Copper liquid casting control method and device and copper liquid casting system

Abstract

The application provides a copper liquid casting control method and device and a copper liquid casting system, and relates to the field of casting control.The scheme realizes automatic collection and processing of the liquid level of copper liquid, and realizes automatic control of the copper liquid level after linkage with a servo motor, thereby improving the control precision of the copper liquid level.

Description

Technical Field

[0001] This invention relates to the field of casting control, and in particular to a method, apparatus and system for controlling copper liquid casting. Background Technology

[0002] The current copper casting process requires the use of a copper molten metal casting system. Existing systems include components such as a servo motor, stopper rod, camera, casting ladle, and casting pool. The position of the stopper rod is moved by controlling the height of the servo motor, thereby adjusting the level of the molten copper in the casting pool. The measurement of the molten copper level relies primarily on the operator's visual observation, and adjustment is mostly done manually by controlling knobs. This manual observation and control process is susceptible to factors such as emotional fluctuations, work fatigue, human visual reaction speed, and the time required to switch the knobs on and off, resulting in low accuracy in controlling the molten copper level and affecting subsequent copper casting processes. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a copper liquid casting control method, device and copper liquid casting system. This solution realizes the automatic acquisition and processing of the liquid level of copper liquid, and realizes the automatic control of the liquid level of copper liquid after linkage with servo motor, thereby improving the control accuracy of the liquid level of copper liquid.

[0004] In a first aspect, embodiments of the present invention provide a copper molten casting control method, which is applied to a copper molten casting system. The copper molten casting system is equipped with a servo motor, a stopper rod, a camera, a casting ladle, and a casting pool. One end of the stopper rod is connected to the servo motor. The other end of the stopper rod extends into the casting ladle. The copper molten in the casting ladle flows into the casting pool under the control of the stopper rod. The camera is positioned above the liquid surface in the casting pool.

[0005] The method includes:

[0006] The position of the stopper rod is adjusted by controlling the servo motor based on the first control parameter, so that the copper liquid in the casting ladle flows into the casting pool according to the first flow parameter corresponding to the first control parameter;

[0007] The camera is controlled to acquire images of the liquid surface in the casting pool in real time, and the liquid surface images are used to obtain the height of the copper liquid in the casting pool.

[0008] The second control parameters corresponding to the servo motor are generated based on the liquid level in the casting pool, and the copper liquid is controlled to flow into the casting pool according to the second flow parameters corresponding to the second control parameters.

[0009] In one implementation, controlling the position of the adjustable stop bar using a servo motor based on a first control parameter includes:

[0010] Obtain the status parameters of the servo motor, the position parameters of the stopper rod, and the liquid level parameters of the casting pool;

[0011] The first control parameters of the servo motor are determined based on the state parameters, position parameters, and liquid level parameters.

[0012] Obtain the first flow parameter corresponding to the casting ladle under the first control parameter, and use the first control parameter to control the servo motor to set the stopper rod in the position that meets the first flow parameter.

[0013] In one embodiment, the step of controlling a camera to acquire a real-time image of the liquid surface in the casting pool, and using the liquid surface image to obtain the height of the copper liquid level in the casting pool, includes:

[0014] Control the camera to acquire a video stream containing the casting pool, and acquire images of the liquid surface from the video stream;

[0015] The copper liquid region contained in the liquid surface image is identified and obtained by using the property data of the copper liquid.

[0016] The height of the copper liquid level in the casting pool is determined based on the positional relationship between the copper liquid area and the preset reference area.

[0017] In one embodiment, after the step of identifying and obtaining the copper liquid region contained in the liquid surface image using the property data of the copper liquid, the method further includes:

[0018] To obtain the non-copper liquid region within the liquid surface image, the copper liquid region is selected.

[0019] After binarizing the copper liquid region and the non-copper liquid region, the liquid surface image is updated.

