Quantitative detection method and system for inclination of coke tank

Abstract

The invention discloses a quantitative detection method and system for inclination of a coke pot, and the method comprises the steps: pre-determining a plane where the coke pot possibly inclines as a first plane, arranging a first laser range finder and a second laser range finder at the two sides of the coke pot in the first plane, and enabling the first laser range finder and the second laser range finder to be located at the same vertical height; the distance d between the first laser range finder and the second laser range finder is obtained in advance; under the condition that the coke tank is not inclined, the distance dA from the first laser range finder to the coke tank and the distance dB from the second laser range finder to the coke tank are obtained; in the inclination detection process of the coke tank, the distance dA1 from the first laser range finder to the coke tank and the distance dB1 from the second laser range finder to the coke tank are obtained; and calculating the inclination angle theta of the coke tank by using dA, dB, dA1, dB1 and d, wherein the calculation formula of the inclination angle theta is theta = arccos [(d-dA-dB) / (d-dA1-dB1)]. Whether the coke tank is inclined or not can be rapidly and accurately detected, and the inclination angle of the coke tank can be quantitatively determined.

Description

Technical Field

[0001] The present invention relates to the technical field of coke tank tilt detection, and in particular to a coke tank tilt quantitative detection method and system. Background Art

[0002] Metallurgical coking equipment includes the coke tank body and the coke tank with the bottom gate, the lifting crane, the coke tank platform and other main parts. The coke tank body is a container composed of steel plates, steel sections, and cast lining plates. The coke tank can be raised and lowered, and the bottom gate can be opened and closed. The red coke at a temperature of 1200°C is pushed into the coke tank by the coke pusher. Among them, the process of using the coke tank to transport dry coke is to lift the coke tank filled with red coke by the lifting crane and move it horizontally to the top of the dry quenching tank, and the red coke is loaded into the dry quenching tank by the loading device, and then the empty tank is lifted, moved, and lowered and seated on the coke tank platform. If the coke tank falls on the coke tank platform and is deflected, it may cause the high-temperature coke slag to pour out, or the empty coke tank may tip over, causing damage to the surrounding mechanical structure equipment, resulting in production accidents. Therefore, the deflection detection of the coke tank is of great significance and is one of the key technologies to ensure the safe production of the metallurgical coking process.

[0003] At present, there are two main reasons that cause the coke tank to tilt when it falls on the coke tank platform. One is that the bottom gate of the coke tank is not closed tightly, which may be caused by coke clamping, or by human error of the operator, or by problems in the bottom gate switch control system; the other is that coke sticks or gets stuck on the bottom gate of the coke tank, causing the coke tank to tilt when it falls on the coke tank platform. Regardless of which of the two reasons, it is usually manifested as the tilt of the tank body when the coke tank falls on / in the process of falling on the coke tank platform. Therefore, the tilt detection of the coke tank for CDQ, whether it is manual detection or detection by detection device, needs to be carried out during / after the coke tank falls on the coke tank platform.

[0004] There are usually two methods of manual inspection. When the coke drum falls on the coke drum platform, one method is for the crane operator or the production preparation worker to observe the two sides of the coke drum with the naked eye to confirm the alignment and observe whether the coke drum is tilted. This method is life-threatening for the crane operator. The other method is for the crane operator to confirm whether the coke drum is vertical by observing the video screen. However, both methods have the following problems: (1) They can only solve the relative alignment problem and cannot accurately verify and determine the vertical alignment angle of the coke drum; (2) Due to the presence of visual blind spots, the inspection personnel may need to confirm repeatedly, and even the inspection results may be uncertain.

[0005] The coke tank tilt detection method using a detection device to replace manual detection, such as the Chinese patent application with application number 201720058571X, proposes to install a proximity switch under the bottom plate of the coke tank car under the coke tank, and use the fact that when the coke tank tilts, one corner will rise and the other side will fall, thereby triggering the proximity switch below to achieve the tilt detection of the coke tank. This method is the same as the manual detection method, and it also needs to be performed during / after the coke tank falls on the coke tank platform.

[0006] However, there are at least the following shortcomings in detecting the inclination of the coke can during / after the coke can falls on the coke can platform: if the detection results show that the coke can is tilted, the coke can needs to be lifted to a certain height again, the cause of the tilt needs to be investigated and the tilt problem needs to be solved, and then the coke can needs to be lowered again. Such repeated correction process will prolong the process time, affect product quality, and reduce production efficiency.

[0007] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of the present application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of the present application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0008] The object of the present invention is to provide a method and system for quantitatively detecting the tilt of a coke can, which can detect whether a coke can will tilt before the coke can falls on the coke can platform, thereby improving the efficiency of the coke can tilt detection and processing process and improving production efficiency.

[0009] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0010] A method for quantitatively detecting the tilt of a coke tank comprises the following steps:

[0011] One or more markers are arranged on the surface of the bottom gate of the coke tank, and a first image acquisition device is arranged at a first position, wherein the first image acquisition device is configured to acquire an image of the bottom gate including each marker;

[0012] Pre-acquiring a first reference coordinate set including coordinate information of each marker, including: determining that the bottom gate is in a closed state, and when the coke tank is at a first height, using the first image acquisition device to acquire an image of the bottom gate including the marker, and using the image as a first reference image, identifying each marker in the first reference image, and determining the coordinates of each marker as a first reference coordinate set;

[0013] During the coke tank tilt detection process, when the coke tank moves to the first height, the first image acquisition device is used to acquire a bottom gate image including the marker and use it as a first measured image; each of the markers in the first measured image is identified, and the coordinates of each of the markers are determined and used as a first measured coordinate set;

[0014] The error between the first measured coordinate set and the first reference coordinate set is calculated and determined as a first error. The first error is obtained by operating the distance between part or all of the coordinates in the first measured coordinate set and the corresponding coordinates in the first reference coordinate set. If the first error is greater than a preset first threshold, it is predicted that the coke tank is tilted.

[0015] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, if the first error is not greater than a preset first threshold, the following steps are also included:

[0016] A second image acquisition device is arranged at a second position, wherein the second image acquisition device is a depth camera;

[0017] Acquiring the reference depth information of the bottom gate of the coke tank in advance, including: determining that the surface of the bottom gate is in a state of being free of coke slag, when the coke tank is at a second height, the second height is lower than the first height, using the second image acquisition device to acquire a depth image of the bottom gate as a reference depth image, extracting depth information of each position of the depth image, and using the depth information as the reference depth information;

[0018] During the coke tank tilt detection process, when the coke tank moves to the second height, the second image acquisition device is used to acquire a bottom gate depth image and use it as a measured depth image;

[0019] Performing image processing on the measured depth image, extracting depth information of each position of the depth image, and using the depth information as the measured depth information;

[0020] The sticky coke slag area is determined according to the measured depth information and the reference depth information. If there is a single connected sticky coke slag area whose area is greater than a preset area threshold and the height of the sticky coke slag area is greater than a preset height threshold, it is predicted that the coke tank is tilted.

