A method and apparatus for removing slag adhering to the kiln wall by impacting the kiln wall.

Abstract

This invention relates to the field of kiln slag cleaning technology, and discloses a method and apparatus for removing slag adhering to the kiln wall through impact. The method includes: acquiring and analyzing images of the rotary kiln wall; determining the thickness of the slag when it is present; determining the impact force and frequency of the impactor based on the slag thickness; acquiring wave velocity signals at the kiln wall, including direct wave velocity and reflected wave velocity; determining the looseness of the slag based on the wave velocity signals; adjusting the impact force and frequency of the impactor based on the looseness of the slag to obtain the final impact force and frequency; and controlling the impactor to impact the kiln wall with the final impact force and frequency to remove the slag. This method reduces labor and material costs, improves production efficiency, and reduces cleaning time.

Description

Technical Field

[0001] This invention relates to the field of kiln slag cleaning technology, and in particular to a method and apparatus for peeling off slag adhering to the kiln wall by impacting the kiln wall of a rotary kiln. Background Technology

[0002] During the operation of a rotary kiln, due to the high-temperature calcination, some components of the raw materials react chemically with the kiln wall, forming what is known as a crust or slag. This slag not only affects thermal efficiency but can also obstruct material flow, and in severe cases, even cause production stoppages. Traditional cleaning methods include mechanical and chemical cleaning, but these methods are typically time-consuming, costly, labor-intensive, and may damage the kiln body. Therefore, there is an urgent need for a method and device that uses impact to peel off the slag from the kiln wall, allowing the slag to be removed from the kiln wall. Summary of the Invention

[0003] The purpose of this invention is to provide a method and apparatus for removing slag adhering to the kiln wall by impacting the kiln wall, thereby solving the problem that the slag adhering to the kiln wall affects thermal efficiency and causes material flow obstruction.

[0004] This invention provides a method for removing slag adhering to the kiln wall by impact, applicable to rotary kilns, the method comprising:

[0005] Images of the rotary kiln wall are captured and analyzed to determine whether there is any adhering slag on the rotary kiln wall.

[0006] If adhesive residue is present, the thickness of the adhesive residue is obtained;

[0007] The impact force and impact frequency of the impactor are determined based on the thickness of the adhesive residue.

[0008] Acquire the wave velocity signal at the wall of the rotary kiln, the wave velocity signal including the direct wave velocity and the reflected wave velocity;

[0009] The looseness of the binder residue is determined based on the wave velocity signal;

[0010] The impact force and impact frequency of the impactor are adjusted according to the looseness of the adhesive residue to obtain the final impact force and final impact frequency.

[0011] The impactor is controlled to impact the rotary kiln wall with a final impact force and a final impact frequency, thereby achieving the stripping of the slag adhering to the kiln wall.

[0012] Preferably, the captured images are analyzed to determine whether there is adhering slag on the wall of the rotary kiln, including:

[0013] A pre-defined structural diagram of the binding residue;

[0014] The captured image is converted to grayscale to obtain a grayscale image;

[0015] The grayscale image is compared with the structural morphology image to determine the similarity between the grayscale image and the structural morphology image;

[0016] If the similarity is greater than the preset similarity, it is determined that there is adhesive slag on the rotary kiln wall.

[0017] Preferably, determining the impact force and impact frequency of the impactor based on the thickness of the adhesive residue includes:

[0018] A first preset thickness, a second preset thickness, and a third preset thickness are set, and the first preset thickness, the second preset thickness, and the third preset thickness increase sequentially;

[0019] The impact force F and impact frequency P of the impactor are set according to the relationship between the thickness of the adhesive residue and the first preset thickness, the second preset thickness and the third preset thickness;

[0020] If the thickness of the adhesive residue is less than the first preset thickness, then the impact force F of the impactor is set to the first preset impact force F1, and the impact frequency P of the impactor is set to the first preset impact frequency P1, that is, F=F1, P=P1.

[0021] If the thickness of the adhesive residue is greater than or equal to the first preset thickness, and the thickness of the adhesive residue is less than the second preset thickness, then the impact force F of the impactor is set to the second preset impact force F2, and the impact frequency P of the impactor is set to the second preset impact frequency P2, that is, F=F2, P=P2.