[0020] In one embodiment, the step of determining the liquid level height of the molten copper in the casting pool based on the positional relationship between the molten copper region and a preset reference region includes:

[0021] Identify and obtain the position of the copper liquid level in the casting pool within the copper liquid area;

[0022] The liquid level height corresponding to the position of the liquid surface is determined by using the coordinate system corresponding to the preset reference area.

[0023] In one embodiment, a second control parameter corresponding to the servo motor is generated based on the liquid level in the casting tank, including:

[0024] Obtain the reference line set within the preset reference area; wherein, the length of the reference line is a fixed value of pixel length, and the reference line is located in a preset fixed position in the copper liquid area;

[0025] Based on the positional relationship between the liquid level in the casting pool and the reference line, the second control parameters corresponding to the servo motor are generated.

[0026] In one embodiment, the step of generating the second control parameters corresponding to the servo motor based on the positional relationship between the liquid level in the casting pool and the reference line includes:

[0027] Obtain the height value corresponding to the liquid level and the length value of the reference line;

[0028] If the height value is greater than half the length value, the generated second control parameter is used to reduce the current flow rate of molten copper into the casting pool; if the height value is less than half the length value, the generated second control parameter is used to increase the current flow rate of molten copper into the casting pool.

[0029] In one implementation, if the height value is equal to half the length value, the generated second control parameter is used to maintain the current flow rate of molten copper into the casting pool.

[0030] Secondly, embodiments of the present invention provide a copper liquid casting control device, which is applied to a copper liquid casting system. The copper liquid casting system is equipped with a servo motor, a stopper rod, a camera, a casting ladle, and a casting pool. One end of the stopper rod is connected to the servo motor. The other end of the stopper rod extends into the casting ladle. The copper liquid in the casting ladle flows into the casting pool under the control of the stopper rod. The camera is positioned above the liquid surface in the casting pool.

[0031] The device includes:

[0032] The first control module is used to control the servo motor to adjust the position of the stopper rod based on the first control parameters, so that the copper liquid in the casting ladle flows into the casting pool according to the first flow parameters corresponding to the first control parameters;

[0033] The second control module is used to control the camera to acquire real-time images of the liquid surface in the casting pool, and to use the liquid surface images to obtain the liquid level height of the copper liquid in the casting pool.

[0034] The third control module is used to generate the second control parameters corresponding to the servo motor based on the liquid level height in the casting pool, and to use the second control parameters to control the copper liquid to flow into the casting pool according to the second flow parameters corresponding to the second control parameters.

[0035] Thirdly, embodiments of the present invention provide a copper molten metal casting system, which includes: a servo motor, a stopper rod, a camera, a casting ladle, a casting pool, a holding furnace, a chute, and a control console; wherein, one end of the stopper rod is connected to the servo motor; the other end of the stopper rod extends into the casting ladle; the copper molten metal in the holding furnace flows into the casting ladle through the chute; the copper molten metal in the casting ladle flows into the casting pool under the control of the stopper rod; the camera is positioned above the liquid surface in the casting pool; the image transmission end of the control console is connected to the camera; and the command transmission end of the control console is connected to the servo motor.

[0036] When the control console controls the camera and servo motor to control the casting of copper liquid in the copper liquid casting system, it adopts the steps of the copper liquid casting control method provided in the first aspect.

[0037] Fourthly, embodiments of the present invention also provide an electronic device, including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the copper liquid casting control method provided in the first aspect.

[0038] Fifthly, embodiments of the present invention also provide a storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the steps of the copper molten casting control method provided in the first aspect.

