Automatic slag removal system and device for bottom blowing furnace

Abstract

The present invention belongs to the technical field of steel smelting, and discloses an automatic slag removal system and device for a bottom blowing furnace. The automatic slag removal system is connected to an automatic slag removal robot by signal, and the automatic slag removal system comprises an image acquisition module, an identification module, an analysis module and a decision module, wherein the image acquisition module is configured to: acquire image data of at least two bottom blowing furnaces in real time; the identification module is configured to: identify slag information in each bottom blowing furnace from the image data; the analysis module is configured to: calculate the slag area in each bottom blowing furnace according to the identified slag information; the decision module is configured to: compare the calculated slag area with a preset value, and trigger a slag removal signal when the slag area is greater than the preset value, so as to control the automatic slag removal robot to automatically clean the slag in each bottom blowing furnace according to the slag information; wherein the image data acquired by the image acquisition module comprises plane image data, point cloud image data, thermal distribution image data and video image data.

Description

Technical Field

[0001] The invention relates to the technical field of steel smelting, and in particular to an automatic slag removal system and device for a bottom blowing furnace. Background Art

[0002] SKS lead smelting method is a direct lead smelting method with oxygen bottom blowing developed by my country, which belongs to the category of molten pool smelting. The materials are put into the furnace and the heating, melting, oxidation, slag making and matte making processes are completed at the same time. The materials are added from the top of the bottom-blown furnace, and oxygen-rich air is sent from the bottom to stir the molten pool. The materials put into the furnace complete the smelting process in the molten pool, and the crude lead, high-lead slag and flue gas produced are discharged from the lead discharge port, slag discharge port and smoke exhaust port respectively.

[0003] The bottom blowing furnace will cause slag to form at the inlet due to slag jumping in the furnace, which will affect the flow of goods into the furnace body. At present, the slag at the inlet is cleaned manually from time to time. Due to the high concentration of dust and toxic gases, strong noise and vibration, the working environment is relatively harsh, which is not conducive to the health of the operators. In view of this, the present invention is proposed. Summary of the invention

[0004] In order to solve the problem that manual cleaning of slag at a material inlet affects the health of workers, the present invention provides an automatic slag removal system and device for a bottom blowing furnace.

[0005] In order to solve the above technical problems, the present invention provides an automatic slag removal system for a bottom blowing furnace, wherein the automatic slag removal system is connected to an automatic slag removal robot signal, and the automatic slag removal system comprises an image acquisition module, an identification module, an analysis module and a decision module, wherein the image acquisition module is configured to: acquire image data of at least two bottom blowing furnaces in real time; the identification module is configured to: identify slag information in each bottom blowing furnace from the image data; the analysis module is configured to: calculate the slag area in each bottom blowing furnace according to the identified slag information; the decision module is configured to: compare the calculated slag area with a preset value, and trigger a slag removal signal when the slag area is greater than the preset value, so as to control the automatic slag removal robot to automatically clean the slag in each bottom blowing furnace according to the slag information; wherein the image data acquired by the image acquisition module comprises plane image data, point cloud image data, thermal distribution image data and video image data.

[0006] In an embodiment of the present invention, the recognition module includes a data storage unit, an image comparison unit, a feature recognition unit and a slagging recognition unit, wherein

[0007] The data storage unit is configured to: pre-store an initial image when no slagging is generated in each bottom blowing furnace and slagging characteristics when slagging is generated;

[0008] The image comparison unit is configured to: compare the collected image data with the pre-stored initial image and obtain the difference area of ​​each bottom blowing furnace image;

[0009] The feature recognition unit is configured to: perform feature comparison in the difference area in combination with the slagging feature, and calibrate the target feature consistent with the slagging feature as slagging;

[0010] The slag identification unit is configured to: identify slag information in combination with the image data and the position of the slag in the image data;

[0011] The slagging characteristics include shape characteristics, position characteristics and temperature characteristics.

[0012] In an embodiment of the present invention, the analysis module includes an edge extraction unit and an area calculation unit, wherein

[0013] The edge extraction unit is configured to: extract the edge curve of slagging in the image data according to the slagging information;

[0014] The area calculation unit is configured to calculate the slag area from the edge curve.

[0015] In an embodiment of the present invention, the feature recognition unit includes a first recognition module, a second recognition module, a third recognition module and a calibration module, wherein

[0016] The first recognition module is configured to: perform a preliminary comparison of target features within the difference area based on the appearance features;

[0017] The second recognition module is configured to: when the first recognition module compares the target feature and the appearance feature to be consistent, perform a secondary comparison on the target feature in the difference area based on the position feature;

[0018] The third recognition module is configured to: when the second recognition module compares the target feature and the slagging position, compare the target feature in the difference area again based on the temperature feature,

[0019] The calibration module is configured to: when the third recognition module compares the temperature feature and finds that the temperature feature is consistent with the target feature, calibrate the target feature as slagging.

[0020] In an embodiment of the present invention, the automatic slag removal system further comprises a timing module, wherein the timing module is configured to: trigger the decision module to send a slag removal signal at a preset time point, or

[0021] The automatic slag removal system further comprises a human-computer interaction module, and the human-computer interaction module is configured to directly trigger the decision-making module to send a slag removal signal.

[0022] In order to solve the problems in the prior art, the present invention also provides an automatic slag removal device for a bottom blowing furnace. The automatic slag removal hardware device includes an industrial computer and an automatic slag removal robot. The automatic slag removal robot is connected to the industrial computer signal. The industrial computer is integrated with the automatic slag removal system according to any one of claims 1 to 6. The automatic slag removal robot is arranged in a bottom blowing furnace workshop and performs slag removal operations in response to a slag removal signal.

[0023] In an embodiment of the present invention, the automatic slag removal device also includes a ground rail and a base, the ground rail extends from the outside of the bottom blowing furnace workshop to the inside of the bottom blowing furnace workshop, the automatic slag removal robot is fixed on the base, and the base is slidably connected to the ground rail to drive the automatic slag removal robot in and out of the bottom blowing furnace workshop.

[0024] In an embodiment of the present invention, the automatic slag removal robot includes a robot body, a clamp assembly and a pneumatic pick. The clamp assembly is installed at the end of the robot body to clamp the pneumatic pick. An air supply pipe is fixed on the clamp assembly. One end of the air supply pipe is connected to the pneumatic pick, and the other end is connected to an external air source.

[0025] In an embodiment of the present invention, the automatic slag removal device also includes a dust removal mechanism, which includes a dust removal pipe and a dust removal fan arranged in the dust removal pipe. The dust removal pipe is installed on the top of the bottom blowing furnace workshop and is arranged in alignment with the bottom blowing furnace inlet.