[0021] Furthermore, any one of the above-mentioned technical solutions or a combination of multiple technical solutions further includes the following steps:

[0022] A plane where the coke tank may tilt is predetermined as a first plane, and a first laser rangefinder and a second laser rangefinder are arranged on the left and right sides of the coke tank in the first plane, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height;

[0023] Pre-acquire the distance d between the first laser rangefinder and the second laser rangefinder;

[0024] When the coke tank is not tilted, obtaining the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank respectively;

[0025] During the coke tank tilt detection process, when the coke tank moves to a third height, the third height is lower than the second height, and the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank are obtained respectively;

[0026] The inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1 and d. The calculation formula of the inclination angle θ is:

[0027] θ=arccos[(d-dA-dB) / (d-dA1-dB1)].

[0028] Furthermore, any one of the above-mentioned technical solutions or a combination of multiple technical solutions further includes the following steps:

[0029] A plane where the coke tank may tilt is predetermined as a first plane, and a first laser rangefinder and a second laser rangefinder are arranged on the left and right sides of the coke tank in the first plane, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height;

[0030] Obtaining in advance the outer diameter 2R of the coke tank;

[0031] When the coke tank is not tilted, obtaining the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank respectively;

[0032] During the coke tank tilt detection process, when the coke tank moves to a third height, the third height is lower than the second height, and the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank are obtained respectively;

[0033] The inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1 and 2R. The calculation formula of the inclination angle θ is:

[0034] θ=arccos[2R / (dA+dB+2R-dA1-dB1)].

[0035] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the sticky coke slag area is determined according to the measured depth information and the reference depth information, and the area and height of a single connected sticky coke slag area are determined in the following manner:

[0036] Calculate the difference between the measured depth information and the reference depth information of the corresponding coordinate positions in the measured depth image and the reference depth image, and if the difference is greater than a preset second threshold, determine the coordinates corresponding to the difference as a salient point, and determine the salient points connected to each other as a connected sticky coke slag area;

[0037] For each connected sticky slag area, the area of ​​the connected sticky slag area is determined according to the coordinates of each protruding point contained therein, and the maximum difference between the measured depth information and the reference depth information of the connected sticky slag area is determined as the height of the sticky slag area.

[0038] Further, based on any one of the technical solutions or a combination of multiple technical solutions described above, the first error is obtained by averaging, median, variance, summing, or mean square error the distances between some or all of the coordinates in the first measured coordinate set and the corresponding coordinates in the first reference coordinate set.

[0039] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the first error is calculated in the following manner:

[0040] The first reference coordinate set is {(X i , Y i ), 1≤i≤N}, the first measured coordinate set is {(x i ,y i ), 1≤i≤N}, where (X i , Y i ) is the coordinate of the i-th marker in the first reference image, (x i ,y i ) is the coordinate of the ith marker in the first measured image, and N is the total number of the markers;

[0041] The calculation formula of the first error σ1 is:

[0042] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the coordinates of the marker are a set of pixel coordinates corresponding to all points in the area where the marker is located; or,

[0043] The coordinates of the marker are the average of the pixel coordinates corresponding to all points in the area where the marker is located; or,

[0044] The marker has a certain shape and size, and the coordinates of the marker are the coordinates of the center of the geometric shape imaged by the marker.

[0045] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the first image acquisition device and the second image acquisition device are respectively arranged in a cooling and dustproof device, and the cooling and dustproof device includes a dustproof cover and a cooling hood;

[0046] The cooling cover is a cylindrical structure with two ends open, which is sleeved on the outside of the image acquisition device. A plurality of condensing tubes are arranged around the inner wall of the cooling cover, and a circulating condensing liquid is arranged in the condensing tubes.

[0047] The dust cover is configured to cover the upper end opening of the cooling shroud and to be moved away from the upper end opening of the cooling shroud.

[0048] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, it also includes a purging device arranged in a one-to-one correspondence with the first image acquisition device and the second image acquisition device, and the purging device is configured to perform a purging operation on the lens of the first image acquisition device / the second image acquisition device.

[0049] According to another aspect of the present invention, a coke tank tilt quantitative detection system is provided, comprising a processor, a first image acquisition device, and one or more markers arranged on a bottom gate of the coke tank, wherein the coke tank tilt quantitative detection system predicts whether the coke tank is tilted in the following manner:

[0050] Pre-acquiring a first reference coordinate set including coordinate information of each marker, including: determining that the bottom gate is in a closed state, and when the coke tank is at a first height, using the first image acquisition device to acquire an image of the bottom gate including the marker, and using the image as a first reference image, identifying each marker in the first reference image, and determining the coordinates of each marker as a first reference coordinate set;

[0051] During the coke tank tilt detection process, when the coke tank moves to the first height, the first image acquisition device is used to acquire a bottom gate image including the marker and use it as a first measured image; each of the markers in the first measured image is identified, and the coordinates of each of the markers are determined and used as a first measured coordinate set;

[0052] The error between the first measured coordinate set and the first reference coordinate set is calculated and determined as a first error. The first error is obtained by operating the distance between part or all of the coordinates in the first measured coordinate set and the corresponding coordinates in the first reference coordinate set. If the first error is greater than a preset first threshold, it is predicted that the coke tank is tilted.

[0053] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, it also includes a second image acquisition device, which is a depth camera. If the first error is not greater than a preset first threshold, the coke tank tilt quantitative detection system is further configured to predict whether the coke tank is tilted in the following manner:

[0054] Acquiring the reference depth information of the bottom gate of the coke tank in advance, including: determining that the surface of the bottom gate is in a state of being free of coke slag, when the coke tank is at a second height, the second height is lower than the first height, using the second image acquisition device to acquire a depth image of the bottom gate as a reference depth image, extracting depth information of each position of the depth image, and using the depth information as the reference depth information;

[0055] During the coke tank tilt detection process, when the coke tank moves to the second height, the second image acquisition device is used to acquire a bottom gate image and use it as a measured depth image;

[0056] The processor receives the measured depth image, performs image processing on the measured depth image, extracts depth information of each position of the depth image, and uses the depth information as the measured depth information;

[0057] The processor is also configured to determine a sticky coke slag area based on the measured depth information and the reference depth information, and predict that the coke tank is tilted if there is a single connected sticky coke slag area whose area is greater than a preset area threshold and the height of the sticky coke slag area is greater than a preset height threshold.