[0022] If the thickness of the adhesive residue is greater than or equal to the second preset thickness, and the thickness of the adhesive residue is less than the third preset thickness, then the impact force F of the impactor is set to the third preset impact force F3, and the impact frequency P of the impactor is set to the third preset impact frequency P3, that is, F=F3, P=P3.

[0023] If the thickness of the adhesive residue is greater than or equal to the third preset thickness, then the impact force F of the impactor is set to the fourth preset impact force F4, and the impact frequency P of the impactor is set to the fourth preset impact frequency P4, that is, F=F4, P=P4; where F1<F2<F3<F4, P1<P2<P3<P4.

[0024] Preferably, determining the looseness of the binder based on the wave velocity signal includes:

[0025] The structural surface velocity coefficient of the bonding slag is determined based on the wave velocity signal.

[0026] The looseness of the binder is determined based on the surface velocity coefficient of the binder.

[0027] Preferably, the velocity coefficient of the structural surface is calculated according to the following formula:

[0028] ;

[0029] Among them, C V V is the structural surface velocity coefficient of the binder slag. f V is the velocity of the reflected wave. Z This refers to the direct wave velocity.

[0030] Preferably, determining the looseness of the binder based on the structural surface velocity coefficient of the binder includes:

[0031] A first preset structural surface velocity coefficient, a second preset structural surface velocity coefficient, and a third preset structural surface velocity coefficient are set, and the first preset structural surface velocity coefficient, the second preset structural surface velocity coefficient, and the third preset structural surface velocity coefficient increase sequentially;

[0032] According to the structural surface velocity coefficient C of the binder slag V The looseness L of the adhesive residue is set according to the relationship between the first preset structural surface velocity coefficient, the second preset structural surface velocity coefficient and the third preset structural surface velocity coefficient;

[0033] If the velocity coefficient of the structural surface C V If the velocity coefficient of the bonding slag is less than that of the first preset structural surface, then the looseness L of the bonding slag is set as the first preset looseness L1, i.e., L=L1;

[0034] If the velocity coefficient of the structural surface C V The velocity coefficient of the first preset structural surface is greater than or equal to the velocity coefficient of the structural surface, and the velocity coefficient C of the structural surface is greater than or equal to the velocity coefficient of the first preset structural surface. V If the velocity coefficient of the bonding slag is less than that of the second preset structural surface, then the looseness L of the bonding slag is set to the second preset looseness L2, i.e., L=L2;

[0035] If the velocity coefficient of the structural surface C V The velocity coefficient of the second preset structural surface is greater than or equal to the velocity coefficient of the structural surface, and the velocity coefficient C of the structural surface is greater than or equal to the velocity coefficient of the second preset structural surface. V If the velocity coefficient of the third preset structural surface is less than that of the third preset structural surface, then the looseness L of the adhesive residue is set as the third preset looseness L3, that is, L=L3;

[0036] If the velocity coefficient of the structural surface C VIf the velocity coefficient of the third preset structural surface is greater than or equal to that of the bonding slag, then the looseness L of the bonding slag is set as the fourth preset looseness L4, i.e., L=L4; where L1>L2>L3>L4.

[0037] Preferably, adjusting the impact force and impact frequency of the impactor based on the looseness of the adhesive residue to obtain the final impact force and final impact frequency includes:

[0038] Based on the thickness of the adhesive residue, the i-th preset impact force Fi is set as the impact force F of the impactor, and the i-th preset impact frequency Pi is set as the impact frequency P of the impactor, i = 1, 2, 3, 4;

[0039] Based on the looseness L of the adhesive residue, the impact force correction coefficient and impact frequency correction coefficient are selected to correct the impact force and impact frequency of the impactor, so as to obtain the final impact force and final impact frequency.

[0040] If the looseness L of the binder is the first preset looseness L1, then the first preset impact force correction coefficient m1 is selected to correct the impact force Fi, and the final impact force SP is Fi×m1. Then, the first preset frequency correction coefficient n1 is selected to correct the impact frequency Pi, and the final impact frequency is Pi×n1.

[0041] If the looseness L of the binder is the second preset looseness L2, then the second preset impact force correction coefficient m2 is selected to correct the impact force Fi, and the final impact force SP is Fi×m2. Then, the second preset frequency correction coefficient n2 is selected to correct the impact frequency Pi, and the final impact frequency is Pi×n2.

[0042] If the looseness L of the binder is the third preset looseness L3, then the third preset impact force correction coefficient m3 is selected to correct the impact force Fi, and the final impact force SP is Fi×m3. Then, the third preset frequency correction coefficient n3 is selected to correct the impact frequency Pi, and the final impact frequency is Pi×n3.

