A method and system for automatic slagging control of molten iron

Abstract

A method and system for automatic slagging control of molten iron, the method comprising: acquiring a molten iron liquid surface image, planning a slagging path according to the molten iron liquid surface image, and selecting five target nodes in order according to the distance from the molten iron ladle opening, respectively denoted as a first target node, a second target node, a third target node, a fourth target node and a fifth target node; establishing an XYZ three-dimensional coordinate system according to the running direction of the slagging plate and a preset origin and a preset positive direction, obtaining the three-dimensional coordinates of the five target nodes according to the three-dimensional coordinate system, and sending the three-dimensional coordinates of the five target nodes to the slagging machine PLC; the slagging machine PLC controls the slagging plate to run in a preset order from the fifth target node according to the three-dimensional coordinates of the five target nodes, and finally returns to the fifth target node. The present application can optimize the actual slagging path, which not only ensures good slagging effect, but also reduces the occurrence of collision and scratching of the slagging plate.

Description

Technical Field

[0001] This invention relates to the field of molten iron pretreatment technology, specifically to a method and system for automatic slag removal control of molten iron. Background Technology

[0002] With the development of modern industrial production, hot metal desulfurization technology has been widely used to maintain high efficiency, high quality, and low cost under high output. However, before and after desulfurization, a large amount of high-sulfur slag remains in the hot metal ladle. Removing this high-sulfur slag is crucial for controlling the total sulfur content entering the furnace. Traditionally, desulfurization workers remove slag visually. To reduce the impact of unstable factors related to workers' experience and to ensure worker safety, automatic slag removal technology based on image recognition has emerged.

[0003] In the automatic slag removal process, the actual working path of the slag removal plate is directly or indirectly related to the degree of melting and damage of the slag removal plate, the operating speed of the slag removal machine, and the tilting angle of the molten iron ladle. However, due to uncontrollable melting and damage to the slag removal plate and the poor precision of the hydraulic valve in adjusting the speed of the slag removal machine, existing automatic slag removal technologies struggle to remove high-sulfur slag along a pre-set ideal path. During operation, the slag removal plate often collides or scrapes against the ladle wall or ladle opening, easily causing damage to the slag removal plate and even the slag removal machine itself. Therefore, a method and system for automatic slag removal control of molten iron is urgently needed to solve this problem. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a method and system for automatic slag removal control of molten iron that overcomes or at least partially solves the above problems.

[0005] To address the aforementioned technical problems, the embodiments of this application disclose the following technical solutions:

[0006] In a first aspect, embodiments of the present invention disclose a method for automatic slag removal control of molten iron, comprising:

[0007] S100. Obtain an image of the molten iron surface, plan the slag removal path based on the image of the molten iron surface, and select five target nodes on the slag removal path according to their distance from the ladle opening, which are respectively denoted as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node. The third target node is located at a preset distance directly in front of the ladle opening, and the fifth target node and the fourth target node are located at the ladle opening, with the fifth target node directly above the fourth target node.

[0008] S200. Establish an XYZ three-dimensional coordinate system based on the running direction of the slag removal plate, the preset origin, and the preset positive direction. Obtain the three-dimensional coordinates of the five target nodes based on the three-dimensional coordinate system, and send the three-dimensional coordinates of the five target nodes to the slag removal machine PLC.

[0009] S300. Automatic slag removal of molten iron begins. The PLC of the slag remover controls the slag removal plate to move from the fifth target node to the first target node based on the three-dimensional coordinates of the fifth target node and the first target node. As the slag removal plate moves to the farthest point, its height also decreases below the surface of the molten iron.

[0010] The S400 slag remover PLC controls the slag removal plate to move from the first target node to the second target node based on the three-dimensional coordinates of the first and second target nodes, gradually retracting the sulfur slag towards the ladle opening. The slag removal plate height is kept constant based on the three-dimensional coordinates of the second and third target nodes, using the slag removal plate to remove the sulfur slag directly in front of the ladle opening. Based on the three-dimensional coordinates of the third and fourth target nodes, the slag removal plate moves from the third target node to the fourth target node, raising its height to the same level as the molten iron surface as it moves back to the ladle opening, removing the sulfur slag from the ladle opening. Based on the three-dimensional coordinates of the fourth and fifth target nodes, the slag removal plate moves from the fourth target node to the fifth target node, raising it above the molten iron surface and removing it from the ladle area.