[0039] This invention provides a copper molten casting control method, apparatus, and system. The copper molten casting system includes a servo motor, a stopper rod, a camera, a casting ladle, and a casting pool. One end of the stopper rod is connected to the servo motor; the other end of the stopper rod extends into the casting ladle. The copper molten metal in the casting ladle flows into the casting pool under the control of the stopper rod. The camera is positioned above the surface of the copper molten metal in the casting pool. When controlling and adjusting the copper molten metal level in the casting pool, firstly, based on a first control parameter, the servo motor is controlled to adjust the position of the stopper rod, so that the copper molten metal in the casting ladle flows into the casting pool according to a first flow rate parameter corresponding to the first control parameter. Then, the camera is controlled to acquire real-time images of the casting pool's surface, and the height of the copper molten metal level in the casting pool is obtained using these images. Finally, a second control parameter corresponding to the servo motor is generated based on the height of the casting pool's surface, and the copper molten metal is controlled to flow into the casting pool according to a second flow rate parameter corresponding to the second control parameter. This control scheme enables automated acquisition and processing of the copper liquid level, and, in conjunction with a servo motor, achieves automated control of the copper liquid level, thereby improving the control accuracy of the copper liquid level.

[0040] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 A flowchart of a copper molten casting control method provided in an embodiment of the present invention;

[0044] Figure 2 This is a flowchart illustrating the method for controlling copper molten casting according to a first control parameter, in which the position of the stopper rod is adjusted by a servo motor.

[0045] Figure 3 This is a flowchart of step S102 in a copper liquid casting control method provided in an embodiment of the present invention;

[0046] Figure 4 The flowchart below shows a copper liquid casting control method provided in an embodiment of the present invention, which identifies and obtains the copper liquid area contained in the liquid surface image using the property data of the copper liquid.

[0047] Figure 5 This is a flowchart of step S303 in a copper liquid casting control method provided in an embodiment of the present invention;

[0048] Figure 6 This is a flowchart of step S501 in a copper liquid casting control method provided in an embodiment of the present invention;

[0049] Figure 7 This is a flowchart of step S602 in a copper liquid casting control method provided in an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the liquid level in a copper molten casting control method provided in an embodiment of the present invention;

[0051] Figure 9 This is a schematic diagram of the structure of a copper liquid casting control device provided in an embodiment of the present invention;

[0052] Figure 10 This is a schematic diagram of a copper liquid casting system provided in an embodiment of the present invention;

[0053] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0054] icon:

[0055] 910 - First control module; 920 - Second control module; 930 - Third control module;

[0056] 101 - Processor; 102 - Memory; 103 - Bus; 104 - Communication interface. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] The current copper casting process requires the use of a copper molten metal casting system. Existing systems include components such as servo motors, stoppers, cameras, casting ladles, and casting pools. The position of the stopper is moved by controlling the height of the servo motor, thereby adjusting the level of the molten copper in the casting pool. The measurement of the molten copper level relies primarily on the operator's visual observation, and adjustment is mostly done manually by controlling knobs. In specific scenarios, the operator judges the liquid level by observing video captured by the camera. However, human observation and control are easily affected by factors such as emotional fluctuations, work fatigue, human eye reaction speed, and the time required to switch knobs, resulting in low accuracy in controlling the molten copper level and impacting subsequent casting processes. Excessively high molten copper levels can cause blasting, while excessively low levels can lead to hollow castings or broken billets, thus affecting the production efficiency of copper casting.

[0059] Based on this, the present invention provides a copper liquid casting control method, device and copper liquid casting system. This solution realizes the automatic acquisition and processing of the liquid level of copper liquid, and realizes the automatic control of the copper liquid level after linkage with a servo motor, thereby improving the control accuracy of the copper liquid level.

[0060] To facilitate understanding of this embodiment, a copper molten casting control method disclosed in this embodiment of the invention will first be described in detail. This method is applied to a copper molten casting system, which includes a servo motor, a stopper rod, a camera, a casting ladle, and a casting pool. One end of the stopper rod is connected to the servo motor; the other end of the stopper rod extends into the casting ladle; the copper molten in the casting ladle flows into the casting pool under the control of the stopper rod; and the camera is positioned above the liquid surface in the casting pool.

[0061] Based on this, the method is as follows: Figure 1 As shown, it includes:

[0062] Step S101: Based on the first control parameter, control the servo motor to adjust the position of the stopper rod so that the copper liquid in the casting ladle flows into the casting pool according to the first flow parameter corresponding to the first control parameter.