[0043] If the looseness L of the binder residue is the fourth preset looseness L4, then the fourth preset impact force correction coefficient m4 is selected to correct the impact force Fi, and the final impact force SP is Fi×m4. Then, the fourth preset frequency correction coefficient n4 is selected to correct the impact frequency Pi, and the final impact frequency is Pi×n4. Wherein, 0.8 < m1 < m2 < m3 < m4 < 1.2, 0.8 < n1 < n2 < n3 < n4 < 1.2.

[0044] Preferably, the method further includes: comparing the final impact force with an impact force threshold; if the final impact force is less than the impact force threshold, controlling the impactor to impact the rotary kiln wall with the final impact force; if the final impact force is greater than or equal to the impact force threshold, controlling the impactor to impact the rotary kiln wall with the impact force threshold.

[0045] The final impact frequency is compared with the impact frequency threshold. If the final impact frequency is less than the impact frequency threshold, the impactor is controlled to impact the rotary kiln wall at the final impact frequency. If the final impact frequency is greater than or equal to the impact frequency threshold, the impactor is controlled to impact the rotary kiln wall at the impact frequency threshold.

[0046] Preferably, the method further includes controlling the rotary kiln to start rotating when impacting the kiln wall.

[0047] This invention also discloses an apparatus for removing slag adhering to the kiln wall by impact with the kiln wall, used in applying the above-mentioned method for removing slag adhering to the kiln wall by impact with the kiln wall, the apparatus comprising:

[0048] Impactors, which are disposed on both sides of the rotary kiln wall;

[0049] Controller, the controller is used to control the impactor to impact the rotary kiln wall;

[0050] The controller includes:

[0051] The acquisition module is used to capture images of the rotary kiln wall.

[0052] The acquisition module is used to acquire the thickness of the slag and the wave velocity signal at the wall of the rotary kiln, the wave velocity signal including the direct wave velocity and the reflected wave velocity.

[0053] The processing module is used to analyze the captured image to determine whether there is adhesive slag on the wall of the rotary kiln. If adhesive slag is present, the module is controlled to acquire the thickness of the adhesive slag and the impact force and impact frequency of the impactor are determined based on the thickness of the adhesive slag.

[0054] The correction module is used to determine the looseness of the adhesive residue based on the wave velocity signal; and to adjust the impact force and impact frequency of the impactor based on the looseness of the adhesive residue to obtain the final impact force and final impact frequency.

[0055] The control module is used to control the impactor to impact the rotary kiln wall with the final impact force and final impact frequency, so as to remove the slag adhering to the kiln wall.

[0056] Compared with existing technologies, the advantages of this invention are that by analyzing the thickness and looseness of the slag adhering to the rotary kiln wall, the impact force and frequency of the impactor are determined, enabling rhythmic impact on the rotary kiln wall to generate vibration waves, which peels the slag off the kiln wall. This reduces labor and material costs, improves production efficiency, and reduces cleaning time. Furthermore, it eliminates the need for chemical agents, reducing environmental pollution. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0058] Figure 1 This is a schematic flowchart of a method for removing slag adhering to the kiln wall by impacting the kiln wall according to the present invention.

[0059] Figure 2 This is a schematic diagram of the structure of a method for peeling off slag adhering to the kiln wall by impacting the kiln wall according to the present invention.

[0060] Among them, 100 is the rotary kiln; and 200 is the impactor. Detailed Implementation

[0061] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] like Figure 1-Figure 2 As shown, this invention provides a method for peeling off slag adhering to the kiln wall by impact, applicable to rotary kilns. The method includes:

[0063] S1. Acquire images of the rotary kiln wall, analyze the images, and determine whether there is any adhering slag on the rotary kiln wall.

[0064] S2, if there is adhesive residue, then obtain the thickness of the adhesive residue.

[0065] S3, determine the impact force and impact frequency of the impactor based on the thickness of the adhesive residue.

[0066] S4, acquire the wave velocity signal at the wall of the rotary kiln, the wave velocity signal including the direct wave velocity and the reflected wave velocity.

[0067] S5, determine the looseness of the binder residue based on the wave velocity signal.

[0068] S6, adjust the impact force and impact frequency of the impactor according to the looseness of the adhesive residue to obtain the final impact force and final impact frequency.