[0011] Further, in S100, an image of the molten iron surface is acquired, and a slag removal path is planned based on the image of the molten iron surface. The specific method includes: first, preprocessing the image of the molten iron surface to automatically extract the contour information of the sulfur slag in the image and determine the analysis area of ​​the image; then, identifying the molten iron and sulfur slag in the analysis area using automatic threshold segmentation technology, and planning the slag removal path based on the identified sulfur slag.

[0012] Furthermore, in S200, an XYZ three-dimensional coordinate system is established based on the running direction of the slag removal plate, a preset origin, and a preset positive direction. The specific method includes: taking the forward / backward direction of the slag removal plate as the X-axis, the slag removal plate's backward movement as the zero point of the X-axis, and the positive direction as the forward direction, according to the formula... Obtain the X coordinate value of the slag removal plate at its current position; where E X E represents the value displayed by the encoder indicating the current position and direction of travel. b and E f These represent the values ​​displayed by the encoder in the forward direction when the slag removal plate is at zero point and in the forward position, respectively. f This indicates the actual length between the rearward and forward positions of the slag removal plate;

[0013] Furthermore, in S200, an XYZ three-dimensional coordinate system is established based on the running direction of the slag skimmer, a preset origin, and a preset positive direction. Specifically, the method includes: taking the left-right direction of the slag skimmer as the Y-axis, the position where the slag skimmer aligns with the center of the molten iron ladle as the zero point of the Y-axis, and the positive direction as the leftward rotation direction, according to the formula... The Y-coordinate value of the slag removal plate at its current position is obtained; where E y E represents the value displayed by the encoder indicating the current position and rotation direction. c and E l These represent the values ​​displayed by the encoder indicating the rotation direction of the slag scraper when it is at zero and when it is rotated to the left, respectively. φ L This indicates the actual angle between the leftward rotation of the slag removal plate to its final position and zero point, expressed in degrees.

[0014] Furthermore, in S200, an XYZ three-dimensional coordinate system is established based on the running direction of the slag removal plate, a preset origin, and a preset positive direction. The specific method also includes: taking the vertical direction of the slag removal plate as the Z-axis, the ground height as the zero point, and the positive direction as the vertically upward direction. The Z-axis value represents the height of the bottom of the slag removal plate from the ground, first determined by the formula... The angle at which the slag removal plate descends from its highest point at its current position is obtained, where E is the angle of descent. z E represents the value displayed by the encoder in the up and down direction at the current position. b and E t These represent the values ​​displayed by the encoder in the vertical direction when the slag removal plate is at its lowest and highest points, respectively, φ. B This represents the actual angle between the lowest and highest points of the slag removal plate, in degrees; then, based on the calculated angle φ... Z According to formula H Z =H t -R·sin(φ Z )-L·cos(φ Z The height of the bottom of the slag removal plate from the ground is obtained by formula, where H t This indicates the height of the slag removal plate above the ground when it is at its highest point. R and L represent the radius of the slag removal plate from the center of rotation and the length of the slag removal plate itself, respectively.

[0015] Furthermore, in S300 and S400, during the process of controlling the movement of the slag removal plate, the PLC of the slag removal machine will also determine whether the slag removal plate has collided with the molten iron ladle in three dimensions according to the first preset rule. The first preset rule includes: when the slag removal plate moves from one target node to the next target node, if it fails to reach the predetermined set coordinate in any direction in three dimensions for more than a preset maximum time, the collision information of the slag removal plate is obtained. The collision information includes at least the target node information and the collision direction information at the time of the current collision.

[0016] Furthermore, in S300 and S400, the PLC of the slag remover will also determine whether the slag remover plate and the molten iron ladle have scraped each other according to the second preset rule during the slag remover plate's movement from one target node to the next target node. When there is a preset time difference between the slag remover plate reaching the set coordinates of the next target node in three directions, the molten iron surface monitoring screen will be automatically retrieved. Relevant personnel will adjust the control parameters to optimize the current slag removal path based on the actual slag removal situation.