[0026] In an embodiment of the present invention, the automatic slag removal device also includes a video monitor, which is arranged in the bottom blowing furnace workshop to collect video data of the automatic slag removal robot in real time, and the video monitor is connected to the industrial computer signal to transmit the collected video data to the industrial computer.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The slag in the furnace of the bottom blowing furnace workshop is cleaned by the automatic slag removal system. When slag appears in the furnace, the image data of each bottom blowing furnace can be collected by the image acquisition module, and the slag information can be identified by the recognition module. The analysis module analyzes the slag information and calculates the slag area. Finally, when the calculated slag area is greater than the preset value, the automatic slag removal robot is controlled to automatically clean the slag in the furnace to prevent the slag that is not cleaned in time from sticking to the furnace mouth and solidifying, thereby affecting the subsequent smelting raw materials from entering the bottom blowing furnace from the feed port, thereby improving the smelting efficiency of the bottom blowing furnace.

[0029] 2. By storing at least one of the shape feature, position feature, and temperature feature as a slagging feature in the data storage unit, the recognition module can identify the slagging information from any one of the information of the slagging shape, position, and temperature, thereby improving the flexibility and accuracy of the recognition module in identifying the slagging features.

[0030] 3. The timing of the timing module is used to trigger the decision module to send a slag removal signal, so that the automatic slag removal robot can perform automatic slag removal at a scheduled time, thereby improving the slag removal flexibility of the automatic slag removal system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0032] Figure 1 is a schematic diagram of the three-dimensional structure of the automatic slag removal robot provided in an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the exploded structure of an automatic slag removal robot provided by one embodiment of the present invention;

[0034] Figure 3 yes Figure 2 A in the enlarged view;

[0035] Figure 4 It is a schematic diagram of the exploded structure of the image acquisition component in the automatic slag removal robot provided by one embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of a module of an automatic slag removal system provided by an embodiment of the present invention;

[0037] Figure 6 It is a schematic diagram of a module of an identification unit in an automatic slag removal system provided in one embodiment of the present invention;

[0038] Figure 7 It is a schematic diagram of a module of an analysis unit in an automatic slag removal system provided by an embodiment of the present invention;

[0039] Figure 8 It is a schematic diagram of a module of a feature recognition unit in an automatic slag removal system provided by an embodiment of the present invention;

[0040] Fig. 9 It is a three-dimensional structural schematic diagram of an automatic slag removal device provided by an embodiment of the present invention installed in a bottom blowing furnace workshop;

[0041] Fig.10 It is a three-dimensional structural schematic diagram of the position of the industrial computer relative to the bottom blowing furnace in the automatic slag removal device provided by one embodiment of the present invention;

[0042] Fig.11 It is a schematic diagram of the three-dimensional structure of an automatic slag removal robot relative to a ground rail in an automatic slag removal device provided by one embodiment of the present invention.

[0043] Description of Reference Numerals

[0044] 1. Automatic slag removal robot; 2. Automatic slag removal system; 3. Automatic slag removal device; 4. Bottom blowing furnace workshop; 5. Control room; 6. Pneumatic pick; 7. Bottom blowing furnace;

[0045] 11. Robot body; 12. Image acquisition component; 13. Fixture component; 14. Protective shell;

[0046] 121. housing; 122. image collector;

[0047] 131. first connection plate; 132. second connection plate; 133. buffer; 134. force control sensor; 135. transition flange;

[0048] 21. Image acquisition module; 22. Recognition module; 23. Analysis module; 24. Decision module; 25. Timing module; 26. Human-computer interaction module; 221. Data storage unit; 222. Image comparison unit; 223. Feature recognition unit; 224. Slag recognition unit; 231. Edge extraction unit; 232. Area calculation unit; 2231. First recognition module; 2232. Second recognition module; 2233. Third recognition module; 2234. Calibration module;

[0049] 31. Industrial computer; 32. Ground rail; 33. Base; 34. Maintenance position; 35. Dust removal mechanism;

[0050] 1311, installation area;

[0051] 1321. Connecting sleeve. DETAILED DESCRIPTION

[0052] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0053] See also Figure 1-Figure 4 , Figure 1 is a schematic diagram of the three-dimensional structure of the automatic slag removal robot provided in an embodiment of the present invention; Figure 2 It is a schematic diagram of the exploded structure of an automatic slag removal robot provided by one embodiment of the present invention;

[0054] Figure 3 yes Figure 2 A in the enlarged view; Figure 4The figure is a schematic diagram of the exploded structure of the image acquisition component in the automatic slag removal robot provided by one embodiment of the present invention. The automatic slag removal robot 1 is used to clamp the pneumatic pick 6 to clean the slag on the bottom blowing furnace 7. The automatic slag removal robot 1 includes a robot body 11, an image acquisition component 12 and a clamp component 13. The clamp component 13 includes a connecting disk, one side of the connecting disk is connected to the end of the robot body 11, and the other side is provided with a connecting sleeve 1321 for fixing the pneumatic pick 6. The image acquisition component 12 is installed on the connecting disk to dynamically collect the image data of the bottom blowing furnace under the movement of the robot body 11.

[0055] The robot body 11 is arranged in the bottom blowing furnace workshop, and connected to the end of the robot body 11 by using a connecting disk, and a connecting sleeve 1321 for fixing the pneumatic pick 6 is set on the other side of the connecting disk, so that the connecting sleeve 1321 can be fixed on the robot body 11 through the connecting disk, so that the robot body 11 can drive the pneumatic pick 6 to move in the bottom blowing furnace workshop, and the image acquisition component 12 is installed on the connecting disk, so that the image acquisition component 12 can collect image data of the bottom blowing furnace, so that the operator can view the slagging situation in the bottom blowing furnace through a remote image display device, and when the slagging situation in the bottom blowing furnace reaches a level that requires cleaning, the robot body 11 is controlled to drive the pneumatic pick 6 to extend into the bottom blowing furnace for slagging operations, and at the same time, the image acquisition component 12 obtains image data during slagging in real time, so that the operator can view the slagging effect of the bottom blowing furnace through a remote image display device, and after the cleaning is completed, the robot body 11 is controlled to end the slagging, that is, the robot body 11 is controlled to drive the pneumatic pick 6 to move out of the bottom blowing furnace.