[0069] S7, control the impactor to impact the rotary kiln wall with the final impact force and final impact frequency to achieve the peeling off of the slag adhering to the kiln wall.

[0070] Preferably, analyzing the captured image to determine whether there is adhesive slag on the rotary kiln wall includes: pre-setting a structural morphology diagram of adhesive slag; performing grayscale processing on the captured image to obtain a grayscale image; comparing the grayscale image with the structural morphology diagram to determine the similarity between the grayscale image and the structural morphology diagram; if the similarity is greater than the preset similarity, then it is determined that there is adhesive slag on the rotary kiln wall.

[0071] In this embodiment, the acquired images are analyzed using a preset morphological diagram of the slag structure to determine the presence of slag on the rotary kiln wall. Under this premise, the slag is removed by impact.

[0072] Preferably, determining the impact force and impact frequency of the impactor based on the thickness of the adhesive residue includes: setting a first preset thickness, a second preset thickness, and a third preset thickness, wherein the first preset thickness, the second preset thickness, and the third preset thickness increase sequentially; setting the impact force F and impact frequency P of the impactor based on the relationship between the thickness of the adhesive residue and the first preset thickness, the second preset thickness, and the third preset thickness; if the thickness of the adhesive residue is less than the first preset thickness, then the impact force F of the impactor is set to the first preset impact force F1, and the impact frequency P of the impactor is set to the first preset impact frequency P1, i.e., F=F1, P=P1; if the thickness of the adhesive residue is greater than or equal to the first preset thickness, and the thickness of the adhesive residue is less than the second preset thickness, then the impact force F ...1 is set to the first preset impact force F1, and the impact frequency P of the impactor is set to the first preset impact frequency P1, and the impact force F1 is set to the first preset impact force F1, and the impact frequency P1 is set to the first preset impact frequency P1, and the impact force F1 is set to the first preset impact force F1, and the impact frequency P1 is set to the first preset impact frequency P1, and the impact force F1 is set to the first preset impact force F1, and the impact frequency P1 is set to the first preset impact frequency P1, The impact force F of the impactor is set to the second preset impact force F2, and the impact frequency P of the impactor is set to the second preset impact frequency P2, i.e., F=F2, P=P2; if the thickness of the adhesive residue is greater than or equal to the second preset thickness, and the thickness of the adhesive residue is less than the third preset thickness, then the impact force F of the impactor is set to the third preset impact force F3, and the impact frequency P of the impactor is set to the third preset impact frequency P3, i.e., F=F3, P=P3; if the thickness of the adhesive residue is greater than or equal to the third preset thickness, then the impact force F of the impactor is set to the fourth preset impact force F4, and the impact frequency P of the impactor is set to the fourth preset impact frequency P4, i.e., F=F4, P=P4; where F1<F2<F3<F4, P1<P2<P3<P4.

[0073] In this embodiment, the thickness of the adhesive residue is positively correlated with the impact force and impact frequency of the impactor. The thicker the adhesive residue, the greater the force required to make it fall off. Therefore, by determining the range of the thickness of the adhesive residue, the corresponding impact force and impact frequency of the impactor can be determined.

[0074] Preferably, determining the looseness of the binder slag based on the wave velocity signal includes: determining the surface velocity coefficient of the binder slag based on the wave velocity signal; and determining the looseness of the binder slag based on the surface velocity coefficient of the binder slag.

[0075] Preferably, the velocity coefficient of the structural surface is calculated according to the following formula:

[0076] ;

[0077] Among them, C V V is the structural surface velocity coefficient of the binder slag. f V is the velocity of the reflected wave. Z This refers to the direct wave velocity.

[0078] In this embodiment, the wave velocity signal can be detected by a wave velocity detector or by radar.