[0017] Secondly, embodiments of the present invention disclose a system for automatic slag removal control of molten iron, comprising: a target node selection unit, a three-dimensional coordinate system construction unit, and a slag removal plate control unit; wherein:

[0018] The target node selection unit is used to acquire an image of the molten iron surface, plan the slag removal path based on the image of the molten iron surface, and select five target nodes on the slag removal path in order of their distance from the ladle opening, which are respectively denoted as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node. The third target node is located at a preset distance directly in front of the ladle opening, and the fifth target node and the fourth target node are located at the ladle opening, with the fifth target node being directly above the fourth target node.

[0019] The three-dimensional coordinate system construction unit is used to establish an XYZ three-dimensional coordinate system based on the running direction of the slag removal plate and the preset origin and preset positive direction, obtain the three-dimensional coordinates of the five target nodes based on the three-dimensional coordinate system, and send the three-dimensional coordinates of the five target nodes to the slag removal machine PLC.

[0020] The slag removal plate control unit is used to control the slag removal machine PLC to move the slag removal plate from the first target node to the second target node based on the three-dimensional coordinates of the first and second target nodes, gradually retracting the sulfur slag towards the ladle opening. The PLC then controls the slag removal plate to maintain a constant height based on the three-dimensional coordinates of the second and third target nodes, using the slag removal plate to move the sulfur slag directly in front of the ladle opening. Next, the PLC controls the slag removal plate to move from the third target node to the fourth target node based on the three-dimensional coordinates of the third and fourth target nodes, causing the slag removal plate to retract to the ladle opening and be raised above the molten iron surface, removing the sulfur slag from the ladle opening. Finally, the PLC controls the slag removal plate to move from the fourth target node to the fifth target node based on the three-dimensional coordinates of the fourth and fifth target nodes, raising the slag removal plate above the molten iron surface and controlling it to leave the ladle area.

[0021] Thirdly, embodiments of the present invention disclose an electronic device, comprising:

[0022] One or more processors;

[0023] Memory, used to store one or more programs;

[0024] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for automatic slag removal control of molten iron.

[0025] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0026] This invention discloses a method for automatic slag removal control of molten iron, comprising: acquiring an image of the molten iron surface; planning a slag removal path based on the image; selecting five target nodes on the slag removal path according to their distance from the ladle opening, denoted as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node; establishing an XYZ three-dimensional coordinate system based on the slag removal plate's running direction, a preset origin, and a preset positive direction; obtaining the three-dimensional coordinates of the five target nodes based on the three-dimensional coordinate system; and sending the three-dimensional coordinates of the five target nodes to the slag removal machine PLC; starting automatic slag removal, the slag removal machine PLC controls the slag removal plate to move from the fifth target node to the first target node based on the three-dimensional coordinates of the fifth target node and the first target node, while the slag removal plate moves towards the farthest point and its height decreases below the molten iron surface. The slag remover PLC controls the slag removal plate to move from the first target node to the second target node based on the three-dimensional coordinates of the first and second target nodes, gradually retracting the sulfur slag towards the ladle opening. The slag remover PLC also controls the height of the slag removal plate to remain constant based on the three-dimensional coordinates of the second and third target nodes, using the slag removal plate to move the sulfur slag directly in front of the ladle opening. The slag remover PLC then controls the slag removal plate to move from the third target node to the fourth target node based on the three-dimensional coordinates of the third and fourth target nodes. As the slag removal plate moves back to the ladle opening, its height is raised to be level with the molten iron surface, removing the sulfur slag from the ladle opening. Finally, the slag remover PLC controls the slag removal plate to move from the fourth target node to the fifth target node based on the three-dimensional coordinates of the fourth and fifth target nodes, raising the slag removal plate above the molten iron surface and controlling it to leave the ladle area.

[0027] Compared with existing technologies, this invention can optimize the actual slag removal path, reducing the workload of operators while ensuring good slag removal effect, reducing the occurrence of collisions and scratches of the slag removal plate, and mitigating the risk of damage to the slag removal plate or slag removal machine.

[0028] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0030] Figure 1 This is a flowchart of a method for automatic slag removal control of molten iron in Embodiment 1 of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of an electronic device in Embodiment 3 of the present invention. Detailed Implementation

[0032] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0033] To address the problems existing in the prior art, embodiments of the present invention provide a method and system for automatic slag removal control of molten iron.