[0063] The first control parameter is for the servo motor. Under the action of the first control parameter, the servo motor adjusts the position of the stopper rod in the casting ladle, so that the height of the copper liquid in the casting ladle is maintained within a limited range, thereby controlling the throttling of the stopper rod to adjust the speed and flow rate of the copper liquid entering the casting pool.

[0064] Step S102: Control the camera to acquire the liquid surface image of the casting pool in real time, and use the liquid surface image to obtain the liquid level height of the copper liquid in the casting pool.

[0065] The camera is positioned above the casting tank. The position of the copper liquid surface can be obtained through image recognition in the captured liquid surface image, and then the height of the copper liquid surface can be obtained.

[0066] Step S103: Generate the second control parameters corresponding to the servo motor based on the liquid level height in the casting pool, and use the second control parameters to control the copper liquid to flow into the casting pool according to the second flow parameters corresponding to the second control parameters.

[0067] After acquiring the liquid level, its value is analyzed to generate the second control parameters for the servo motor. Under the action of the second control parameters, the servo motor adjusts the position of the stopper rod in the casting ladle, thereby controlling the copper liquid to flow into the casting pool according to the corresponding second flow parameters, thus realizing the real-time liquid level control process.

[0068] In one implementation, the position of the piston rod is adjusted by controlling the servo motor based on a first control parameter, such as... Figure 2 As shown, it includes:

[0069] Step S201: Obtain the status parameters of the servo motor, the position parameters of the stopper rod, and the liquid level parameters of the casting pool;

[0070] Step S202: Determine the first control parameters of the servo motor based on the state parameters, position parameters, and liquid level parameters;

[0071] Step S203: Obtain the first flow rate parameter corresponding to the casting ladle under the first control parameter, and use the first control parameter to control the servo motor to set the stopper rod in the position that meets the first flow rate parameter.

[0072] The process of controlling the servo motor to adjust the position of the stopper rod based on the first control parameter can be understood as an initialization process. After determining the state parameters of the servo motor, the position parameters of the stopper rod, and the liquid level parameters of the casting pool, the first control parameters of the servo motor are determined using these parameters. Then, the first flow rate parameter corresponding to the casting ladle under the first control parameter is obtained, thereby satisfying the speed and flow rate of the copper liquid entering the casting pool. Finally, the first control parameter is used to control the servo motor to set the stopper rod in the position that satisfies the first flow rate parameter.

[0073] In one embodiment, step S102, which involves controlling a camera to acquire real-time images of the liquid surface in the casting pool and using these images to determine the height of the copper molten metal in the casting pool, is as follows: Figure 3 As shown, it includes:

[0074] Step S301: Control the camera to acquire a video stream containing the casting pool, and acquire a liquid surface image from the video stream;

[0075] Step S302: Identify and obtain the copper liquid area contained in the liquid surface image using the property data of the copper liquid;

[0076] Step S303: Determine the liquid level of the copper liquid in the casting pool based on the positional relationship between the copper liquid area and the preset reference area.

[0077] In a real-world scenario, the camera captures a video stream. Therefore, the first step is to control the camera to acquire a video stream containing the casting pool and obtain an image of the liquid surface from the video stream. Then, the relevant attribute data of the molten copper is used to identify and obtain the molten copper region contained in the liquid surface image. Specifically, image recognition can be performed based on the color, shape, and other attribute data of the molten copper to obtain the molten copper region in the liquid surface image. Finally, the liquid level height of the molten copper in the casting pool is determined based on the positional relationship between the molten copper region and a preset reference area.

[0078] In one embodiment, after the step of identifying and acquiring the copper liquid region contained in the liquid surface image using the property data of the copper liquid, the method proceeds as follows: Figure 4 As shown, it also includes:

[0079] Step S401: Obtain the non-copper liquid region contained in the liquid surface image;

[0080] Step S402: After binarizing the copper liquid region and the non-copper liquid region, update the liquid surface image.

[0081] In real-world scenarios, after acquiring the liquid surface area, the corresponding non-copper liquid area can also be acquired. Then, both areas are binarized to make the copper liquid area white and the non-copper liquid area black. The binarized image is then updated in the liquid surface image for easier subsequent recognition and processing.