[0056] It can be understood that the image display device is connected with the image acquisition component 12 by signal, and the signal connection method includes any one of wired signal connection and wireless signal connection. The method of controlling the robot body 11 to drive the pneumatic pick 6 to remove slag can be to use the robot controller to perform real-time control on the robot body 11, such as controlling the robot body 11 to drive the pneumatic pick 6 to turn left or right through the robot controller. It can also be to use a programming language to perform complex and repetitive control on the robot body 11, such as controlling the robot body 11 to drive the pneumatic pick 6 to move to the top of the bottom blowing furnace through the programming language, and then adjusting the angle of the pneumatic pick 6 and extending the pneumatic pick 6 into the bottom blowing furnace.

[0057] Among them, the image acquisition component 12 dynamically acquires the bottom blowing furnace image data, that is, the image data acquired by the image acquisition component 12 moves with the movement of the robot body 11, thereby forming the first-perspective image data of the robot body 11, which improves the slag cleaning sense of the operator when remotely viewing the image data.

[0058] In an embodiment of the present invention, the connection method between the connecting disk and the end of the robot body 11 includes any one of a pneumatic expansion connection and a bolt connection, and the pneumatic pick 6 and the connecting sleeve 1321 are fixed by a plug-in connection and a bolt is used to support the pneumatic pick 6 from the side of the connecting sleeve 1321 for fixing.

[0059] The automatic slag removal robot 1 of the present invention can replace manual labor to perform slag removal operations in harsh bottom blowing furnace workshops, effectively avoiding noise pollution, air pollution, heat radiation and other pollution factors that workers suffer in the bottom blowing furnace workshop. The workers can remotely view the slag removal status of the automatic slag removal robot 1 and the slag status of the bottom blowing furnace, which is more beneficial to the health of the workers and realizes automated cleaning of the slag of the bottom blowing furnace. Compared with manual cleaning methods, using the automatic slag removal robot 1 for slag cleaning is more efficient.

[0060] In another embodiment of the present invention, the image acquisition component 12 is installed on the top of the bottom blowing furnace workshop to statically acquire the image data of the bottom blowing furnace.

[0061] In the above embodiment, the image acquisition component 12 statically acquires the image data of the bottom blowing furnace, that is, the image data acquired by the image acquisition component 12 has a constant viewing angle, thereby forming a bird's-eye view image data, so that the operator can control the overall situation in the bottom blowing furnace workshop when viewing the image data remotely.

[0062] In an embodiment of the present invention, the connecting plate includes a first connecting plate 131 and a second connecting plate 132, and the clamp assembly 13 also includes a buffer 133. The first connecting plate 131 is connected to the end of the robot body 11, and the second connecting plate 132 is connected to the end of the robot body 11 through the first connecting plate 131 and forms a buffer space between the second connecting plate 132 and the first connecting plate 131, and the buffer 133 is installed in the buffer space.

[0063] By connecting the first connecting disk 131 to the end of the robot body 11, connecting the second connecting piece to the first connecting disk 131, and forming a buffer space between the first connecting disk 131 and the second connecting disk 132, the pneumatic pick 6 is fixed in the connecting sleeve 1321 on the second connecting disk 132. When the robot body 11 drives the pneumatic pick 6 to perform slag removal operations, the vibration generated by the pneumatic pick 6 is reduced through the buffer space, thereby avoiding long-term high-intensity vibration from affecting the accuracy and service life of the robot body 11.

[0064] By arranging the buffer member 133 in the buffer space, the vibration of the pneumatic pick 6 can be further decomposed and absorbed, thereby preventing the high-intensity vibration from affecting the accuracy and service life of the robot body 11.

[0065] It can be understood that the buffer member 133 includes any one or more of a buffer rubber pad, a buffer leather pad, and a buffer cotton pad, and the buffer member 133 is installed in the buffer space in a manner including any one of a bolt connection, an adhesive connection, and a bare rod connection.

[0066] In an embodiment of the present invention, the clamp assembly 13 further includes a force control sensor 134 , which is installed between the buffer 133 and the first connecting plate 131 to sense the force of the pneumatic pick 6 when impacting the slag.

[0067] By installing a force control sensor 134 between the buffer room and the first connecting plate 131, when the robot body 11 drives the pneumatic pick 6 to perform slag removal operations, the force control sensor 134 can sense the slag removal force of the pneumatic pick 6, so that the operator can adjust the slag removal angle of the robot body 11 according to the force sensed by the force control sensor 134, so as to remove stubborn slag and improve the slag removal efficiency.

[0068] In the above embodiment, the pneumatic pick 6 is mainly powered by compressed air provided by an air compressor, causing the hammer inside it to reciprocate and hit the shovel. The force control sensor 134 uses a six-dimensional force sensor to monitor in real time the size of the six-dimensional force applied to the end of the robot body 11 of the pneumatic pick 6 during the slag removal process, and adjusts the robot body 11 to perform the slag removal action accordingly, searches for the best slag removal position and angle, and improves the stability and reliability of the slag removal operation.

[0069] In an embodiment of the present invention, the clamp assembly 13 further includes a transition flange 135 disposed in the buffer space. The transition flange 135 is connected to the second connecting plate 132 and the two sides thereof are respectively in contact with the buffer member 133 and the force control sensor 134 .

[0070] By connecting the transition flange 135 with the second connecting plate 132, and arranging a buffer room and a force control sensor 134 on both sides of the transition flange, the robot body 11 can drive the pneumatic pick 6 to transfer the reaction force received by the pneumatic pick 6 to the buffer 133 when removing slag, so as to reduce the reaction force received by the robot body 11. Subsequently, the reaction force absorbed by the buffer 133 is directly sensed by the force control sensor 134, so that the robot body 11 can adjust the slag removal position and slag removal angle according to the reaction force sensed by the force control sensor 134, thereby improving the slag removal efficiency.

[0071] In the above embodiment, the connection method between the transition flange 135 and the second connecting plate 132 is any one of bolt connection and bare rod connection. The transition flange 135 divides the buffer space into left and right sides. The two sides of the transition flange 135 are respectively fitted with the buffer room and the force control sensor 134 to provide buffering and transition effects for the force perception of the force control sensor 134, thereby reducing the impact of the high-intensity vibration of the pneumatic pick 6 on the force control sensor 134.

[0072] In the embodiment of the present invention, the first connection disk 131 has a mounting area 1311 extending in a direction perpendicular to the jackhammer 6 , and the image acquisition component 12 is fixed on the mounting area 1311 .

[0073] By setting an installation area 1311 on the first connecting disk 131 and extending the installation area 1311 in a direction perpendicular to the pneumatic pick 6, the image acquisition component 12 can be installed on the installation area 1311, so that the image acquisition component 12 can collect image data containing the pneumatic pick 6 in real time from a first-person perspective, making it convenient for remote operators to know the cleaning progress of the bottom blowing furnace slag through image data.