[0058] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, it also includes setting a first laser rangefinder and a second laser rangefinder in the plane where the coke tank may be tilted, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height;

[0059] Pre-acquire the distance d between the first laser rangefinder and the second laser rangefinder;

[0060] When the coke tank is not tilted, obtaining the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank respectively;

[0061] During the coke tank tilt detection process, when the coke tank moves to a third height, the third height is lower than the second height, and the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank are obtained respectively;

[0062] The inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1 and d. The calculation formula of the inclination angle θ is:

[0063] θ=arccos[(d-dA-dB) / (d-dA1-dB1)].

[0064] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, it also includes setting a first laser rangefinder and a second laser rangefinder in the plane where the coke tank may be tilted, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height;

[0065] Obtaining in advance the outer diameter 2R of the coke tank;

[0066] When the coke tank is not tilted, obtaining the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank respectively;

[0067] During the coke tank tilt detection process, when the coke tank moves to a third height, the third height is lower than the second height, and the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank are obtained respectively;

[0068] The inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1 and 2R. The calculation formula of the inclination angle θ is:

[0069] θ=arccos[2R / (dA+dB+2R-dA1-dB1)].

[0070] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, it also includes a cooling and dustproof device, the first image acquisition device and the second image acquisition device are respectively arranged in the cooling and dustproof device, and the cooling and dustproof device includes a dustproof cover and a cooling hood;

[0071] The cooling cover is a cylindrical structure with two ends open, which is sleeved on the outside of the camera. A plurality of condensing tubes are arranged around the inner wall of the cooling cover, and a circulating condensing liquid is arranged in the condensing tubes.

[0072] The dust cover is configured to cover the upper end opening of the cooling shroud and to be moved away from the upper end opening of the cooling shroud.

[0073] The beneficial effects brought by the technical solution provided by the present invention are as follows:

[0074] a. The present invention utilizes the difference in coordinate information of the markers in the image collected when the bottom gate of the coke tank is in a fully closed state and a fully closed state. By calculating the first error, it can be predicted whether the coke tank will tilt due to the unclosed bottom gate before the coke tank falls on the coke tank platform, so as to stop the lifting of the coke tank in time and deal with the problem of the coke tank tilting, avoid the problem of the coke tank tilting being found on the coke tank platform and lift it again to deal with the problem, and can improve the coke tank tilting detection efficiency and production efficiency;

[0075] b. The present invention collects depth image information of the bottom gate and the image of the bottom gate in a non-sticky coke slag state by using a depth camera during the coke tank lifting process for comparison and analysis. If there is a single connected sticky coke slag area whose area is greater than a preset area threshold and the height of the sticky coke slag area is greater than a preset height threshold, it is judged that the bottom gate is stuck with coke slag, and the coke tank is predicted to be tilted, so as to stop the lifting of the coke tank in time and deal with the problem of the coke tank tilting, avoid the problem of the coke tank tilting being found on the coke tank platform and then lift it again to deal with the problem of the coke tank tilting, and can improve the coke tank tilting detection efficiency and production efficiency;

[0076] c. The present invention arranges a first laser rangefinder and a second laser rangefinder on both sides of the coke tank in a plane where the coke tank may be tilted, and measures in advance the distances from the two laser rangefinders to the tank body when the coke tank is not tilted, and the actual measured distances from the two laser rangefinders to the coke tank during the actual detection process, so as to determine the tilt angle of the coke tank quickly, quantitatively and with high precision;

[0077] d. The present invention arranges the first image acquisition device and the second image acquisition device in a cooling and dustproof device, thereby ensuring that the temperature of the first image acquisition device and the second image acquisition device meets the requirements of their working temperatures, and ensuring the cleanliness of the lenses of the image acquisition devices, thereby ensuring the reliability of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0079] Figure 1 A flow chart of a method for quantitatively detecting the tilt of a coke tank provided for an exemplary embodiment of the present invention;

[0080] Figure 2 A schematic structural diagram of a coke drum provided for an exemplary embodiment of the present invention;

[0081] Figure 3 A schematic structural diagram of a first cooling and dust-proof device provided for an exemplary embodiment of the present invention;

[0082] Figure 4 A schematic structural diagram of a second cooling and dust-proof device provided as an exemplary embodiment of the present invention;

[0083] Figure 5 A schematic diagram of a coke tank in a non-tilted state in a first plane provided for an exemplary embodiment of the present invention;

[0084] Figure 6 A schematic diagram of a coke tank in a tilted state in a first plane provided for an exemplary embodiment of the present invention.

[0085] Among them, the figure marks include: 1-coke tank, 11-bottom gate, 12-tank body, 21-first marker, 22-second marker, 23-third marker, 24-and fourth marker, 25-first image acquisition device, 31-first laser rangefinder, 32-second laser, 41-dust cover, 42-cooling cover, 43-condenser. DETAILED DESCRIPTION

[0086] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0087] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0088] In one embodiment of the present invention, a method for quantitatively detecting the tilt of a coke tank is provided. Figures 1 to 3 , the method comprises the following steps:

[0089] One or more markers are arranged on the surface of the bottom gate of the coke tank, and a first image acquisition device is arranged at a first position, wherein the first image acquisition device is configured to acquire an image of the bottom gate including each marker; preferably, the marker is a high-gloss paint coated on the lower surface of the bottom gate or a bright metal sheet arranged on the lower surface of the bottom gate;

[0090] Pre-acquiring a first reference coordinate set including coordinate information of each marker, including: determining that the bottom gate is in a closed state, and when the coke tank is at a first height, using the first image acquisition device to acquire an image of the bottom gate including the marker, and using the image as a first reference image, identifying each marker in the first reference image, and determining the coordinates of each marker as a first reference coordinate set;

[0091] During the coke tank tilt detection process, when the coke tank moves to the first height, the first image acquisition device is used to acquire a bottom gate image including the markers, and the image is used as a first measured image; each of the markers in the first measured image is identified, and the coordinates of each of the markers are determined and used as a first measured coordinate set. Preferably, the coordinate sorting rule of each marker in the first measured coordinate set is the same as the coordinate sorting rule of each marker in the first reference coordinate set, or each marker is marked so that the coordinates of each marker in the first measured coordinate set can correspond to the coordinates of each marker in the first reference coordinate set one by one;

[0092] The error between the first measured coordinate set and the first reference coordinate set is calculated and determined as a first error. The first error is obtained by operating the distance between part or all of the coordinates in the first measured coordinate set and the corresponding coordinates in the first reference coordinate set. If the first error is greater than a preset first threshold, it is predicted that the coke tank is tilted.