[0034] Example 1

[0035] This invention discloses a method for automatic slag removal control of molten iron, such as... Figure 1 ,include:

[0036] S100. Obtain an image of the molten iron surface, plan the slag removal path based on the image of the molten iron surface, and select five target nodes on the slag removal path according to their distance from the ladle opening, which are respectively denoted as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node. The third target node is located at a preset distance directly in front of the ladle opening, and the fifth target node and the fourth target node are located at the ladle opening, with the fifth target node directly above the fourth target node.

[0037] In S100 of this embodiment, an image of the molten iron surface is acquired, and a slag removal path is planned based on the image of the molten iron surface. The specific method includes: first, preprocessing the image of the molten iron surface to automatically extract the contour information of the sulfur slag in the image and determine the analysis area of ​​the image; then, identifying the molten iron and sulfur slag in the analysis area using automatic threshold segmentation technology, and planning the slag removal path based on the identified sulfur slag.

[0038] Specifically, such as Figure 2 By obtaining Figure 2 The image of the molten iron surface is used to plan the slag removal path, and the molten iron surface image is used to plan the slag removal path. Figure 2Five target nodes are selected sequentially along the slag removal path according to their distance from the ladle opening, and are respectively labeled as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node. The third target node is located at a preset distance directly in front of the ladle opening, and the fifth target node is located at the ladle opening, with the fifth target node directly above the fourth target node.

[0039] S200. Establish an XYZ three-dimensional coordinate system based on the running direction of the slag removal plate, the preset origin, and the preset positive direction. Obtain the three-dimensional coordinates of the five target nodes based on the three-dimensional coordinate system, and send the three-dimensional coordinates of the five target nodes to the slag removal machine PLC.

[0040] In this embodiment, the operation process of the muck loader can usually be divided into three sub-actions in the front-back, left-right, and up-down directions. Each direction is equipped with a corresponding encoder. Then, the front-back direction is the X-axis, the left-right direction is the Y-axis, and the up-down direction is the Z-axis. At the same time, a suitable origin and positive direction are selected to establish an XYZ three-dimensional coordinate system.

[0041] Specifically, the forward and backward direction of the slag removal plate is taken as the X-axis, and the zero point of the X-axis is taken as the slag removal plate retracting to its final position. The positive direction is the forward direction, according to the formula... Obtain the X coordinate value of the slag removal plate at its current position; where E X E represents the value displayed by the encoder indicating the current position and direction of travel. b and E f These represent the values ​​displayed by the encoder in the forward direction when the slag removal plate is at zero point and in the forward position, respectively. f This indicates the actual length between the backward and forward positions of the slag removal plate.

[0042] With the left-right direction of the slag skimmer as the Y-axis, and the position where the slag skimmer is aligned with the center of the molten iron ladle as the zero point of the Y-axis, the positive direction is the leftward rotation direction, according to the formula... The Y-coordinate value of the slag removal plate at its current position is obtained; where E y E represents the value displayed by the encoder indicating the current position and rotation direction. c and E l These represent the values ​​displayed by the encoder indicating the rotation direction of the slag scraper when it is at zero and when it is rotated to the left, respectively. φ L This indicates the actual angle between the leftward rotation of the slag removal plate to its final position and zero point, expressed in degrees.

[0043] With the vertical direction of the slag removal plate as the Z-axis, and the ground level as the zero point, the positive direction is vertically upward. The Z-axis value represents the height of the bottom of the slag removal plate from the ground. This is determined by the formula... The angle at which the slag removal plate descends from its highest point at its current position is obtained, where E is the angle of descent. z E represents the value displayed by the encoder in the up and down direction at the current position. b and E tThese represent the values ​​displayed by the encoder in the vertical direction when the slag removal plate is at its lowest and highest points, respectively, φ. B This represents the actual angle between the lowest and highest points of the slag removal plate, in degrees; then, based on the calculated angle φ... Z According to formula H Z =H t -R·sin(φ Z )-L·cos(φ Z The height of the bottom of the slag removal plate from the ground is obtained by formula, where H t This indicates the height of the slag removal plate above the ground when it is at its highest point. R and L represent the radius of the slag removal plate from the center of rotation and the length of the slag removal plate itself, respectively.

[0044] Once the three-dimensional coordinate system is constructed, the set coordinates of each target node in three directions are determined based on the transmitted target node information. Ideally, when the slag removal plate reaches the target node, the set coordinates in all three directions should be reached simultaneously.