[0074] In an embodiment of the present invention, the image acquisition component 12 includes a shell 121 and an image acquisition device 122 disposed in the shell 121. The image acquisition device 122 includes any one or more of a camera, a laser radar and a thermal imager.

[0075] By arranging any one or more of the camera, laser radar, and thermal imager in the shell 121, the image acquisition component 12 can collect the plane image data of the bottom blowing furnace through the camera, collect the point cloud image data of the bottom blowing furnace through the laser radar, and collect the thermal image data of the bottom blowing furnace through the thermal imager when collecting the image data of the bottom blowing furnace. Then, by analyzing the above image data, the slag information such as the slag shape, slag position, and slag temperature in the bottom blowing furnace can be obtained, which makes it convenient for the robot body 11 to automatically clean the slag in the bottom blowing furnace according to the above slag information, thereby improving the slag removal efficiency and slag removal effect of the automatic slag removal robot 1.

[0076] In the above embodiment, after the laser radar scans the inside of the bottom blowing furnace to obtain point cloud image data, the point cloud image data is filtered and calculated to obtain the slag position and distribution in the bottom blowing furnace, so that the robot body 11 can drive the pneumatic pick 6 to clean the slag according to the coordinate data of the slag position.

[0077] In an embodiment of the present invention, the shell 121 is fixed on the installation area 1311, so that the image collector 122 can collect image data of the pneumatic pick 6 from a first-person perspective. When performing slag removal operations, image data of the pneumatic pick 6 during slag removal is collected from a first-person perspective, thereby improving the automatic slag removal accuracy of the automatic slag removal robot 1.

[0078] In other embodiments, the shell 121 is fixed directly above the inlet of the bottom blowing furnace so that the image collector 122 can collect image data of the automatic slag removal robot 1 from a bird's eye view, thereby improving the safety of the automatic slag removal robot 1 during slag removal.

[0079] In an embodiment of the present invention, the automatic slag removal robot 1 further includes a protective shell 14 , which is mounted on the end of the robot body 11 , and the clamp assembly 13 passes through the protective shell 14 and is connected to the end of the robot body 11 .

[0080] By installing the protective shell 14 at the end of the robot body 11, when the automatic slag removal robot 1 performs slag removal operations, the protective shell 14 can prevent the liquid metal in the bottom blowing furnace from splashing onto the robot body 11 from the feed port, thereby avoiding damage to the robot body 11 by the high-temperature liquid metal and improving the durability and service life of the automatic slag removal robot 1.

[0081] In an embodiment of the present invention, the automatic slag removal robot 1 further includes a protective suit wrapped around the robot body 11 , and the protective suit includes any one of aramid fiber protective suit, acrylic fiber protective suit and alloy protective suit.

[0082] By wrapping the protective clothing over the robot body 11, the dust and high temperature in the bottom blowing furnace workshop can be isolated under the protection of the protective clothing, preventing dust from entering the robot body 11 and causing an increase in the failure rate of the robot body 11 or even damaging the robot body 11. At the same time, it can also prevent the high temperature in the bottom blowing furnace from being transmitted to the robot body 11 and causing a high temperature alarm in the robot body 11.

[0083] See also Figure 5 , Figure 5 Schematic diagram of the module of the automatic slag removal system provided by one embodiment of the present invention. In order to solve the technical problems in the prior art, the present invention also provides an automatic slag removal system 2 for a bottom blowing furnace. The automatic slag removal system 2 is connected to the automatic slag removal robot 1 by signal. The automatic slag removal system 2 includes an image acquisition module 21, a recognition module 22, an analysis module 23 and a decision module 24.

[0084] The image acquisition module 21 is configured to: acquire image data of at least two bottom blowing furnaces in real time;

[0085] The identification module 22 is configured to: acquire image data of at least two bottom blowing furnaces in real time, and identify slagging information in each bottom blowing furnace from the image data;

[0086] The analysis module 23 is configured to: calculate the slagging area in each bottom blowing furnace according to the identified slagging information;

[0087] The decision module 24 is configured to compare the calculated slagging area with a preset value, and trigger a slagging removal signal when the slagging area is larger than the preset value, so as to control the automatic slagging removal robot to automatically clean the slag in each bottom blowing furnace according to the slagging information.

[0088] The image acquisition module 21 is used to collect image data of at least two bottom blowing furnaces in the bottom blowing furnace workshop in real time, and the recognition module 22 recognizes the slag information in the furnace from the image data, so that the analysis module 23 can calculate the slag area of ​​each bottom blowing furnace according to the slag information, and then the decision module 24 can compare the calculated slag area with the preset value, so that the decision module 24 can judge whether it is necessary to clean the slag in each bottom blowing furnace at the current moment according to the comparison result. Specifically, when the slag area is larger than the preset value, a slag removal signal is triggered to control the automatic slag removal robot to automatically clean the slag in each bottom blowing furnace according to the slag information. Otherwise, the recognition module continues to collect image data in the bottom blowing furnace and recognize the slag information, and the analysis module continues to calculate the slag area according to the slag information, until the decision module compares that the slag area is larger than the preset value and triggers the slag removal signal, and the slag in the bottom blowing furnace is automatically cleaned in this cycle.

[0089] The automatic slag removal system 2 of the present invention is used to clean the slag in each bottom blowing furnace in the bottom blowing furnace workshop, so that when slag appears in the furnace, the image data of each bottom blowing furnace can be collected by the image acquisition module 21, and the recognition module 22 can recognize the slag information in the image data, and the analysis module 23 can analyze the slag information and calculate the slag area. Finally, when the calculated slag area is greater than the preset value, the automatic slag removal robot 1 is controlled to automatically clean the slag in the furnace to prevent the slag that is not cleaned in time from sticking to the furnace mouth and solidifying, thereby affecting the subsequent smelting raw materials from entering the bottom blowing furnace from the feed port, thereby improving the smelting efficiency of the bottom blowing furnace.

[0090] In an embodiment of the present invention, the decision module 24 is signal-connected with the automatic slag removal robot 1 to control the automatic slag removal robot 1 to automatically clean the slag in the furnace after issuing a slag removal signal, wherein the signal connection method between the decision module 24 and the automatic slag removal module includes any one of a wired signal connection and a wireless signal connection, so that the decision module 24 controls the automatic slag removal robot 1.