[0093] There are multiple ways to calculate the first error, and the first error can be obtained by averaging, median, variance, summing, or mean square error the distances between some or all of the coordinates in the first measured coordinate set and the corresponding coordinates in the first reference coordinate set. The coordinates of the marker are the set of pixel coordinates corresponding to all points in the area where the marker is located; or, the coordinates of the marker are the mean of the pixel coordinates corresponding to all points in the area where the marker is located; or, the marker has a certain shape and size, and the coordinates of the marker are the coordinates of the center of the geometric shape of the marker imaging.

[0094] In one embodiment of the present invention, the marker is preferably a geometric shape such as a circle or a regular polygon, and the center coordinates of the geometric shape imaging are determined as the coordinates of the marker, that is, in this embodiment, each marker corresponds to a coordinate. In this embodiment, the first error is calculated in the following manner:

[0095] The first reference coordinate set is {(X i , Y i ), 1≤i≤N}, the first measured coordinate set is {(x i ,y i), 1≤i≤N}, where (X i , Y i ) is the coordinate of the i-th marker in the first reference image, (x i ,y i ) is the coordinate of the ith marker in the first measured image, and N is the total number of the markers;

[0096] The calculation formula of the first error σ1 is:

[0097] by Figure 2 As shown in the figure, four markers are arranged on the surface of the bottom gate 11, namely, the first marker 21, the second marker 22, the third marker 23 and the fourth marker 24. Preferably, the distance from each marker to the center of the bottom gate 11 is not less than 1 / 3 of the radius of the bottom gate 11, that is, the multiple markers are dispersed outwardly on the bottom gate 11 as much as possible, which can better reflect the non-horizontal / inclined characteristics of the bottom gate when it is not closed.

[0098] The coordinates of the first marker 21, the second marker 22, the third marker 23 and the fourth marker 24 in the first measured image obtained in advance when the bottom gate is completely closed are (X1, Y1), (X2, Y2), (X3, Y3) and (X4, Y4), and the first reference coordinate set is {(X i , Y i ), 1≤i≤4}.

[0099] In the actual detection process, each time when the coke tank is at the first height, the first measured image is acquired and the coordinates of each marker in the first measured image are extracted by using image recognition technology, and the coordinates correspond to (x1, y1), (x2, y2), (x3, y3) and (x4, y4). Then, the first error σ1 is determined to be

[0100] In other embodiments, the mean square error between the first measured coordinates and the first reference coordinates corresponding to each marker can be calculated as the first error; or the maximum absolute value of the error between the first measured coordinates and the first reference coordinates corresponding to each marker can be used as the first error.

[0101] The first threshold is determined according to the detection accuracy requirement, and the higher the detection accuracy requirement, the smaller the first threshold. In one embodiment of the present invention, the first threshold can also be calculated in the following way: when the bottom gate is completely closed, the coordinates of each marker are detected and extracted multiple times, and the upper limit value of the error of the coordinates of each marker corresponding to the multiple detection results is determined by the same method as the calculation method of the first error as the first threshold.

[0102] In view of the deficiencies of the prior art, the quantitative detection method for the tilt of the coke tank provided by the present invention utilizes the difference in the coordinate information of the markers in the image collected when the bottom gate of the coke tank is in a non-fully closed state and in a fully closed state, and can predict whether the coke tank will tilt due to the unclosed bottom gate before the coke tank falls on the coke tank platform, so as to stop the lifting of the coke tank in time and deal with the problem of the tilt of the coke tank, avoid the problem of the tilt of the coke tank being found on the coke tank platform and then raise it again to deal with the problem of the tilt of the coke tank, and can improve the detection efficiency and production efficiency of the tilt of the coke tank. Since the coke tank usually shows its tilt only when it lands on the coke tank platform, it is difficult for those skilled in the art to predict in advance whether it will tilt when it lands on the coke tank platform during the lifting process of the package tank.

[0103] In one embodiment of the present invention, if the first error is not greater than a preset first threshold, whether the coke tank is tilted is further predicted in the following manner:

[0104] A second image acquisition device is arranged at a second position, the second image acquisition device is a depth camera, the second position and the first position may be the same or different, for example, the first image acquisition device and the first image acquisition device use the same camera that can acquire both RGB images and depth images, then the two positions are the same, if the first image acquisition device and the first image acquisition device are two different cameras, then the two positions are preferably different;

[0105] Acquiring the reference depth information of the bottom gate of the coke tank in advance, including: determining that the surface of the bottom gate is in a state of being free of coke slag, when the coke tank is at a second height, the second height is lower than the first height, using the second image acquisition device to acquire a depth image of the bottom gate as a reference depth image, extracting depth information of each position of the depth image, and using the depth information as the reference depth information;

[0106] During the coke tank tilt detection process, when the coke tank moves to the second height, the second image acquisition device is used to acquire a bottom gate depth image and use it as a measured depth image;

[0107] Performing image processing on the measured depth image, extracting depth information of each position of the depth image, and using the depth information as the measured depth information;

[0108] The sticky coke slag area is determined according to the measured depth information and the reference depth information. If there is a single connected sticky coke slag area whose area is greater than a preset area threshold and the height of the sticky coke slag area is greater than a preset height threshold, it is predicted that the coke tank is tilted.

[0109] In one embodiment of the present invention, the area and height of a single connected sticky coke slag region may be determined by:

[0110] Calculate the difference between the measured depth information and the reference depth information of the corresponding coordinate positions in the measured depth image and the reference depth image. If the difference is greater than a preset second threshold, the higher the detection accuracy requirement, the smaller the second threshold, then determine the coordinates corresponding to the difference as a salient point, and determine the salient points that are connected to each other as a connected sticky coke slag area;

[0111] For each connected sticky slag area, the area of ​​the connected sticky slag area is determined according to the coordinates of each protruding point contained therein, and the maximum difference between the measured depth information and the reference depth information of the connected sticky slag area is determined as the height of the sticky slag area.

[0112] The quantitative detection method for the inclination of the coke drum described in the present embodiment is to use a depth camera to determine whether there is coke slag on the surface of the bottom gate of the coke drum before the coke drum falls on the coke drum platform, that is, during the lifting process of the coke drum. If it is determined that there is coke slag, it can be predicted that when the coke drum falls on the coke drum platform, the coke slag at the bottom will cause the coke drum to tilt, so as to stop the lifting of the coke drum in time and deal with the problem of the coke drum tilting, so as to avoid the problem of the coke drum tilting being found on the coke drum platform and then being dealt with again, thereby improving the efficiency of coke drum tilt detection and production efficiency.