[0079] Preferably, determining the looseness of the binder based on the structural surface velocity coefficient of the binder includes: setting a first preset structural surface velocity coefficient, a second preset structural surface velocity coefficient, and a third preset structural surface velocity coefficient, wherein the first preset structural surface velocity coefficient, the second preset structural surface velocity coefficient, and the third preset structural surface velocity coefficient increase sequentially; and determining the looseness of the binder based on the structural surface velocity coefficient C of the binder. V The looseness L of the binder is set according to the relationship between the first preset structural surface velocity coefficient, the second preset structural surface velocity coefficient, and the third preset structural surface velocity coefficient; if the structural surface velocity coefficient C V If the velocity coefficient of the structural surface is less than the first preset structural surface velocity coefficient, then the looseness L of the binder is set to the first preset looseness L1, i.e., L = L1; if the velocity coefficient of the structural surface C is less than the first preset structural surface velocity coefficient, then the looseness L of the binder is set to the first preset looseness L1, i.e., L = L1; V The velocity coefficient of the first preset structural surface is greater than or equal to the velocity coefficient of the structural surface, and the velocity coefficient C of the structural surface is greater than or equal to the velocity coefficient of the first preset structural surface. V If the velocity coefficient of the structural surface is less than the second preset structural surface velocity coefficient, then the looseness L of the binder is set to the second preset looseness L2, i.e., L = L2; if the velocity coefficient of the structural surface C is less than the second preset structural surface velocity coefficient, then the looseness L of the binder is set to the second preset looseness L2, i.e., L = L2; V The velocity coefficient of the second preset structural surface is greater than or equal to the velocity coefficient of the structural surface, and the velocity coefficient C of the structural surface is greater than or equal to the velocity coefficient of the second preset structural surface. V If the velocity coefficient of the structural surface is less than the third preset structural surface velocity coefficient, then the looseness L of the binder is set to the third preset looseness L3, i.e., L = L3; if the velocity coefficient of the structural surface C V If the velocity coefficient of the third preset structural surface is greater than or equal to that of the bonding slag, then the looseness L of the bonding slag is set as the fourth preset looseness L4, i.e., L=L4; where L1>L2>L3>L4.

[0080] In this embodiment, the looseness of the bonding residue is determined by determining the magnitude of the structural surface velocity coefficient. The structural surface velocity coefficient is negatively correlated with the looseness of the bonding residue. The smaller the structural surface velocity coefficient, the looser the bonding residue; the larger the structural surface velocity coefficient, the tighter the bonding residue.

[0081] Preferably, adjusting the impact force and impact frequency of the impactor according to the looseness of the adhesive residue to obtain the final impact force and final impact frequency includes: setting the i-th preset impact force Fi as the impact force F of the impactor based on the thickness of the adhesive residue, and setting the i-th preset impact frequency Pi as the impact frequency P of the impactor, i=1, 2, 3, 4; correcting the impact force and impact frequency of the impactor according to the looseness L of the adhesive residue by selecting an impact force correction coefficient and an impact frequency correction coefficient to obtain the final impact force and final impact frequency; if the looseness L of the adhesive residue is a first preset looseness L1, then the first preset impact force correction coefficient m1 is selected to correct the impact force Fi, obtaining the final impact force SP as Fi×m1, and the first preset frequency correction coefficient n1 is selected to correct the impact frequency Pi, obtaining the final impact frequency as Pi×n1; if the looseness L of the adhesive residue is a second preset looseness L2, then the second preset impact force correction coefficient m1 is selected to correct the impact force Fi, obtaining the final impact force SP as Fi×m1, and the first preset frequency correction coefficient n1 is selected to correct the impact frequency Pi, obtaining the final impact frequency as Pi×n1; if the looseness L of the adhesive residue is a second preset looseness L2, then the second preset impact force correction coefficient m1 is selected to correct the impact force SP as Fi×m1, obtaining the final impact frequency SP as Fi×m1, and the first preset frequency correction coefficient n1 is selected to correct the impact frequency Pi, obtaining the final impact frequency as Pi×n1. A positive coefficient m2 is used to correct the impact force Fi, resulting in a final impact force SP of Fi×m2. A second preset frequency correction coefficient n2 is then used to correct the impact frequency Pi, resulting in a final impact frequency of Pi×n2. If the looseness L of the binder slag is a third preset looseness L3, then a third preset impact force correction coefficient m3 is used to correct the impact force Fi, resulting in a final impact force SP of Fi×m3. Similarly, a third preset frequency correction coefficient n3 is used to correct the impact frequency Pi, resulting in a final impact frequency of Pi×n3. If the looseness L of the binder slag is a fourth preset looseness L4, then a fourth preset impact force correction coefficient m4 is used to correct the impact force Fi, resulting in a final impact force SP of Fi×m4. Finally, a fourth preset frequency correction coefficient n4 is used to correct the impact frequency Pi, resulting in a final impact frequency of Pi×n4. Wherein, 0.8 < m1 < m2 < m3 < m4 < 1.2, and 0.8 < n1 < n2 < n3 < n4 < 1.2.