[0045] S300. Automatic slag removal of molten iron begins. The PLC of the slag remover controls the slag removal plate to move from the fifth target node to the first target node based on the three-dimensional coordinates of the fifth target node and the first target node. As the slag removal plate moves to the farthest point, its height also decreases below the surface of the molten iron.

[0046] The S400 slag remover PLC controls the slag removal plate to move from the first target node to the second target node based on the three-dimensional coordinates of the first and second target nodes, gradually retracting the sulfur slag towards the ladle opening. The slag removal plate height is kept constant based on the three-dimensional coordinates of the second and third target nodes, using the slag removal plate to remove the sulfur slag directly in front of the ladle opening. Based on the three-dimensional coordinates of the third and fourth target nodes, the slag removal plate moves from the third target node to the fourth target node, raising its height to the same level as the molten iron surface as it moves back to the ladle opening, removing the sulfur slag from the ladle opening. Based on the three-dimensional coordinates of the fourth and fifth target nodes, the slag removal plate moves from the fourth target node to the fifth target node, raising it above the molten iron surface and removing it from the ladle area.

[0047] In S300 and S400 of this embodiment, during the process of controlling the movement of the slag removal plate, the PLC of the slag removal machine will also determine whether the slag removal plate has collided with the molten iron ladle in three dimensions according to the first preset rule. The first preset rule includes: when the slag removal plate moves from one target node to the next target node, if it fails to reach the predetermined set coordinate in any direction in three dimensions for more than a preset maximum time, the collision information of the slag removal plate is obtained. The collision information includes at least the target node information and the collision direction information at the time of the current collision.

[0048] Specifically, during the movement of the slag removal plate from one target node to another, if it fails to reach the predetermined coordinate in a certain direction for more than four seconds, it is considered that the slag removal plate has collided in that direction. At the same time, the system will display the collision information on the HMI screen controlling the automatic slag removal, indicating which step and which direction the collision occurred. The slag removal machine PLC will also autonomously adjust the coordinates of the target node based on the collision information to avoid repeated collisions.

[0049] In S300 and S400 of this embodiment, during the process of controlling the movement of the slag removal plate, the PLC of the slag removal machine will also determine whether the slag removal plate and the molten iron ladle have scraped each other according to the second preset rule. The second preset rule includes: when the slag removal plate moves from one target node to the next target node, if there is a preset time difference between the slag removal plate reaching the set coordinates of the next target node in three directions, the monitoring screen of the molten iron surface will be automatically retrieved. According to the actual slag removal situation of the automatic slag removal, the relevant personnel will adjust the control parameters to optimize the current slag removal path. In this embodiment, the preset time difference between the slag removal plate reaching the set coordinates of the next target node in three directions is preferably one second.

[0050] Specifically, when the slag removal plate scrapes against the wall or opening of the molten iron ladle, the plate's travel speed is usually unaffected. Therefore, the slag removal machine's PLC cannot make a reasonable judgment on whether scraping has occurred. In this case, the operator must make a manual judgment based on the monitoring screen. Scraping is unrelated to the position of the target node and is usually caused by a large time deviation when the slag removal plate arrives at the set coordinates simultaneously in three directions during actual production. To minimize scraping, operators need to summarize the common scraping situations during automatic slag removal based on actual slag removal conditions and categorize the corresponding node position control parameters. By manually adjusting these parameters, the slag removal path can be optimized to reduce the occurrence of scraping.

[0051] This invention discloses a method for automatic slag removal control of molten iron, comprising: acquiring an image of the molten iron surface; planning a slag removal path based on the image of the molten iron surface; selecting five target nodes on the slag removal path according to their distance from the ladle opening, and designating them as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node, respectively; establishing an XYZ three-dimensional coordinate system based on the running direction of the slag removal plate and a preset origin and a preset positive direction; obtaining the three-dimensional coordinates of the five target nodes based on the three-dimensional coordinate system; sending the three-dimensional coordinates of the five target nodes to the slag removal machine PLC; starting automatic slag removal of molten iron, the slag removal machine PLC controls the slag removal plate to translate from the fifth target node to above the first target node according to the XY coordinates of the fifth target node and the first target node, and then controlling the slag removal plate to translate from the fifth target node to above the first target node according to the XY coordinates of the five target nodes. The Z-coordinates of the target node and the first target node control the slag removal plate to descend to a preset depth on the molten iron surface. Based on the three-dimensional coordinates of the first and second target nodes, the slag removal machine PLC controls the slag removal plate to translate from the first target node to the second target node, gradually retracting the sulfur slag towards the ladle opening. Based on the three-dimensional coordinates of the second and third target nodes, the slag removal machine PLC maintains a constant height for the slag removal plate, moving the sulfur slag directly in front of the ladle opening. Based on the three-dimensional coordinates of the third and fourth target nodes, the slag removal machine PLC controls the slag removal plate to retreat to the ladle opening and raise it to a position level with the molten iron surface, removing the sulfur slag from the ladle opening. Based on the three-dimensional coordinates of the fourth and fifth target nodes, the slag removal machine PLC raises the slag removal plate above the molten iron surface, controlling the slag removal plate to leave the ladle area.