[0113] In order to improve the accuracy of prejudgment, the present application makes a judgment by double marking that the area of ​​a single connected sticky coke slag area is greater than a preset area threshold and the height of the sticky coke slag area is greater than a preset height threshold, which can reduce the probability of misjudgment caused by factors such as signal noise and system errors. The area threshold and the height threshold are determined according to the detection accuracy requirements. The higher the detection accuracy requirements, the smaller the area threshold and the height threshold.

[0114] The first image acquisition device and the second image acquisition device in the above embodiments are both arranged below the coke tank, and the first image acquisition device and the second image acquisition device shoot upwards the bottom gate of the coke tank. Due to the large dust and high temperature in the detection environment, in order to ensure that the first image acquisition device and the second image acquisition device can accurately and reliably acquire images. In one embodiment of the present application, the first image acquisition device and the second image acquisition device are respectively arranged in a cooling and dustproof device.

[0115] See also Figure 3 and Figure 4 The cooling and dustproof device includes a dust cover 41, a cooling cover 42 and a blowing device. The cooling cover 42 is a cylindrical structure with two ends open and is sleeved on the outside of the first image acquisition device 25 (camera). A specific structure of the cooling cover 42 is as follows Figure 4As shown, a plurality of condensation tubes 43 are arranged around the inner wall, and a circulating condensate is arranged in the condensation tubes 43. Another specific structure of the cooling cover 42 is as follows Figure 5 As shown, the side wall is a hollow structure, and the back of the hollow structure is provided with a ring-shaped condenser 43. The cooling cover without a condenser can ensure that the temperature around the first image acquisition device and the second image acquisition device meets the working temperature requirements of the image acquisition device.

[0116] Since the coke drum production environment is dusty, the dust cover 41 is set to cover the upper opening of the cooling hood 42. Before each image acquisition device acquires an image, the driving mechanism is controlled to drive the dust cover 41 to move away from the upper opening of the cooling hood 42; after the image is acquired, the dust cover 41 is controlled to cover the image acquisition device again. The dust cover 41 can be moved away from the upper opening of the cooling hood 42 by translation or by flipping. The blowing device can specifically be an air gun. Each time the dust cover 41 is removed from the upper opening of the cooling hood 42, the blowing device is used to blow the lens of the image acquisition device to remove dust from the surface of the lens.

[0117] In one embodiment of the present invention, a method for quantitatively detecting the tilt of a coke tank is provided, which can quantitatively, quickly and accurately measure the tilt angle of the coke tank. Figure 5 and Figure 6 The method for quantitatively detecting the tilt of the coke tank also includes the following steps.

[0118] The plane where the coke tank 1 may tilt is predetermined as the first plane. In actual applications, since the coke tank is limited by other mechanisms, it usually only tilts left and right or front and back, and will not tilt arbitrarily in the 360° direction around the axis of the coke tank. For example, the two sides of the tank body 12 of the coke tank 1 are limited by the lifting mechanism, and then it will only tilt in the front and back direction. Therefore, according to the specific limiting method of the coke tank, the plane where the coke tank may tilt can be predetermined as the first plane, and it is only necessary to perform tilt detection on the coke tank in the first plane and determine the tilt angle.

[0119] A first laser rangefinder 31 and a second laser rangefinder 32 are arranged on the left and right sides of the coke tank in the first plane, and the first laser rangefinder 31 and the second laser rangefinder 32 are located at the same vertical height.

[0120] The distance d between the first laser rangefinder 31 and the second laser rangefinder 32 is acquired in advance.

[0121] When the coke tank 1 is not tilted, the distances dA and dB from the first laser rangefinder 31 and the second laser rangefinder 32 to the coke tank are obtained respectively. dA and dB can be obtained only once, or can be obtained and updated regularly, for example, every day, every week, or every month.

[0122] During the coke tank tilt detection process, when the coke tank moves to a third height, the third height is lower than the second height, and the distances dA1 and dB1 from the first laser rangefinder 31 and the second laser rangefinder 32 to the coke tank are obtained respectively. Preferably, when the can is moved to the third height, the bottom of the can is in contact with the can platform.

[0123] The inclination angle θ of the coke tank 1 is calculated using dA, dB, dA1, dB1 and d, as follows: Figure 6 As shown, the following relationship is satisfied: cosθ=PN / MN=(d-dA-dB) / (d-dA1-dB1). Therefore, the calculation formula of the inclination angle θ of the coke tank is:

[0124] θ=arccos[(d-dA-dB) / (d-dA1-dB1)].

[0125] The advantages of the coke drum inclination angle detection method provided in this embodiment are high calculation accuracy, no need to obtain parameters such as the diameter and wall thickness of the coke drum, and as the coke drum is used for a long time, dust or other substances may adhere to the outside of the drum body of the coke drum. By updating the dA and dB values, even if the diameter of the coke drum changes due to wear, dust falling and other factors, or foreign matter is attached to the outside of the coke drum, it will not affect the detection accuracy of the inclination angle of the coke drum, thereby ensuring that a reliable inclination angle value of the coke drum is obtained.

[0126] In one embodiment of the present invention, a method for quantitatively detecting the inclination of a coke tank is provided, which is capable of quantitatively determining the inclination angle of the coke tank. Different from the above-mentioned embodiment, in this embodiment, it is not necessary to pre-acquire the distance d between the first laser rangefinder and the second laser rangefinder, but it is necessary to pre-acquire the outer diameter 2R of the coke tank.

[0127] In this embodiment, the inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1 and 2R. The calculation formula of the inclination angle θ is:

[0128] θ=arccos[2R / (dA+dB+2R-dA1-dB1)].

[0129] There are many technical solutions that use laser rangefinders to detect the distance of an object and then convert it into the object's inclination angle. For example, the Chinese patent application with application number 2011200271039 proposes to set a laser sensor at the upper and lower ends of one side of the detected object, and use the distances L1 and L2 from the two sensors to the object and the distance L12 between the two objects to calculate the object's inclination angle as arctan[(L1-L2) / L12]. Although this method can also detect the object's inclination angle, when the object's inclination angle is small, L1-L2 is a very small difference, which may be in the centimeter level or even the millimeter level; and the length of L12 is usually in the decimeter level or even the meter level. Since the order of magnitude of L1-L2 is much smaller than the order of magnitude of L12, the measurement error is relatively large. In addition, if there is foreign matter attached to the detection position on the surface of the object, the measurement result will be very unreliable.