[0091] See also Figure 6 , Figure 6 Schematic diagram of a module of an identification unit in an automatic slag removal system provided by an embodiment of the present invention. In the embodiment of the present invention, the identification module 22 includes a data storage unit 221, an image comparison unit 222, a feature recognition unit 223 and a slag recognition unit 224, wherein:

[0092] The data storage unit 221 is configured to: pre-store an initial image when no slagging is generated in each bottom blowing furnace and slagging characteristics when slagging is generated;

[0093] The image comparison unit 222 is configured to: compare the collected image data with the pre-stored initial image and obtain the difference area of ​​each bottom blowing furnace image;

[0094] The feature recognition unit 223 is configured to: perform feature comparison in the difference region in combination with the slagging feature, and calibrate the target feature consistent with the slagging feature as slagging;

[0095] The slag identifying unit 224 is configured to identify slag information by combining the image data and the position of the slag in the image data.

[0096] By pre-storing the initial image when no slagging is generated in the bottom blowing furnace and the slagging features when slagging is generated in the data storage unit 221, the image comparison unit 222 can compare the collected image data with the initial image, and obtain the difference area with the initial image in the image data. Then, the feature recognition unit 223 compares the pre-stored slagging features with the target features in the difference area, so as to identify the slag in the difference area, and the slag recognition unit 224 identifies the slagging information according to the position of the slag in the image data.

[0097] In an embodiment of the present invention, the image data acquired by the image acquisition module 21 includes plane image data, point cloud image data, thermal distribution image data and video image data. The slagging features pre-stored in the data storage unit 221 include shape features, position features and temperature features. When the feature recognition unit 223 performs slagging recognition, the image data is compared with the slagging features. When the feature recognition unit 223 matches the target feature consistent with the slagging feature in the image data, the feature is determined to be slagging.

[0098] In one embodiment, the shape feature is used as the slag feature. When the feature recognition unit 223 obtains a target feature that matches the shape feature in the image data, the target feature is determined to be slag. The feature recognition unit 223 obtains the shape of the target feature based on the planar image data of the target feature, and then compares the shape of the target feature with the shape feature to identify slag.

[0099] In one embodiment, the position feature is taken as the slag feature. When the feature recognition unit 223 obtains a target feature that matches the position feature in the image data, the target feature is determined to be slag. The feature recognition unit 223 obtains the position of the target feature based on the point cloud image data of the target feature, and then compares the position of the target feature with the position feature to identify slag.

[0100] In one embodiment, the temperature feature is used as the slagging feature. When the recognition module 22 obtains a target feature that matches the temperature feature in the image data, it determines that the target feature is slagging. The feature recognition unit 223 obtains the temperature of the target feature based on the thermal distribution image data of the target feature, and then compares the temperature of the target feature with the temperature feature to identify slagging.

[0101] In an embodiment of the present invention, three bottom blowing furnace inlets are arranged side by side in the bottom blowing furnace workshop, and the automatic slag removal robot is arranged on one side of the three bottom blowing furnace inlets, so that when the decision module 24 triggers the slag removal signal, one automatic slag removal robot can be controlled to simultaneously meet the slag removal operations of the three bottom blowing furnaces, thereby improving the utilization rate of the automatic slag removal robot and reducing the slag removal cost.

[0102] In the above embodiment, the image acquisition module 21 acquires image data of the three bottom blowing furnaces in real time, the data storage unit 221 pre-stores the initial images of the three bottom blowing furnaces when no slagging is generated and the slagging features when slagging is generated, the image comparison unit 222 compares the image data of the three bottom blowing furnaces with the corresponding initial images respectively, so as to obtain the difference area in the image data of each bottom blowing furnace, and then the feature recognition unit 223 compares the pre-stored slagging features with the target features in the difference area to identify the slagging, and finally the slag recognition unit 224 identifies the slagging information according to the position of the slag in the image data.

[0103] See also Figure 7 , Figure 7 2 is a schematic diagram of a module of an analysis unit in an automatic slag removal system provided by an embodiment of the present invention. In the embodiment of the present invention, the analysis module 23 includes an edge extraction unit 231 and an area calculation unit 232, wherein

[0104] The edge extraction unit 231 is configured to: extract the edge curve of the slagging in the image data according to the slagging information;

[0105] The area calculation unit 232 is configured to calculate the slag area from the edge curve.

[0106] In one example, the edge extraction unit 231 uses an edge extraction algorithm to extract the edge curve of the slag. It first uses gradient edge detection to obtain the brightness change amplitude in the image data, and binarizes the image data based on a preset threshold. It then uses the Laplace operator to enhance the edge curve of the image data, and finally tracks the edge curve to obtain the edge curve of the slag.

[0107] In one example, the area calculation unit 232 calculates the slagging area based on the Monte Carlo algorithm, first generates sample points according to a preset size, then fills the generated sample points in the edge curve and counts the number of samples, and finally obtains the filling area of ​​the sample points based on the product of the preset size of the sample points and the number of sample points, that is, the area of ​​the edge curve and the slagging area.

[0108] See also Figure 8 , Figure 82 is a schematic diagram of a module of a feature recognition unit in an automatic slag removal system provided in an embodiment of the present invention. In the embodiment of the present invention, the feature recognition unit 223 includes a first recognition module 2231, a second recognition module 2232, a third recognition module 2233 and a calibration module 2234, wherein

[0109] The first recognition module 2231 is configured to: perform a preliminary comparison of target features within the difference area based on the appearance features;

[0110] The second recognition module 2232 is configured to: when the first recognition module 2231 compares the target feature and the appearance feature to be consistent, perform a secondary comparison on the target feature in the difference area based on the position feature;

[0111] The third recognition module 2233 is configured to: when the second recognition module 2232 compares the target feature and the slagging position, compare the target feature in the difference area again based on the temperature feature,

[0112] The calibration module 2233 is configured to: when the third recognition module 2233 compares and finds that the temperature feature is consistent with the target feature, calibrate the target feature as slagging.

[0113] The first recognition module 2231 compares the appearance of the target feature with the pre-stored appearance feature to determine whether the target feature is slag from the appearance. The second recognition module 2232 compares the position of the target feature with the pre-stored position feature to determine whether the target feature is slag from the position. The third recognition module 2233 compares the temperature of the target feature with the temperature feature to determine whether the target feature is slag from the temperature. When the first recognition module 2231, the second recognition module 2232, and the third recognition module 2233 all compare the target feature with the preset slag feature, the calibration module calibrates the target feature as slag, thereby improving the recognition accuracy of the recognition unit for slag.