[0052] Compared with existing technologies, this invention can optimize the actual slag removal path, reducing the workload of operators while ensuring good slag removal effect, reducing the occurrence of collisions and scratches of the slag removal plate, and mitigating the risk of damage to the slag removal plate or slag removal machine.

[0053] Example 2

[0054] Based on the automatic slag removal control method for molten iron in Embodiment 1, this embodiment discloses an automatic slag removal control system for molten iron, including: a target node selection unit, a three-dimensional coordinate system construction unit, and a slag removal plate control unit; wherein:

[0055] The target node selection unit is used to acquire an image of the molten iron surface, plan the slag removal path based on the image of the molten iron surface, and select five target nodes on the slag removal path in order of their distance from the ladle opening, which are respectively denoted as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node. The third target node is located at a preset distance directly in front of the ladle opening, and the fifth target node and the fourth target node are located at the ladle opening, with the fifth target node being directly above the fourth target node.

[0056] The three-dimensional coordinate system construction unit is used to establish an XYZ three-dimensional coordinate system based on the running direction of the slag removal plate and the preset origin and preset positive direction, obtain the three-dimensional coordinates of the five target nodes based on the three-dimensional coordinate system, and send the three-dimensional coordinates of the five target nodes to the slag removal machine PLC.

[0057] The slag removal plate control unit is used to control the slag removal plate from the fifth target node to the first target node when the automatic slag removal of molten iron begins, based on the three-dimensional coordinates of the fifth and first target nodes. This allows the slag removal plate to move to the farthest point and descend below the molten iron surface. The slag removal plate control unit then controls the slag removal plate to translate from the first target node to the second target node based on the three-dimensional coordinates of the first and second target nodes, gradually retracting the sulfur slag towards the ladle opening. Finally, the slag removal plate control unit controls the slag removal plate based on the three-dimensional coordinates of the second and third target nodes. With the height remaining constant, the slag is scraped to the front of the ladle opening using the slag scraper plate. Based on the three-dimensional coordinates of the third and fourth target nodes, the slag scraper PLC controls the slag scraper plate to move from the third target node to the fourth target node, causing the slag scraper plate to retreat to the ladle opening and be raised to a position level with the molten iron surface, thus removing the slag from the ladle opening. Based on the three-dimensional coordinates of the fourth and fifth target nodes, the slag scraper PLC controls the slag scraper plate to move from the fourth target node to the fifth target node, causing the slag scraper plate to be raised above the molten iron surface, thus controlling the slag scraper plate to leave the ladle area.

[0058] The working principles of the target node selection unit, the three-dimensional coordinate system construction unit, and the slag removal plate control unit have been described in detail in Embodiment 1, and will not be repeated here in this embodiment.

[0059] Example 3

[0060] Based on the same inventive concept, this disclosure also provides an electronic device. Figure 2 This is a schematic diagram of the structure of an electronic device according to an embodiment of this disclosure. Figure 2 As shown, this disclosure provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the optimization methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0061] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0062] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0063] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0064] According to embodiments of this disclosure, a computer-readable medium is also provided. This computer-readable medium stores a computer program, which, when executed by a processor, implements the steps of any of the optimized methods described in the above embodiments.

[0065] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0066] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0067] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0068] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied in hardware, software modules executed by a processor, or a combination thereof. The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. Alternatively, the processor and storage medium can exist as discrete components in the user terminal.