[0130] The tilt angle of the coke tank that may tilt in this application is usually a small value. Regardless of which of the above embodiments of the coke tank tilt quantitative detection method for quantitatively determining the coke tank tilt angle is used, since d-dA-dB and d-dA1-dB1 are of the same order of magnitude, 2R and dA+dB+2R-dA1-dB1 are also not of the same order of magnitude, the measurement error of the coke tank tilt angle proposed in this application is small, and a more reliable and accurate value of the coke tank tilt angle can be obtained. In addition, the calculation method of the coke tank tilt angle provided in this embodiment has another advantage that the calculation method is independent of the wall thickness of the coke tank, so the calculated value of the tilt angle is more reliable.

[0131] It should be noted that the coke drum inclination angle measurement method provided in the above two embodiments is a universal inclination angle detection method, which is not only applicable to the inclination angle detection when the coke drum moves to the third height, but also to other heights, and is not only applicable to the inclination angle detection of the coke drum, but also to the inclination angle detection of other objects tilted within a plane.

[0132] In order to improve the detection accuracy, in one embodiment of the present invention, an optical element is provided for use in conjunction with the laser rangefinder, which is used for calibration detection of deflection and warning alarm. The laser rangefinder includes a laser and a detector, wherein the laser has a stable output power and an appropriate wavelength. The optical element includes a lens and a reflector, which are used to control the direction and focus of the laser beam and calibrate the system using a standard sample. By adjusting the position of the optical element and the detector, ensure that the laser beam is irradiated vertically to the surface of the coke tank, and enable the detector to accurately receive the reflected laser signal. Select a calibration plate or standard sample with a known deflection angle or deflection amount. The detector is used to receive the signal reflected by the laser beam.

[0133] The calibration plate is usually a flat surface with known geometry and dimensions that can be used to simulate the deflection of the coke tank. By adjusting the position of the laser, lens and reflector, the laser beam is irradiated perpendicular to the surface of the calibration plate, and the detector can accurately receive the reflected laser signal. Using the known deflection angle or deflection amount on the calibration plate, the parameters of the laser line detection system are adjusted so that it can accurately measure the deflection of the coke tank. This can include adjusting the sensitivity of the detector, calibrating the output power of the laser, etc.

[0134] Place the coke tank in an appropriate position so that it is perpendicular to the laser beam. Start the laser so that the laser beam hits the surface of the coke tank. The detector receives the reflected laser signal and converts it into an electrical signal. Ensure that the laser, lens, reflector, and detector are working properly, and calibrate the system to ensure accurate measurement. Place the coke tank to be measured in an appropriate position so that it is parallel to the laser beam. Ensure that the surface of the coke tank is clean and free of debris and dirt, start the laser so that the laser beam hits the surface of the coke tank. The laser beam will be reflected back by the surface of the coke tank and received by the detector. The detector receives the reflected laser signal and converts it into an electrical signal. The intensity and characteristics of the signal will be recorded. By analyzing the signal received by the detector, the deflection angle or deflection amount of the coke tank is calculated. Computer software can be used for data processing and analysis to obtain accurate measurement results.

[0135] By analyzing the signal received by the detector, the deflection angle or deflection amount of the coke can is calculated. Computer software can be used for data processing and analysis to obtain accurate measurement results.

[0136] Based on the measurement results, a report is generated describing the deflection of the coke can and providing necessary suggestions or measures to correct the deflection problem. First, the signal received from the detector is processed, including removing noise, filtering and amplifying the signal. This can be achieved by using signal processing algorithms and filters.

[0137] Feature extraction: Extract features related to the coke can deflection from the processed signal. These features can include the amplitude, frequency, phase, etc. of the signal. Mathematical algorithms and signal processing techniques can be used to extract these features.

[0138] Skew calculation: Based on the extracted features, the skew angle or amount of the coke can is calculated. This can be achieved by using mathematical models and geometric calculations. Depending on the skew detection method, different calculation formulas and algorithms may need to be used.

[0139] Result report: Generate a report based on the analysis results, describing the deflection of the coke tank and providing necessary suggestions or measures to correct the deflection problem. The report clearly and accurately presents the measurement results and analysis conclusions and outputs the switch signal.

[0140] The above laser beam reflection ranging method is used to detect the deflection angle of the coke tank, which is suitable for solving the problem of dust and smoke caused by the temperature difference between the high-temperature dust near the coke tank and the surrounding environment, which affects the visual transparency. According to the laser's high penetration ability and focusing degree, it can ensure high-precision and high-accuracy detection of the deflection angle of the coke tank.

[0141] Using laser to detect whether the coke drum is tilted is also the last step of the coke drum tilt detection provided by the present method. If the early prediction of the tank tilt has successfully predicted the tank tilt and processed the tank tilt, the result of the laser detection in this step should be no tilt, and there is no need to lift the coke drum again to deal with the coke drum tilt problem as in the prior art; even if the early prediction of the tank tilt fails to successfully predict the tank tilt, the laser detection in this step can effectively detect whether the tank is tilted or not. In summary, the structure of predictive detection and laser detection can simultaneously improve the detection, processing and production efficiency, as well as the reliability of the detection results.

[0142] In one embodiment of the present invention, a quantitative detection system for the tilt of a coke tank is provided, comprising a processor, a first image acquisition device, a second image acquisition device, at least two laser rangefinders, and a plurality of markers arranged on the bottom gate of the coke tank, wherein the number of the markers is at least 3, and the markers can be identified from the image acquired by the first image acquisition device, the second image acquisition device is a depth camera, and the plane where the coke tank may tilt is predetermined to be the first plane, and the first laser rangefinder and the second laser rangefinder are arranged on the left and right sides of the coke tank in the first plane, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height. The first image acquisition device and the second image acquisition device are respectively arranged in the cooling and dustproof device as described in the above embodiment.

[0143] The coke tank tilt quantitative detection system predicts whether the coke tank is tilted by the following methods:

[0144] Pre-acquiring a first reference coordinate set including coordinate information of each marker, including: determining that the bottom gate is in a closed state, and when the coke tank is at a first height, using the first image acquisition device to acquire an image of the bottom gate including the marker as a first reference image,

[0145] The processor receives the first reference image, identifies each of the markers in the first reference image, and determines the coordinates of each of the markers as a first reference coordinate set;

[0146] During the coke tank tilt detection process, when the coke tank moves to the first height, the first image acquisition device is used to acquire a bottom gate image including the marker and the image is used as a first measured image;

[0147] The processor receives the first measured image and identifies each of the markers in the first measured image, and determines the coordinates of each of the markers as a first measured coordinate set;

[0148] An error between the first measured coordinate set and the first reference coordinate set is calculated and determined as a first error. If the first error is greater than a preset first threshold, it is predicted that the coke tank is tilted.