[0082] In one embodiment, step S303, which determines the liquid level height of the molten copper in the casting pool based on the positional relationship between the molten copper area and a preset reference area, is as follows: Figure 5 As shown, it includes:

[0083] Step S501: Identify and obtain the liquid level position of the copper liquid in the casting pool within the copper liquid area;

[0084] Step S502: Determine the liquid level height corresponding to the liquid level position using the coordinate system corresponding to the preset reference area.

[0085] Specifically, the reference area contains a corresponding coordinate system, through which the liquid level of the copper liquid can be obtained.

[0086] In one implementation, a second control parameter corresponding to the servo motor is generated based on the liquid level in the casting tank, such as... Figure 6 As shown, it includes:

[0087] Step S601: Obtain a reference line set within a preset reference area; wherein the length of the reference line is a fixed value of pixel length, and the reference line is located in a preset fixed position within the copper liquid area;

[0088] Step S602: Based on the positional relationship between the liquid level in the casting pool and the reference line, generate the second control parameters corresponding to the servo motor.

[0089] Specifically, a reference line is overlaid on the liquid surface image. This reference line can be set to 1000 pixel monitoring points, forming a 200mm long detection line. After binarization, molten copper appears white on the liquid surface image, while areas without molten copper appear black. The reference line is overlaid on both the black and white images. By comparing the extremes of black and white on the reference line, the white image will trigger some of the monitoring points on the 1000 measuring points on the reference line. Specifically... Figure 8 As shown. The second control parameters for the servo motor are generated based on the positional relationship between the liquid level and the reference line. In one embodiment, step S602, which generates the second control parameters for the servo motor based on the positional relationship between the liquid level and the reference line in the casting tank, is as follows: Figure 7 As shown, it includes:

[0090] Step S701: Obtain the height value corresponding to the liquid level and the length value of the reference line;

[0091] In step S702, if the height value is greater than half of the length value, the generated second control parameter is used to reduce the current flow rate of molten copper into the casting pool; if the height value is less than half of the length value, the generated second control parameter is used to increase the current flow rate of molten copper into the casting pool.

[0092] For example, when the white image portion has reached 80% of the reference line length, the generated second control parameter is used to reduce the current flow rate of molten copper into the casting pool, lowering the molten copper level to ensure that the casting level is near 50% of the reference line. Conversely, when the white image portion is less than 50% of the reference line length, the generated second control parameter is used to increase the current flow rate of molten copper into the casting pool, raising the molten copper level to ensure that the casting level is near 50% of the reference line.

[0093] In one implementation, if the height value is equal to half the length value, the generated second control parameter is used to maintain the current flow rate of molten copper into the casting pool, ensuring that the casting level is around 50% of the reference line.

[0094] The copper liquid casting control method in this embodiment of the invention realizes the automatic acquisition and processing of the liquid level of copper liquid, and realizes the automatic control of the liquid level of copper liquid after being linked with a servo motor, thereby improving the control accuracy of the liquid level of copper liquid.

[0095] Regarding the copper molten casting control method provided in the foregoing embodiments, this invention provides a copper molten casting control device. This device is applied to a copper molten casting system, which includes a servo motor, a stopper rod, a camera, a casting ladle, and a casting pool. One end of the stopper rod is connected to the servo motor; the other end of the stopper rod extends into the casting ladle; the copper molten in the casting ladle flows into the casting pool under the control of the stopper rod; the camera is positioned above the liquid surface in the casting pool.

[0096] The device is as follows Figure 9 As shown, it includes:

[0097] The first control module 910 is used to control the servo motor to adjust the position of the stopper rod based on the first control parameters, so that the copper liquid in the casting ladle flows into the casting pool according to the first flow parameters corresponding to the first control parameters;

[0098] The second control module 920 is used to control the camera to acquire the liquid surface image of the casting pool in real time, and to use the liquid surface image to obtain the liquid level height of the copper liquid in the casting pool.