[0114] In the embodiment of the present invention, the order of recognizing slagging characteristics by the first recognition module 2231 , the second recognition module 2232 , and the third recognition module 2233 can be interchanged.

[0115] In an embodiment of the present invention, the automatic slag removal system 2 further includes a timing module 25 , and the timing module 25 is configured to trigger the decision module 24 to send a slag removal signal at a preset time point.

[0116] By setting the timing module 25 to periodically trigger the decision module 24 to send a slag removal signal, the automatic slag removal robot 1 can automatically remove slag according to the timing time of the timing module 25. For example, the timing module 25 is set to trigger the decision module 24 to send a slag removal signal at 2 o'clock in the afternoon every day, so that the automatic slag removal robot 1 automatically removes slag at 2 o'clock in the afternoon every day, thereby improving the slag removal flexibility of the automatic slag removal system 2.

[0117] In an embodiment of the present invention, the automatic slag removal system 2 further includes a human-computer interaction module 26 , and the human-computer interaction module 26 is configured to modify the preset time point in the timing module 25 .

[0118] The preset time point in the timing module 25 is modified through the human-computer interaction module 26, so that the automatic slag removal robot 1 can automatically remove slag at the modified time point, which is convenient for operators to flexibly adjust the slag removal time of the automatic slag removal robot 1 according to work requirements.

[0119] In other embodiments, the human-computer interaction module 26 is configured to directly trigger the decision module 24 to send a slag removal signal, so that the automatic slag removal robot 1 directly performs the slag removal operation, thereby improving the slag removal efficiency of the automatic slag removal system 2.

[0120] See also Figure 9-10 , Fig. 9 It is a three-dimensional structural schematic diagram of an automatic slag removal device provided by an embodiment of the present invention installed in a bottom blowing furnace workshop; Fig.10 The figure is a three-dimensional structural diagram of the relative position of the industrial computer in the automatic slag removal device provided by an embodiment of the present invention to the bottom blowing furnace. In order to solve the technical problems in the prior art, the present invention also provides an automatic slag removal device 3 for a bottom blowing furnace. The automatic slag removal hardware device includes an industrial computer 31 and an automatic slag removal robot 1. The automatic slag removal robot 1 is connected to the industrial computer 31 by signal. The industrial computer 31 is integrated with the above-mentioned automatic slag removal system 2. The automatic slag removal robot 1 is arranged in the bottom blowing furnace workshop 4 and performs slag removal operations in response to slag removal signals.

[0121] By integrating the above-mentioned automatic slag removal system 2 in the industrial computer 31, the automatic slag removal robot 1 is arranged in the bottom blowing furnace workshop 4, and the industrial computer 31 is connected to the signal of the automatic slag removal robot 1, so that the operator can control the decision module 24 through the industrial computer 31 to send a slag removal signal to control the automatic slag removal robot 1 to perform automatic slag removal.

[0122] In the embodiment of the present invention, a control room 5 is built outside the bottom blowing furnace workshop 4, and the industrial computer 31 is arranged in the control room 5, so that the operator can control the automatic slag removal robot 1 through the industrial computer 31 in the control room 5 to perform automatic slag removal operations, thereby preventing the high temperature and high dust in the bottom blowing furnace workshop 4 from causing harm to the operator's body and adversely affecting the performance of the industrial computer 31. Among them, the industrial computer 31 is connected to an electronic display screen, so that the operator can view the current operating status of the automatic slag removal robot in real time, such as viewing the position, angle, and temperature of the robot body 11, viewing the operating status of the image acquisition component 12, and providing an automatic alarm function when the automatic slag removal robot has an abnormal operation.

[0123] In an embodiment of the present invention, the automatic slag removal robot 1 includes a robot body 11, an image acquisition component 12 and a clamp component 13. A force control sensor 134 is arranged in the clamp component 13. The decision module 24 and the robot body 11 communicate with each other by means of Socket. The recognition module 22 communicates with the camera, lidar and thermal imager by means of Socket. The human-computer interaction module 26 and the force control sensor 134 communicate at high speed by means of EGM.

[0124] In an embodiment of the present invention, an air supply pipe is fixed on the clamp assembly 13, one end of the air supply pipe is connected to the pneumatic pick 6, and the other end is connected to an external air source. When the external air source supplies air to the pneumatic pick 6 through the air supply pipe, the pneumatic pick 6 is driven to vibrate, thereby shaking off the slag in the bottom blowing furnace 7.

[0125] In an embodiment of the present invention, the image acquisition component 12 also includes a video monitor, which is arranged in the bottom blowing furnace workshop to collect video data of the automatic slag removal robot in real time. The video monitor is connected to the industrial computer signal to transmit the collected video data to the industrial computer.

[0126] By placing a video monitor in the workshop, the video data in the workshop can be collected in real time under the action of the video monitor, so that remote staff can view the video data in the workshop in real time through the industrial computer 31, thereby realizing remote monitoring of the automatic slag removal robot 1 during automatic slag removal.

[0127] See also Fig.11 , Fig.11 1 is a schematic diagram of the three-dimensional structure of the automatic slag removal robot relative to the ground rail in the automatic slag removal device provided by an embodiment of the present invention. In the embodiment of the present invention, the automatic slag removal device 3 includes a ground rail 32 and a base 33, the automatic slag removal robot 1 is fixed on the base 33, and the base 33 is slidably connected to the ground rail 32.

[0128] By fixing the automatic slag removal robot 1 on the base 33 and slidably connecting the base 33 to the ground rail 32, the automatic slag removal robot 1 can move along the ground rail 32 to automatically clean the slag in the bottom blowing furnace 7 from different angles and positions, thereby improving the slag removal effect of the automatic slag removal robot 1.

[0129] In an embodiment of the present invention, three feeding ports of bottom blowing furnaces 7 are arranged side by side in the bottom blowing furnace workshop 4, and the automatic slag removal robot 1 slides on the ground rail 32 through the base 33, so that one automatic slag removal robot 1 can simultaneously meet the slag removal operations of three bottom blowing furnaces 7, thereby improving the utilization rate of the automatic slag removal robot 1 and reducing the slag removal cost.

[0130] In other embodiments, the base 33 and the ground rail 32 may be omitted, and it is only necessary to set the arm span of the robot body 11 to satisfy the slag removal operation in multiple bottom blowing furnaces 7 .

[0131] In an embodiment of the present invention, the ground rail 32 extends from the outside of the bottom blowing furnace workshop 4 to the inside of the bottom blowing furnace workshop 4 , and the base 33 can drive the automatic slag removal robot 1 to enter and exit the bottom blowing furnace workshop 4 .