[0149] The coke tank tilt quantitative detection system is also configured to predict whether the coke tank is tilted in the following manner:

[0150] Pre-acquiring the reference depth information of the bottom gate of the coke tank, including: determining that the surface of the bottom gate is in a state of being free of coke residue, using the second image acquisition device to acquire a depth image of the bottom gate as a reference depth image, extracting the depth information of each position of the depth image, and using the depth information as the reference depth information;

[0151] During the coke tank tilt detection process, the second image acquisition device is used to acquire the bottom gate image and use it as the measured depth image;

[0152] The processor receives the measured depth image, performs image processing on the measured depth image, extracts depth information of each position of the depth image, and uses the depth information as the measured depth information;

[0153] The processor is also configured to determine a sticky coke slag area based on the measured depth information and the reference depth information, and predict that the coke tank is tilted if there is a single connected sticky coke slag area whose area is greater than a preset area threshold and the height of the sticky coke slag area is greater than a preset height threshold.

[0154] The coke tank tilt quantitative detection system is also configured to detect the tilt angle of the coke tank in the following manner:

[0155] The distance d between the first laser rangefinder and the second laser rangefinder is acquired in advance.

[0156] When the coke tank is not tilted, the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank are obtained respectively. dA and dB can be obtained only once, or can be obtained and updated regularly, for example, every day, every week, or every month.

[0157] During the coke tank tilt detection process, the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank are obtained respectively.

[0158] The inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1 and d. The calculation formula of the inclination angle θ is:

[0159] θ=arccos[(d-dA-dB) / (d-dA1-dB1)].

[0160] It should be noted that the above-mentioned embodiment of the coke drum tilt quantitative detection system and the embodiment of the coke drum tilt quantitative detection method belong to the same inventive concept, and the entire content of the embodiment of the coke drum tilt quantitative detection method is incorporated into the embodiment of the coke drum tilt quantitative detection system by reference.

[0161] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0162] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for quantitatively detecting the tilt of a coke tank, characterized in that: The following steps are involved: A plane where the coke tank may tilt is predetermined as a first plane, and a first laser rangefinder and a second laser rangefinder are arranged on the left and right sides of the coke tank in the first plane, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height; Pre-acquire the distance d between the first laser rangefinder and the second laser rangefinder; When the coke tank is not tilted, obtaining the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank respectively; During the coke tank tilt detection process, obtaining the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank respectively; The inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1 and d. The calculation formula of the inclination angle θ is: θ=arccos[(d-dA-dB) / (d-dA1-dB1)].

2. A method for quantitatively detecting the tilt of a coke tank, characterized in that: The following steps are involved: A plane where the coke tank may tilt is predetermined as a first plane, and a first laser rangefinder and a second laser rangefinder are arranged on the left and right sides of the coke tank in the first plane, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height; Obtaining in advance the outer diameter 2R of the coke tank; When the coke tank is not tilted, obtaining the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank respectively; During the coke tank tilt detection process, obtaining the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank respectively; The inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1 and 2R. The calculation formula of the inclination angle θ is: θ=arccos[2R / (dA+dB+2R-dA1-dB1)].

3. The method for quantitatively detecting the tilt of a coke tank according to claim 1 or 2, characterized in that: The following steps are also included: One or more markers are arranged on the surface of the bottom gate of the coke tank, and a first image acquisition device is arranged at a first position, wherein the first image acquisition device is configured to acquire an image of the bottom gate including each marker; Pre-acquiring a first reference coordinate set including coordinate information of each marker, including: determining that the bottom gate is in a closed state, and when the coke tank is at a first height, using the first image acquisition device to acquire an image of the bottom gate including the marker, and using the image as a first reference image, identifying each marker in the first reference image, and determining the coordinates of each marker as a first reference coordinate set; During the coke tank tilt detection process, when the coke tank moves to the first height, the first image acquisition device is used to acquire a bottom gate image including the marker and use it as a first measured image; each of the markers in the first measured image is identified, and the coordinates of each of the markers are determined and used as a first measured coordinate set; The error between the first measured coordinate set and the first reference coordinate set is calculated and determined as a first error. The first error is obtained by operating the distance between part or all of the coordinates in the first measured coordinate set and the corresponding coordinates in the first reference coordinate set. If the first error is greater than a preset first threshold, it is predicted that the coke tank is tilted.

4. The method for quantitatively detecting the tilt of a coke tank according to claim 3, characterized in that: If the first error is not greater than a preset first threshold, the method further includes the following steps: A second image acquisition device is arranged at a second position, wherein the second image acquisition device is a depth camera; Acquiring the reference depth information of the bottom gate of the coke tank in advance, including: determining that the surface of the bottom gate is in a state of being free of coke slag, when the coke tank is at a second height, the second height is lower than the first height, using the second image acquisition device to acquire a depth image of the bottom gate as a reference depth image, extracting depth information of each position of the depth image, and using the depth information as the reference depth information; During the coke tank tilt detection process, when the coke tank moves to the second height, the second image acquisition device is used to acquire a bottom gate depth image and use it as a measured depth image; Performing image processing on the measured depth image, extracting depth information of each position of the depth image, and using the extracted depth information as the measured depth information; The sticky coke slag area is determined according to the measured depth information and the reference depth information. If there is a single connected sticky coke slag area whose area is greater than a preset area threshold and the height of the sticky coke slag area is greater than a preset height threshold, it is predicted that the coke tank is tilted.

5. The method for quantitatively detecting the tilt of a coke tank according to claim 4, characterized in that: The sticky coke slag area is determined according to the measured depth information and the reference depth information, and the area and height of a single connected sticky coke slag area are determined in the following manner: Calculate the difference between the measured depth information and the reference depth information of the corresponding coordinate positions in the measured depth image and the reference depth image, and if the difference is greater than a preset second threshold, determine the coordinates corresponding to the difference as a salient point, and determine the salient points connected to each other as a connected sticky coke slag area; For each connected sticky slag area, the area of ​​the connected sticky slag area is determined according to the coordinates of each protruding point contained therein, and the maximum difference between the measured depth information and the reference depth information of the connected sticky slag area is determined as the height of the sticky slag area.