[0069] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

[0070] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A method for automatic slag removal control of molten iron, characterized in that, include: S100. Obtain an image of the molten iron surface, plan the slag removal path based on the image of the molten iron surface, and select five target nodes on the slag removal path according to their distance from the ladle opening, which are respectively denoted as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node. The third target node is located at a preset distance directly in front of the ladle opening, and the fifth target node and the fourth target node are located at the ladle opening, with the fifth target node directly above the fourth target node. S200. Establish an XYZ three-dimensional coordinate system based on the running direction of the slag removal plate, the preset origin, and the preset positive direction. Obtain the three-dimensional coordinates of the five target nodes based on the three-dimensional coordinate system, and send the three-dimensional coordinates of the five target nodes to the slag removal machine PLC. S300. Automatic slag removal of molten iron begins. The PLC of the slag remover controls the slag removal plate to move from the fifth target node to the first target node based on the three-dimensional coordinates of the fifth target node and the first target node. While controlling the slag removal plate to move to the farthest point, the height of the plate also decreases below the surface of the molten iron. The S400 slag remover PLC controls the slag removal plate to move from the first target node to the second target node based on the three-dimensional coordinates of the first and second target nodes, gradually retracting the sulfur slag towards the ladle opening; the slag remover PLC controls the height of the slag removal plate to remain constant based on the three-dimensional coordinates of the second and third target nodes, using the slag removal plate to remove the sulfur slag directly in front of the ladle opening; the slag remover PLC controls the slag removal plate to move from the third target node to the fourth target node based on the three-dimensional coordinates of the third and fourth target nodes, raising the slag removal plate to a position level with the molten iron surface as it moves towards the ladle opening, removing the sulfur slag from the ladle opening; the slag remover PLC controls the slag removal plate to move from the fourth target node to the fifth target node based on the three-dimensional coordinates of the fourth and fifth target nodes, raising the slag removal plate above the molten iron surface, and controlling the slag removal plate to leave the ladle area; In S300 and S400, during the process of controlling the movement of the slag-removing plate, the PLC of the slag-removing machine will also determine whether the slag-removing plate has collided with the molten iron ladle in three dimensions according to a first preset rule. The first preset rule includes: when the slag-removing plate moves from one target node to the next target node, if it fails to reach the predetermined set coordinate in any direction in three dimensions for more than a preset maximum time, the slag-removing plate collision information is obtained. The collision information includes at least the target node information and the collision direction information at the time of the current collision. The slag-removing machine PLC will autonomously adjust the coordinates of the target node according to the collision information.

2. The method for automatic slag removal control of molten iron as described in claim 1, characterized in that, In S100, an image of the molten iron surface is acquired, and a slag removal path is planned based on the image of the molten iron surface. The specific method includes: first, preprocessing the image of the molten iron surface to automatically extract the contour information of the sulfur slag in the image and determine the analysis area of ​​the image; then, identifying the molten iron and sulfur slag in the analysis area using automatic threshold segmentation technology, and planning the slag removal path based on the identified sulfur slag.

3. The method for automatic slag removal control of molten iron as described in claim 1, characterized in that, In S200, a three-dimensional XYZ coordinate system is established based on the running direction of the slag removal plate, a preset origin, and a preset positive direction. The specific method includes: taking the forward / backward direction of the slag removal plate as the X-axis, the zero point of the X-axis being the slag removal plate's retraction position, and the positive direction as the forward direction, according to the formula... Obtain the X-coordinate value of the slag removal plate at its current position; where The value displayed by the encoder indicates the current position and direction of travel. and These represent the values ​​displayed by the encoder in the forward direction when the slag removal plate is at zero point and in the forward position, respectively. This indicates the actual length between the backward and forward positions of the slag removal plate.

4. The method for automatic slag removal control of molten iron as described in claim 1, characterized in that, In S200, a three-dimensional XYZ coordinate system is established based on the running direction of the slag skimmer, a preset origin, and a preset positive direction. Specific methods include: using the left-right direction of the slag skimmer as the Y-axis, and the position where the slag skimmer aligns with the center of the molten iron ladle as the zero point of the Y-axis, with the positive direction being the leftward rotation direction, according to the formula... The Y-coordinate value of the slag removal plate at its current position is obtained; where The value displayed by the encoder indicates the current rotation direction. and These represent the values ​​displayed by the encoder indicating the rotation direction when the slag removal plate is at zero point and when it has rotated to the left, respectively. This indicates the actual angle between the leftward rotation of the slag removal plate to its final position and zero point, expressed in degrees.