[0082] In this embodiment, the impact force and impact frequency are corrected according to the looseness of the adhesive residue. When the adhesive residue is in a loose state, it does not require a large force to knock it off. Therefore, the looseness of the adhesive residue is related to the impact force and impact frequency, and the impact force and impact frequency can be corrected according to the looseness.

[0083] Preferably, the method further includes: comparing the final impact force with an impact force threshold; if the final impact force is less than the impact force threshold, controlling the impactor to impact the rotary kiln wall with the final impact force; if the final impact force is greater than or equal to the impact force threshold, controlling the impactor to impact the rotary kiln wall with the impact force threshold; comparing the final impact frequency with an impact frequency threshold; if the final impact frequency is less than the impact frequency threshold, controlling the impactor to impact the rotary kiln wall with the final impact frequency; if the final impact frequency is greater than or equal to the impact frequency threshold, controlling the impactor to impact the rotary kiln wall with the impact frequency threshold.

[0084] In this embodiment, the maximum impact force and maximum impact frequency that the rotary kiln wall can withstand are fixed. Therefore, the impact force threshold and impact frequency threshold are set according to the rotary kiln to ensure that the final impact force and impact frequency do not exceed the impact force threshold and impact frequency threshold, thereby avoiding damage to the rotary kiln.

[0085] Preferably, the method further includes controlling the rotary kiln to start rotating when impacting the kiln wall.

[0086] In this embodiment, when the rotary kiln is subjected to impact-type stripping of the bonded slag, the rotary kiln must also start rotating so that the impact point of the impactor falls evenly on the kiln wall.

[0087] This invention also discloses a device for removing slag adhering to the kiln wall by impact, used in applying the above-mentioned method for removing slag adhering to the kiln wall by impact, characterized in that the device comprises:

[0088] Impactor 200, which is disposed on both sides of the rotary kiln wall.

[0089] A controller is used to control the impactor to impact the rotary kiln wall.

[0090] The controller includes: a data acquisition module for acquiring images of the rotary kiln wall.

[0091] The acquisition module is used to acquire the thickness of the slag and the wave velocity signal at the wall of the rotary kiln, the wave velocity signal including the direct wave velocity and the reflected wave velocity.

[0092] The processing module is used to analyze the captured image to determine whether there is adhesive slag on the wall of the rotary kiln. If adhesive slag is present, the module is controlled to acquire the thickness of the adhesive slag, and the impact force and impact frequency of the impactor are determined based on the thickness of the adhesive slag.

[0093] The correction module is used to determine the looseness of the adhesive residue based on the wave velocity signal; and to adjust the impact force and impact frequency of the impactor based on the looseness of the adhesive residue to obtain the final impact force and final impact frequency.

[0094] The control module is used to control the impactor to impact the rotary kiln wall with the final impact force and final impact frequency, so as to remove the slag adhering to the kiln wall.

[0095] In this embodiment, several impactors 200 are provided and evenly placed on both sides of the rotary kiln 100. This device analyzes the thickness and looseness of the slag adhering to the kiln wall to determine the impact force and frequency of the impactors, thereby achieving rhythmic impact on the kiln wall to generate vibration waves, causing the slag adhering to the kiln wall to peel off, reducing labor and material costs, improving production efficiency, and reducing cleaning time.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

[0097] The system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiments can be merged into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the various modules or steps and are not considered as an improper limitation of the present invention.

[0098] Those skilled in the art will recognize that the modules and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. The programs corresponding to the software modules and method steps can be placed in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