6. The method for quantitatively detecting the tilt of a coke tank according to claim 3, characterized in that: The first error is obtained by performing one of averaging, median, variance, summing, and mean square error on the distances between some or all of the coordinates in the first measured coordinate set and the corresponding coordinates in the first reference coordinate set.

7. The method for quantitatively detecting the tilt of a coke tank according to claim 6, characterized in that: The first error is calculated as follows: The first reference coordinate set is {(X i , Y i ), 1≤i≤N}, the first measured coordinate set is {(x i ,y i ), 1≤i≤N}, where (X i , Y i ) is the coordinate of the i-th marker in the first reference image, (x i ,y i ) is the coordinate of the ith marker in the first measured image, and N is the total number of the markers; The calculation formula of the first error σ1 is:

8. The method for quantitatively detecting the tilt of a coke tank according to claim 3, characterized in that: The coordinates of the marker are a set of pixel coordinates corresponding to all points in the area where the marker is located; or, The coordinates of the marker are the average of the pixel coordinates corresponding to all points in the area where the marker is located; or, The marker has a certain shape and size, and the coordinates of the marker are the coordinates of the center of the geometric shape imaged by the marker.

9. The method for quantitatively detecting the tilt of a coke tank according to claim 4, characterized in that: The first image acquisition device and the second image acquisition device are respectively arranged in a cooling and dustproof device, and the cooling and dustproof device comprises a dustproof cover (41) and a cooling hood (42); The cooling cover (42) is a cylindrical structure with two ends open, which is sleeved on the outside of the image acquisition device. A plurality of circles of condensation tubes (43) are arranged around the inner wall of the cooling cover (42), and a circulating condensate is arranged in the condensation tubes (43); The dust cover (41) is configured to cover the upper end opening of the cooling cover (42) and to be moved away from the upper end opening of the cooling cover (42).

10. The method for quantitatively detecting the tilt of a coke tank according to claim 9, characterized in that: It also includes a purging device arranged in a one-to-one correspondence with the first image acquisition device and the second image acquisition device, and the purging device is configured to perform a purging operation on the lens of the first image acquisition device / the second image acquisition device.

11. A coke tank tilt quantitative detection system, characterized in that: It includes a processor, a first laser rangefinder and a second laser rangefinder, wherein the first laser rangefinder and the second laser rangefinder are arranged on a plane where the coke tank may be tilted, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height; Pre-acquire the distance d between the first laser rangefinder and the second laser rangefinder; When the coke tank is not tilted, obtaining the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank respectively; During the coke tank tilt detection process, the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank are obtained and transmitted to the processor; The processor calculates the inclination angle θ of the coke tank using dA, dB, dA1, dB1 and d. The calculation formula of the inclination angle θ is: θ=arccos[(d-dA-dB) / (d-dA1-dB1)].

12. A coke tank tilt quantitative detection system, characterized in that: It includes a processor, a first laser rangefinder and a second laser rangefinder, wherein the first laser rangefinder and the second laser rangefinder are arranged on a plane where the coke tank may be tilted, and the first laser rangefinder and the second laser rangefinder are located at the same vertical height; Obtaining in advance the outer diameter 2R of the coke tank; When the coke tank is not tilted, obtaining the distances dA and dB from the first laser rangefinder and the second laser rangefinder to the coke tank respectively; During the coke tank tilt detection process, the distances dA1 and dB1 from the first laser rangefinder and the second laser rangefinder to the coke tank are obtained and transmitted to the processor; The processor calculates the inclination angle θ of the coke tank using dA, dB, dA1, dB1 and 2R. The calculation formula of the inclination angle θ is: θ=arccos[2R / (dA+dB+2R-dA1-dB1)].

13. The coke tank tilt quantitative detection system according to claim 11 or 12, characterized in that: The system comprises a processor, a first image acquisition device and one or more markers arranged on the bottom gate of the coke tank. The coke tank tilt quantitative detection system predicts whether the coke tank is tilted in the following manner: Pre-acquiring a first reference coordinate set including coordinate information of each marker, including: determining that the bottom gate is in a closed state, and when the coke tank is at a first height, using the first image acquisition device to acquire an image of the bottom gate including the marker, and using the image as a first reference image, identifying each marker in the first reference image, and determining the coordinates of each marker as a first reference coordinate set; During the coke tank tilt detection process, when the coke tank moves to the first height, the first image acquisition device is used to acquire a bottom gate image including the marker and use it as a first measured image; each of the markers in the first measured image is identified, and the coordinates of each of the markers are determined and used as a first measured coordinate set; The error between the first measured coordinate set and the first reference coordinate set is calculated and determined as a first error. The first error is obtained by operating the distance between part or all of the coordinates in the first measured coordinate set and the corresponding coordinates in the first reference coordinate set. If the first error is greater than a preset first threshold, it is predicted that the coke tank is tilted.

14. The coke tank tilt quantitative detection system according to claim 13, characterized in that: The system further includes a second image acquisition device, which is a depth camera. If the first error is not greater than a preset first threshold, the coke tank tilt quantitative detection system is further configured to predict whether the coke tank is tilted in the following manner: Acquiring the reference depth information of the bottom gate of the coke tank in advance, including: determining that the surface of the bottom gate is in a state of being free of coke slag, when the coke tank is at a second height, the second height is lower than the first height, using the second image acquisition device to acquire a depth image of the bottom gate as a reference depth image, extracting depth information of each position of the depth image, and using the depth information as the reference depth information; During the coke tank tilt detection process, when the coke tank moves to the second height, the second image acquisition device is used to acquire a bottom gate image and use it as a measured depth image; The processor receives the measured depth image, performs image processing on the measured depth image, extracts depth information of each position of the depth image, and uses the depth information as the measured depth information; The processor is also configured to determine a sticky coke slag area based on the measured depth information and the reference depth information, and predict that the coke tank is tilted if there is a single connected sticky coke slag area whose area is greater than a preset area threshold and the height of the sticky coke slag area is greater than a preset height threshold.

15. The coke tank tilt quantitative detection system according to claim 14, characterized in that: It also includes a cooling and dustproof device, wherein the first image acquisition device and the second image acquisition device are respectively arranged in the cooling and dustproof device, and the cooling and dustproof device includes a dustproof cover (41) and a cooling hood (42); The cooling cover (42) is a cylindrical structure with two ends open, which is sleeved on the outside of the camera. A plurality of condensing tubes (43) are arranged around the inner wall of the cooling cover (42), and a circulating condensing liquid is arranged in the condensing tubes (43); The dust cover (41) is configured to cover the upper end opening of the cooling cover (42) and to be moved away from the upper end opening of the cooling cover (42).

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