[0132] By setting the ground rail 32 to extend from the outside of the bottom blowing furnace workshop 4 to the inside of the workshop, the automatic slag removal robot 1 can enter and exit the bottom blowing furnace workshop 4 under the sliding connection of the ground rail 32, so as to control the automatic slag removal robot 1 to slide out of the bottom blowing furnace workshop 4 when the temperature in the bottom blowing furnace workshop 4 is too high, thereby avoiding the high temperature in the bottom blowing furnace workshop 4 from adversely affecting the performance of the automatic slag removal robot 1.

[0133] In the embodiment of the present invention, a maintenance station 34 is arranged on the ground rail 32 , and the maintenance station 34 is arranged outside the bottom blowing furnace workshop 4 .

[0134] By setting a maintenance position 34 outside the bottom blowing furnace workshop 4, the automatic slag removal robot 1 can slide out of the bottom blowing furnace workshop 4 along the ground rail 32 and reach the maintenance position 34, which makes it convenient for operators to maintain the automatic slag removal robot 1 at the maintenance position 34. There is no need for operators to enter the bottom blowing furnace workshop 4 to maintain the automatic slag removal robot 1, thereby improving the maintenance flexibility of the automatic slag removal robot 1.

[0135] In an embodiment of the present invention, the automatic slag removal device 3 also includes a dust removal mechanism 35, which includes a dust removal pipe and a dust removal fan arranged in the dust removal pipe. The dust removal pipe is installed on the top of the bottom blowing furnace workshop 4 and is arranged in alignment with the feeding port of the bottom blowing furnace 7.

[0136] By setting a dust removal duct on the top of the bottom blowing furnace workshop 4 and setting a dust removal fan in the dust removal duct, when the smoke or dust in the bottom blowing furnace workshop 4 is large and affects the field of vision during operation, the dust removal fan can be turned on to remove the smoke and dust in the bottom blowing furnace workshop 4 from the dust removal duct, thereby improving the visibility in the bottom blowing furnace workshop 4 and facilitating the automatic slag removal robot 1 to perform slag identification and automatic slag removal operations.

[0137] In order to solve the technical problems in the prior art, the present invention also provides an automatic slag removal method for a bottom blowing furnace, the automatic slag removal method comprising:

[0138] Step S1: acquiring image data of at least two bottom blowing furnaces in real time, and identifying slagging information in each bottom blowing furnace from the image data;

[0139] Step S2: Calculate the slagging area in each bottom blowing furnace according to the identified slagging information;

[0140] Step S3: Compare the calculated slagging area with the preset value, and trigger a slagging removal signal when the slagging area is larger than the preset value, so as to control the automatic slagging removal robot to automatically clean the slagging in each bottom blowing furnace according to the slagging information.

[0141] Among them, in step S1, the image acquisition module 21 is used to collect image data of the bottom blowing furnace in real time, and the recognition module 22 is used to identify the slag information in the furnace from the image data. In step S2, the analysis module 23 is used to calculate the slag area in each bottom blowing furnace according to the identified slag information. In step S3, the decision module 24 is used to compare the calculated slag area with the preset value, and when the slag area is greater than the preset value, a slag removal signal is triggered to send a slag removal signal to control the automatic slag removal robot 1 to clean the slag in the furnace.

[0142] The image data in the bottom blowing furnace workshop is collected in real time by the image acquisition module 21, and the recognition module 22 recognizes the slag information in the furnace from the image data in real time, so that the analysis module 23 calculates the slag area of ​​each bottom blowing furnace according to the slag information, and then the decision module 24 compares the calculated slag area with the preset value, so that the decision module 24 determines whether it is necessary to clean the slag in each bottom blowing furnace at the current moment according to the comparison result. Specifically, when the slag area is larger than the preset value, a slag removal signal is triggered to control the automatic slag removal robot to automatically clean the slag in each bottom blowing furnace according to the slag information. Otherwise, the recognition module continues to collect image data in the bottom blowing furnace and recognize the slag information, and the analysis module continues to calculate the slag area according to the slag information, until the decision module compares that the slag area is larger than the preset value and triggers the slag removal signal, and the slag in the bottom blowing furnace is automatically cleaned in this cycle.

[0143] The automatic slag removal system 2 of the present invention is used to clean the slag in each bottom blowing furnace in the bottom blowing furnace workshop, so that when slag appears in the furnace, the image data of each bottom blowing furnace can be collected by the image acquisition module 21, and the recognition module 22 can recognize the slag information in the image data, and the analysis module 23 can analyze the slag information and calculate the slag area. Finally, when the calculated slag area is greater than the preset value, the automatic slag removal robot 1 is controlled to automatically clean the slag in the furnace to prevent the slag that is not cleaned in time from sticking to the furnace mouth and solidifying, thereby affecting the subsequent smelting raw materials from entering the bottom blowing furnace from the feed port, thereby improving the smelting efficiency of the bottom blowing furnace.

[0144] In an embodiment of the present invention, the decision module 24 is signal-connected with the automatic slag removal robot 1 to control the automatic slag removal robot 1 to automatically clean the slag in the furnace after issuing a slag removal signal, wherein the signal connection method between the decision module 24 and the automatic slag removal module includes any one of a wired signal connection and a wireless signal connection, so that the decision module 24 controls the automatic slag removal robot 1.

[0145] In an embodiment of the present invention, the recognition module 22 includes a data storage unit 221, an image comparison unit 222, a feature recognition unit 223 and a slagging recognition unit 224, wherein:

[0146] The data storage unit 221 is configured to: pre-store an initial image when no slagging is generated in each bottom blowing furnace and slagging characteristics when slagging is generated;

[0147] The image comparison unit 222 is configured to: compare the collected image data with the pre-stored initial image and obtain the difference area of ​​each bottom blowing furnace image;

[0148] The feature recognition unit 223 is configured to: perform feature comparison in the difference region in combination with the slagging feature, and calibrate the target feature consistent with the slagging feature as slagging;

[0149] The slag identifying unit 224 is configured to identify slag information by combining the image data and the position of the slag in the image data.

[0150] By pre-storing the initial image when no slagging is generated in the bottom blowing furnace and the slagging features when slagging is generated in the data storage unit 221, the image comparison unit 222 can compare the collected image data with the initial image, and obtain the difference area with the initial image in the image data. Then, the feature recognition unit 223 compares the pre-stored slagging features with the target features in the difference area, so as to identify the slag in the difference area, and the slag recognition unit 224 identifies the slagging information according to the position of the slag in the image data.