Claims

1. A method for removing slag adhering to the kiln wall by impacting the kiln wall, applied to a rotary kiln, characterized in that, The method includes: Images of the rotary kiln wall are captured and analyzed to determine whether there is any adhering slag on the rotary kiln wall. If adhesive residue is present, the thickness of the adhesive residue is obtained; The impact force and impact frequency of the impactor are determined based on the thickness of the adhesive residue. Acquire the wave velocity signal at the wall of the rotary kiln, the wave velocity signal including the direct wave velocity and the reflected wave velocity; The looseness of the binder residue is determined based on the wave velocity signal; The impact force and impact frequency of the impactor are adjusted according to the looseness of the adhesive residue to obtain the final impact force and final impact frequency. The impactor is controlled to impact the rotary kiln wall with the final impact force and the final impact frequency to achieve the peeling off of the slag adhering to the kiln wall. Determining the looseness of the binder based on the wave velocity signal includes: The structural surface velocity coefficient of the bonding slag is determined based on the wave velocity signal. The looseness of the bonding residue is determined based on the surface velocity coefficient of the bonding residue. The velocity coefficient of the structural surface is calculated according to the following formula: ； Among them, C V V is the structural surface velocity coefficient of the binder slag. f V is the velocity of the reflected wave. Z The direct wave velocity; The looseness of the binder is determined based on the surface velocity coefficient of the binder, including: A first preset structural surface velocity coefficient, a second preset structural surface velocity coefficient, and a third preset structural surface velocity coefficient are set, and the first preset structural surface velocity coefficient, the second preset structural surface velocity coefficient, and the third preset structural surface velocity coefficient increase sequentially; According to the structural surface velocity coefficient C of the binder slag V The looseness L of the adhesive residue is set according to the relationship between the first preset structural surface velocity coefficient, the second preset structural surface velocity coefficient and the third preset structural surface velocity coefficient; If the velocity coefficient of the structural surface C V If the velocity coefficient of the bonding slag is less than that of the first preset structural surface, then the looseness L of the bonding slag is set as the first preset looseness L1, i.e., L=L1; If the velocity coefficient of the structural surface C V The velocity coefficient of the first preset structural surface is greater than or equal to the velocity coefficient of the structural surface, and the velocity coefficient C of the structural surface is greater than or equal to the velocity coefficient of the first preset structural surface. V If the velocity coefficient of the bonding slag is less than that of the second preset structural surface, then the looseness L of the bonding slag is set to the second preset looseness L2, i.e., L=L2; If the velocity coefficient of the structural surface C V The velocity coefficient of the second preset structural surface is greater than or equal to the velocity coefficient of the structural surface, and the velocity coefficient C of the structural surface is greater than or equal to the velocity coefficient of the second preset structural surface. V If the velocity coefficient of the third preset structural surface is less than that of the third preset structural surface, then the looseness L of the adhesive residue is set as the third preset looseness L3, that is, L=L3; If the velocity coefficient of the structural surface C V If the velocity coefficient of the third preset structural surface is greater than or equal to that of the bonding slag, then the looseness L of the bonding slag is set as the fourth preset looseness L4, i.e., L=L4; where L1>L2>L3>L4.

2. The method for peeling off slag adhering to the kiln wall by impacting the kiln wall according to claim 1, characterized in that, Analyzing the captured images to determine whether there is adhering slag on the wall of the rotary kiln includes: A pre-defined structural diagram of the binding residue; The captured image is converted to grayscale to obtain a grayscale image; The grayscale image is compared with the structural morphology image to determine the similarity between the grayscale image and the structural morphology image; If the similarity is greater than the preset similarity, it is determined that there is adhesive slag on the rotary kiln wall.

3. The method for peeling off slag adhering to the kiln wall by impacting the kiln wall according to claim 1, characterized in that, The impact force and impact frequency of the impactor are determined based on the thickness of the adhesive residue, including: A first preset thickness, a second preset thickness, and a third preset thickness are set, and the first preset thickness, the second preset thickness, and the third preset thickness increase sequentially; The impact force F and impact frequency P of the impactor are set according to the relationship between the thickness of the adhesive residue and the first preset thickness, the second preset thickness and the third preset thickness; If the thickness of the adhesive residue is less than the first preset thickness, then the impact force F of the impactor is set to the first preset impact force F1, and the impact frequency P of the impactor is set to the first preset impact frequency P1, that is, F=F1, P=P1. If the thickness of the adhesive residue is greater than or equal to the first preset thickness, and the thickness of the adhesive residue is less than the second preset thickness, then the impact force F of the impactor is set to the second preset impact force F2, and the impact frequency P of the impactor is set to the second preset impact frequency P2, that is, F=F2, P=P2. If the thickness of the adhesive residue is greater than or equal to the second preset thickness, and the thickness of the adhesive residue is less than the third preset thickness, then the impact force F of the impactor is set to the third preset impact force F3, and the impact frequency P of the impactor is set to the third preset impact frequency P3, that is, F=F3, P=P3. If the thickness of the adhesive residue is greater than or equal to the third preset thickness, then the impact force F of the impactor is set to the fourth preset impact force F4, and the impact frequency P of the impactor is set to the fourth preset impact frequency P4, that is, F=F4, P=P4; where F1<F2<F3<F4, P1<P2<P3<P4.