[0099] The third control module 930 is used to generate the second control parameters corresponding to the servo motor according to the liquid level height in the casting pool, and to use the second control parameters to control the copper liquid to flow into the casting pool according to the second flow parameters corresponding to the second control parameters.

[0100] The copper liquid casting control device in the above embodiments can also automatically collect and process the liquid level of the copper liquid, and after being linked with the servo motor, it realizes the automatic control of the copper liquid level, thereby improving the control accuracy of the copper liquid level.

[0101] The copper molten casting control device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned copper molten casting control method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned copper molten casting control method embodiment.

[0102] This embodiment also provides a copper liquid casting system, which is as follows: Figure 10 As shown, the system includes: a servo motor, a stopper rod, a camera, a casting ladle, a casting pool, a holding furnace, a chute, and a control console; one end of the stopper rod is connected to the servo motor; the other end of the stopper rod extends into the casting ladle; molten copper in the holding furnace flows into the casting ladle through the chute; the molten copper in the casting ladle flows into the casting pool under the control of the stopper rod; the camera is positioned above the liquid surface in the casting pool; the image transmission end of the control console is connected to the camera; the command transmission end of the control console is connected to the servo motor.

[0103] When the control console controls the camera and servo motor to control the casting of copper liquid in the copper liquid casting system, it adopts the steps of the copper liquid casting control method mentioned in the above embodiments.

[0104] This embodiment also provides an electronic device, the structural schematic diagram of which is shown below. Figure 11 As shown, the device includes a processor 101 and a memory 102; wherein, the memory 102 is used to store one or more computer instructions, which are executed by the processor to implement the steps of the above-described copper molten casting control method.

[0105] Figure 11 The electronic device shown also includes a bus 103 and a communication interface 104, with the processor 101, communication interface 104 and memory 102 connected via the bus 103.

[0106] The memory 102 may include high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage device. The bus 103 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 11 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0107] The communication interface 104 is used to connect to at least one user terminal and other network units through a network interface, and to send encapsulated IPv4 packets or IPv4 packets to the user terminal through the network interface.

[0108] Processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 101 or by instructions in software form. The processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 102. The processor 101 reads the information in memory 102 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0109] This invention also provides a storage medium storing a computer program, which, when run by a processor, executes the steps of the copper molten casting control method described in the foregoing embodiments.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0111] 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 network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] In addition, 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.

[0113] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion 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 this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the casting of molten copper, characterized in that, The method is applied to a copper liquid casting system, which is equipped with a servo motor, a stopper rod, a camera, a casting ladle, and a casting pool; one end of the stopper rod is connected to the servo motor; the other end of the stopper rod extends into the casting ladle. The molten copper in the casting ladle flows into the casting pool under the control of the stopper rod; The camera is positioned above the liquid surface in the casting pool; The method includes: The system acquires the state parameters of the servo motor, the position parameters of the stopper rod, and the liquid level parameters of the casting pool; determines the first control parameters of the servo motor based on the state parameters, the position parameters, and the liquid level parameters; acquires the first flow parameters corresponding to the casting ladle under the first control parameters, and uses the first control parameters to control the servo motor to position the stopper rod at a position that satisfies the first flow parameters, so that the copper liquid in the casting ladle flows into the casting pool according to the first flow parameters corresponding to the first control parameters; The camera is controlled to acquire images of the liquid surface in the casting pool in real time, and the liquid surface images are used to obtain the liquid level height of the copper liquid in the casting pool. A reference line set within a preset reference area is obtained. Based on the positional relationship between the liquid level in the casting pool and the reference line, a second control parameter corresponding to the servo motor is generated. The second control parameter is then used to control the copper liquid to flow into the casting pool according to the second flow parameter corresponding to the second control parameter.