[0151] In an embodiment of the present invention, the image data acquired by the image acquisition module 21 includes plane image data, point cloud image data, thermal distribution image data and video image data. The slagging features pre-stored in the data storage unit 221 include shape features, position features and temperature features. When the feature recognition unit 223 performs slagging recognition, the image data is compared with the slagging features. When the feature recognition unit 223 matches the target feature consistent with the slagging feature in the image data, the feature is determined to be slagging.

[0152] In one embodiment, the shape feature is used as the slag feature. When the feature recognition unit 223 obtains a target feature that matches the shape feature in the image data, the target feature is determined to be slag. The feature recognition unit 223 obtains the shape of the target feature based on the planar image data of the target feature, and then compares the shape of the target feature with the shape feature to identify slag.

[0153] In one embodiment, the position feature is taken as the slag feature. When the feature recognition unit 223 obtains a target feature that matches the position feature in the image data, the target feature is determined to be slag. The feature recognition unit 223 obtains the position of the target feature based on the point cloud image data of the target feature, and then compares the position of the target feature with the position feature to identify slag.

[0154] In one embodiment, the temperature feature is used as the slagging feature. When the recognition module 22 obtains a target feature that matches the temperature feature in the image data, it determines that the target feature is slagging. The feature recognition unit 223 obtains the temperature of the target feature based on the thermal distribution image data of the target feature, and then compares the temperature of the target feature with the temperature feature to identify slagging.

[0155] According to the above-mentioned automatic slag removal method, an embodiment of the present invention further provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-mentioned automatic slag removal method.

[0156] It will be appreciated by those skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as an electronic device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present application to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, or other media herein may include non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0157] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0158] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any appropriate manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

[0159] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An automatic slag removal system for a bottom blowing furnace, characterized in that: The automatic slag removal system is connected to the automatic slag removal robot signal, and the automatic slag removal system includes an image acquisition module, a recognition module, an analysis module and a decision module, wherein The image acquisition module is configured to: acquire image data of at least two bottom blowing furnaces in real time; The identification module is configured to: identify slagging information in each bottom blowing furnace from the collected image data; The analysis module is configured to: calculate the slagging area in each bottom blowing furnace according to the identified slagging information; The decision module is configured to: compare the calculated slagging area with a preset value, and trigger a slagging removal signal when the slagging area is greater than the preset value, so as to control the automatic slagging removal robot to automatically clean the slagging in each bottom blowing furnace according to the slagging information; The image data collected by the image acquisition module includes plane image data, point cloud image data, thermal distribution image data and video image data.

2. The automatic slag removal system for bottom blowing furnace according to claim 1 is characterized in that: The recognition module includes a data storage unit, an image comparison unit, a feature recognition unit and a slagging recognition unit, wherein The data storage unit is configured to: pre-store an initial image when no slagging is generated in each bottom blowing furnace and slagging characteristics when slagging is generated; The image comparison unit is configured to: compare the collected image data with the pre-stored initial image and obtain the difference area of ​​each bottom blowing furnace image; The feature recognition unit is configured to: perform feature comparison in the difference area in combination with the slagging feature, and calibrate the target feature consistent with the slagging feature as slagging; The slag identification unit is configured to: identify slag information in combination with the image data and the position of the slag in the image data; The slagging characteristics include shape characteristics, position characteristics and temperature characteristics.

3. The automatic slag removal system for bottom blowing furnace according to claim 2 is characterized in that: The analysis module includes an edge extraction unit and an area calculation unit, wherein The edge extraction unit is configured to: extract the edge curve of slagging in the image data according to the slagging information; The area calculation unit is configured to calculate the slag area from the edge curve.

4. The automatic slag removal system for bottom blowing furnace according to claim 2 is characterized in that: The feature recognition unit includes a first recognition module, a second recognition module, a third recognition module and a calibration module, wherein The first recognition module is configured to: perform a preliminary comparison of target features within the difference area based on the appearance features; The second recognition module is configured to: when the first recognition module compares the target feature and the appearance feature to be consistent, perform a secondary comparison on the target feature in the difference area based on the position feature; The third recognition module is configured to: when the second recognition module compares the target feature and the slagging position, compare the target feature in the difference area again based on the temperature feature, The calibration module is configured to: when the third recognition module compares the temperature feature and finds that the temperature feature is consistent with the target feature, calibrate the target feature as slagging.

5. The automatic slag removal system for bottom blowing furnace according to claim 1 is characterized in that: The automatic slag removal system further comprises a timing module, wherein the timing module is configured to: trigger the decision module to send a slag removal signal at a preset time point, or The automatic slag removal system further comprises a human-computer interaction module, and the human-computer interaction module is configured to directly trigger the decision-making module to send a slag removal signal.

6. An automatic slag removal device for a bottom blowing furnace, characterized in that: The automatic slag removal hardware device includes an industrial computer and an automatic slag removal robot. The automatic slag removal robot is connected to the industrial computer signal. The industrial computer is integrated with the automatic slag removal system according to any one of claims 1 to 5. The automatic slag removal robot is arranged in the bottom blowing furnace workshop and performs slag removal operations in response to slag removal signals.

7. The automatic slag removal device for bottom blowing furnace according to claim 6, characterized in that: The automatic slag removal device also includes a ground rail and a base, the ground rail extends from the outside of the bottom blowing furnace workshop to the inside of the bottom blowing furnace workshop, the automatic slag removal robot is fixed on the base, and the base is slidably connected to the ground rail to drive the automatic slag removal robot in and out of the bottom blowing furnace workshop.

8. The automatic slag removal device for bottom blowing furnace according to claim 6, characterized in that: The automatic slag removal robot includes a robot body, a clamp assembly and a pneumatic pick. The clamp assembly is installed at the end of the robot body to clamp the pneumatic pick. An air supply pipe is fixed on the clamp assembly. One end of the air supply pipe is connected to the pneumatic pick, and the other end is connected to an external air source.

9. The automatic slag removal device for bottom blowing furnace according to claim 6, characterized in that: The automatic slag removal device also includes a dust removal mechanism, which includes a dust removal pipe and a dust removal fan arranged in the dust removal pipe. The dust removal pipe is installed on the top of the bottom blowing furnace workshop and is arranged in alignment with the bottom blowing furnace inlet.

10. The automatic slag removal device for bottom blowing furnace according to claim 6, characterized in that: The automatic slag removal device also includes a video monitor, which is arranged in the bottom blowing furnace workshop to collect video data of the automatic slag removal robot in real time. The video monitor is connected to the industrial computer signal to transmit the collected video data to the industrial computer.

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