4. The method for peeling off slag adhering to the kiln wall by impacting the kiln wall according to claim 3, characterized in that, The impact force and impact frequency of the impactor are adjusted according to the looseness of the adhesive residue to obtain the final impact force and final impact frequency, including: Based on the thickness of the adhesive residue, the i-th preset impact force Fi is set as the impact force F of the impactor, and the i-th preset impact frequency Pi is set as the impact frequency P of the impactor, i = 1, 2, 3, 4; Based on the looseness L of the adhesive residue, the impact force correction coefficient and impact frequency correction coefficient are selected to correct the impact force and impact frequency of the impactor, so as to obtain the final impact force and final impact frequency. If the looseness L of the binder is the first preset looseness L1, then the first preset impact force correction coefficient m1 is selected to correct the impact force Fi, and the final impact force SP is Fi×m1. Then, the first preset frequency correction coefficient n1 is selected to correct the impact frequency Pi, and the final impact frequency is Pi×n1. If the looseness L of the binder is the second preset looseness L2, then the second preset impact force correction coefficient m2 is selected to correct the impact force Fi, and the final impact force SP is Fi×m2. Then, the second preset frequency correction coefficient n2 is selected to correct the impact frequency Pi, and the final impact frequency is Pi×n2. If the looseness L of the binder is the third preset looseness L3, then the third preset impact force correction coefficient m3 is selected to correct the impact force Fi, and the final impact force SP is Fi×m3. Then, the third preset frequency correction coefficient n3 is selected to correct the impact frequency Pi, and the final impact frequency is Pi×n3. If the looseness L of the binder residue is the fourth preset looseness L4, then the fourth preset impact force correction coefficient m4 is selected to correct the impact force Fi, and the final impact force SP is Fi×m4. Then, the fourth preset frequency correction coefficient n4 is selected to correct the impact frequency Pi, and the final impact frequency is Pi×n4. Wherein, 0.8 < m1 < m2 < m3 < m4 < 1.2, 0.8 < n1 < n2 < n3 < n4 < 1.

2.

5. The method for peeling off slag adhering to the kiln wall by impacting the kiln wall according to claim 1, characterized in that, The method further includes: The final impact force is compared with the impact force threshold. If the final impact force is less than the impact force threshold, the impactor is controlled to impact the rotary kiln wall with the final impact force. If the final impact force is greater than or equal to the impact force threshold, the impactor is controlled to impact the rotary kiln wall with the impact force threshold. The final impact frequency is compared with the impact frequency threshold. If the final impact frequency is less than the impact frequency threshold, the impactor is controlled to impact the rotary kiln wall at the final impact frequency. If the final impact frequency is greater than or equal to the impact frequency threshold, the impactor is controlled to impact the rotary kiln wall at the impact frequency threshold.

6. The method for peeling off slag adhering to the kiln wall by impacting the kiln wall according to claim 1, characterized in that, The method further includes controlling the rotary kiln to start rotating when impacting the kiln wall.

7. An apparatus for removing slag adhering to the kiln wall by impacting the kiln wall, used in applying the method for removing slag adhering to the kiln wall by impacting the kiln wall as described in any one of claims 1-6, characterized in that, The device includes: Impactors, which are disposed on both sides of the rotary kiln wall; Controller, the controller is used to control the impactor to impact the rotary kiln wall; The controller includes: The acquisition module is used to capture images of the rotary kiln wall. The acquisition module is used to acquire the thickness of the slag and the wave velocity signal at the wall of the rotary kiln, the wave velocity signal including the direct wave velocity and the reflected wave velocity. The processing module is used to analyze the captured image to determine whether there is adhesive slag on the wall of the rotary kiln. If adhesive slag is present, the module is controlled to acquire the thickness of the adhesive slag and the impact force and impact frequency of the impactor are determined based on the thickness of the adhesive slag. The correction module is used to determine the looseness of the adhesive residue based on the wave velocity signal; and to adjust the impact force and impact frequency of the impactor based on the looseness of the adhesive residue to obtain the final impact force and final impact frequency. The control module is used to control the impactor to impact the rotary kiln wall with the final impact force and final impact frequency, so as to remove the slag adhering to the kiln wall.

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