2. The copper molten casting control method according to claim 1, characterized in that, The step of controlling the camera to acquire real-time images of the liquid surface in the casting pool, and using the liquid surface images to obtain the liquid level height of the copper liquid in the casting pool, includes: The camera is controlled to acquire a video stream containing the casting pool, and the liquid surface image is acquired from the video stream; The copper liquid region contained in the liquid surface image is identified and obtained using the property data of the copper liquid. The liquid level of the copper liquid in the casting pool is determined based on the positional relationship between the copper liquid area and the preset reference area.

3. The copper molten casting control method according to claim 2, characterized in that, After the step of identifying and obtaining the copper liquid region contained in the liquid surface image using the property data of the copper liquid, the method further includes: Obtain the non-copper liquid region contained in the liquid surface image; After binarizing the copper liquid region and the non-copper liquid region, the liquid surface image is updated.

4. The copper molten casting control method according to claim 2, characterized in that, The step of determining the liquid level height of the copper liquid in the casting pool based on the positional relationship between the copper liquid area and the preset reference area includes: Identify and obtain the liquid level position of the molten copper in the casting pool within the molten copper area; The liquid level height corresponding to the position of the liquid surface is determined using the coordinate system corresponding to the preset reference area.

5. The copper molten casting control method according to claim 2, characterized in that, The reference line has a fixed pixel length and is located at a preset fixed position in the copper liquid area.

6. The copper molten casting control method according to claim 5, characterized in that, The step of generating the second control parameter corresponding to the servo motor based on the positional relationship between the liquid level in the casting pool and the reference line includes: Obtain the height value corresponding to the liquid level and the length value of the reference line; If the height value is greater than half of the length value, the generated second control parameter is used to reduce the current flow rate of the molten copper into the casting pool; if the height value is less than half of the length value, the generated second control parameter is used to increase the current flow rate of the molten copper into the casting pool.

7. The copper molten casting control method according to claim 6, characterized in that, If the height value is equal to half of the length value, the generated second control parameter is used to maintain the current flow rate of the molten copper into the casting pool.

8. A copper molten casting control device, characterized in that, The device is applied to a copper liquid casting system, which includes a servo motor, a stopper rod, a camera, a casting ladle, and a casting pool; one end of the stopper rod is connected to the servo motor; the other end of the stopper rod extends into the casting ladle. The molten copper in the casting ladle flows into the casting pool under the control of the stopper rod; The camera is positioned above the liquid surface in the casting pool; The device includes: The first control module is used to acquire the state parameters of the servo motor, the position parameters of the stopper rod, and the liquid level parameters of the casting pool; determine the first control parameters of the servo motor based on the state parameters, the position parameters, and the liquid level parameters; acquire the first flow parameters corresponding to the casting ladle under the first control parameters; and use the first control parameters to control the servo motor to position the stopper rod at a position that satisfies the first flow parameters, so that the copper liquid in the casting ladle flows into the casting pool according to the first flow parameters corresponding to the first control parameters. The second control module is used to control the camera to acquire the liquid surface image of the casting pool in real time, and to use the liquid surface image to obtain the liquid level height of the copper liquid in the casting pool. The third control module is used to acquire a reference line set within a preset reference area, generate the second control parameters corresponding to the servo motor based on the positional relationship between the liquid level in the casting pool and the reference line, and use the second control parameters to control the copper liquid to flow into the casting pool according to the second flow parameters corresponding to the second control parameters.

9. A copper liquid casting system, characterized in that, The copper molten casting system includes: a servo motor, a stopper rod, a camera, a casting ladle, a casting pool, a holding furnace, a chute, and a control console; wherein, one end of the stopper rod is connected to the servo motor; the other end of the stopper rod extends into the casting ladle; the copper molten metal in the holding furnace flows into the casting ladle through the chute; the copper molten metal in the casting ladle flows into the casting pool under the control of the stopper rod; the camera is positioned above the liquid surface in the casting pool; the image transmission terminal of the control console is connected to the camera; and the command transmission terminal of the control console is connected to the servo motor. When the console controls the camera and the servo motor to control the casting of copper liquid in the copper liquid casting system, it adopts the steps of the copper liquid casting control method according to any one of claims 1 to 7.

Images