5. The method for automatic slag removal control of molten iron as described in claim 1, characterized in that, In S200, an XYZ three-dimensional coordinate system is established based on the running direction of the slag removal plate, a preset origin, and a preset positive direction. The specific method further includes: using the vertical direction of the slag removal plate as the Z-axis, the ground height as the zero point, and the positive direction as the vertically upward direction. The Z-axis value represents the height of the bottom of the slag removal plate from the ground, first determined by the formula... The angle at which the slag removal plate descends from its highest point at its current position is obtained from the formula. This indicates the value displayed by the encoder in the up and down direction at the current position. and These represent the values ​​displayed by the encoder in the vertical direction when the slag removal plate is at its lowest and highest points, respectively. This represents the actual angle between the lowest and highest points of the slag removal plate, in degrees; then, based on the calculated angle... According to the formula The height of the bottom of the slag removal plate from the ground is obtained by formula, where This indicates the height of the slag removal board above the ground when it is at its highest point. and These represent the radius of the slag removal plate from the center of rotation and the length of the slag removal plate itself, respectively.

6. The method for automatic slag removal control of molten iron as described in claim 1, characterized in that, In S300 and S400, the PLC of the slag remover will also determine whether the slag remover plate and the molten iron ladle have scraped each other according to the second preset rule during the movement of the slag remover plate from one target node to the next target node. When there is a preset time difference when the slag remover plate reaches the set coordinate of the next target node in three directions at the same time, the monitoring screen of the molten iron surface will be automatically retrieved. According to the actual slag removal situation of the automatic slag removal, the relevant personnel will adjust the control parameters to optimize the current slag removal path.

7. A system for automatic slag removal control of molten iron, employing any one of the automatic slag removal control methods for molten iron according to claims 1-6, characterized in that, include: Target node selection unit, 3D coordinate system construction unit, and slag removal plate control unit; wherein: The target node selection unit is used to acquire an image of the molten iron surface, plan the slag removal path based on the image of the molten iron surface, and select five target nodes on the slag removal path in order of their distance from the ladle opening, which are respectively denoted as the first target node, the second target node, the third target node, the fourth target node, and the fifth target node. The third target node is located at a preset distance directly in front of the ladle opening, and the fifth target node and the fourth target node are located at the ladle opening, with the fifth target node being directly above the fourth target node. The three-dimensional coordinate system construction unit is used to establish an XYZ three-dimensional coordinate system based on the running direction of the slag removal plate and the preset origin and preset positive direction, obtain the three-dimensional coordinates of the five target nodes based on the three-dimensional coordinate system, and send the three-dimensional coordinates of the five target nodes to the slag removal machine PLC. The slag removal plate control unit is used to start the automatic slag removal of molten iron. The slag removal machine PLC controls the slag removal plate to move from the fifth target node to the first target node according to the three-dimensional coordinates of the fifth target node and the first target node, so that the slag removal plate moves to the farthest point and descends below the surface of the molten iron. The slag removal plate control unit is used to control the slag removal plate from the fifth target node to the first target node when the automatic slag removal of molten iron begins, based on the three-dimensional coordinates of the fifth and first target nodes. As the slag removal plate moves towards the farthest point, its height also decreases below the molten iron surface. The slag removal plate PLC then controls the slag removal plate to translate from the first target node to the second target node based on the three-dimensional coordinates of the first and second target nodes, gradually retracting the sulfur slag towards the ladle opening. Finally, the slag removal plate PLC controls the slag removal plate based on the three-dimensional coordinates of the second and third target nodes. With the height remaining constant, the slag is scraped to the front of the ladle opening using the slag scraper plate. Based on the three-dimensional coordinates of the third and fourth target nodes, the slag scraper PLC controls the slag scraper plate to move from the third target node to the fourth target node. As the slag scraper plate moves back to the ladle opening, its height is raised to be level with the molten iron surface, removing the slag from the ladle opening. Based on the three-dimensional coordinates of the fourth and fifth target nodes, the slag scraper PLC controls the slag scraper plate to move from the fourth target node to the fifth target node, raising the slag scraper plate above the molten iron surface and controlling it to leave the ladle area.

8. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 6.

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