle is started for grading. At this time, the LED display changes to "scrap steel grading in progress", and the driver can drive the empty vehicle out of the yard and leave;

[0034] Step 2: After the system starts the photographing and grading process, the unloading material pile position is located through the image recognition of the fixed camera. The unloading material pile is evenly divided into multiple areas, and the PTZ camera is mobilized to magnify and photograph the surface image of the scrap steel in each area respectively. After the photographing is completed, wait for the grapple crane 1 to come and grab the scrap steel.

[0035] Step 3: The grapple crane 1 comes to the point to grab the scrap steel. The fixed camera tracks the complete trajectory of the grapple crane 1 from the unloading material pile to the moment of grabbing, locates the grabbing position, mobilizes the PTZ camera to aim at the newly exposed scrap steel after grabbing, calculates the magnification according to the position information, and adjusts to the corresponding magnification for photographing. The system model identifies information such as the thickness and material type of the scrap steel in each frame of the image.

[0036] Step 4: Repeat Step 3 until all the scrap steel on the ground can no longer be grabbed by the grapple crane 1.

[0037] Step 5: After the fixed camera identifies the state that the material pile is about to be grabbed completely and the grapple crane 1 stops the grabbing action, start the PTZ camera to photograph the bottom soil once according to the divided areas in Step 2, and identify the soil volume to calculate the weight deduction.

[0038] Step 6: Give the grading and weight deduction results of the whole vehicle of scrap steel, and automatically end the grading of this vehicle.

[0039] Step 7: After the grading is completed, use a bulldozer to clean up the remaining scrap steel and soil on the ground. After the fixed camera identifies that the unloading ground has been cleaned up, switch the LED display screen to "Unloading Allowed", and then a new vehicle can be unloaded.

[0040] Advantages of the present invention

[0041] The present invention provides a method for intelligent grading of scrap steel. The method for intelligent grading of scrap steel enables the scrap steel transfer vehicle to unload at any point, and there is no need to wait for the grading process. When the grapple crane 1 is idle, it comes to grab the scrap steel and stack it, and automatically gives the grading and weight deduction results. There is no need for the unloading grapple crane 1 to wait at the unloading point at all times. One grapple crane 1 can be multiplexed at multiple points in a time-sharing manner, realizing all-weather cyclic transfer of scrap steel, improving the transfer efficiency of scrap steel. Using the grapple crane 1 instead of the original crane suction cup, the grapple crane 1 has a large activity range, and one grapple crane 1 can be multiplexed at multiple points in a time-sharing manner, saving labor and material costs. The requirements for the space of the unloading point are relatively low, and more unloading points 2 can be divided in the stockyard, improving the utilization rate of the stockyard.

[0042] After the transfer vehicle transports the scrap steel and dumps all the scrap steel in the ground storage area, it can drive away without waiting, effectively improving the utilization efficiency and turnover rate of the transfer vehicle. Multiple unloading points can be freely divided in the stockyard. After one material pile is full, immediately switch to the next unloading point without transferring the scrap steel of the material pile, improving the utilization rate of the stockyard.

[0043] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention.

[0044] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more, unless otherwise specifically defined.

[0045] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. should be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The above content is a further detailed description of the present invention in combination with specific embodiments, and it cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can still be made.

Claims

1. An intelligent grading method for scrap steel, characterized in that, The intelligent scrap steel grading system includes: The unloading point of scrap steel truck is set in the scrap steel warehouse and is used for unloading of scrap steel truck; The movable steel grabber can work at any point in the material yard; A pole device is arranged on one side of the scrap steel unloading point, and a crossbeam is arranged on the top thereof, and an image acquisition device and an LED display device are arranged on the crossbeam; The image acquisition device is electrically connected to the steel grabber, and the image acquisition device recognizes that scrap steel is dumped at a certain point, and sends a signal to the steel grabber to operate at the point; The image acquisition device is a gun-ball integrated camera, which includes a gun camera and a ball camera. The gun camera is responsible for controlling the global vision of all unloading point areas, and the ball camera is responsible for magnifying and taking pictures of the area after grabbing; The intelligent grading method for scrap steel comprises the following steps: Step 1: The transfer vehicle transports the scrap steel to the material yard, selects any cleaned unloading platform, and confirms that the LED display device at the point shows "unloading allowed". The scrap steel can be dumped on the unloading platform at the point. After the gun camera recognizes the completion of unloading, the license plate number is read into the system through license plate recognition, and the intelligent grading system of the scrap steel of this vehicle is started. At this time, the LED display jumps to "scrap grading in progress", and the driver can drive the empty vehicle out of the material yard; Step 2: After the system starts taking photos and judging the grade, it locates the unloading pile through the image recognition of the gun camera, divides the unloading pile into multiple areas evenly, and mobilizes the ball camera to zoom in and take pictures of the surface of the scrap steel in each area; after the shooting is completed, it waits for the steel grabber to grab it; Step 3: The steel grabber arrives at the point to grab the scrap steel. The gun machine tracks the complete trajectory of the steel grabber from unloading the material pile to grabbing it, locates the grabbing position, and moves the ball camera to aim at the newly exposed scrap steel after grabbing. The magnification is calculated according to the position information, and the camera is adjusted to the corresponding magnification to take pictures. The system model recognizes the thickness and material type information of the scrap steel in each frame of the image. Step 4: Repeat step 3 until all scrap steel on the ground can no longer be picked up by the steel grabber; Step 5: After the gun recognizes that the material pile is about to be grabbed and the steel grabber stops grabbing, the ball camera is started to take a picture of the bottom slag according to the segmented area in step 2, and the slag amount is identified and the weight is calculated; Step 6: Give the grade and weight deduction results of the whole truckload of scrap steel, and automatically end the grade determination of this truckload; Step 7: After the grading is completed, use a bulldozer to clean up the remaining scrap steel and slag on the ground. After the gun recognizes that the unloading ground has been cleaned, the LED display screen will jump to "unloading allowed" before the next truck can be unloaded.

2. The scrap steel intelligent grading method according to claim 1, characterized in that, The pole device comprises a vertically arranged pole bracket, and the interior of the pole bracket is hollow.

3. The scrap steel intelligent grading method according to claim 1, characterized in that The LED display device can prompt the operator of the system status. The operator controls the steel grabber to grab the scrap steel at the unloading point and put it on the large pile for storing the scrap steel according to the instructions prompted on the LED display device.

4. The scrap steel intelligent grading method according to claim 1, characterized in that It also includes a fill light device arranged on the pole device.

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