A coke tank tilt quantitative detection method and system

Abstract

The present invention discloses a method and system for quantitatively detecting the tilt of a coke tank. The method comprises predetermining that a plane where the coke tank may tilt is a first plane, arranging a first and a second laser rangefinder on both sides of the coke tank in the first plane, and the first and the second laser rangefinder are located at the same vertical height; pre-acquiring a distance d between the first and the second laser rangefinders; obtaining, when the coke tank is not tilted, the distances dA and dB from the first and the second laser rangefinders to the coke tank, respectively; obtaining, during the coke tank tilt detection process, the distances dA1 and dB1 from the first and the second laser rangefinders to the coke tank, respectively; and calculating the tilt angle θ of the coke tank using dA, dB, dA1, dB1, and d. The calculation formula for the tilt angle θ is: θ=arccos[(d-dA-dB) / (d-dA1-dB1)]. The present invention can quickly and accurately detect whether the coke tank is tilted and quantitatively determine the tilt angle of the coke tank.

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 consists of a coke drum body, a bottom gate, a hoisting crane, and a coke drum platform. The coke drum body is a container constructed of steel plates, steel sections, and cast lining plates. The drum can be raised and lowered, and the bottom gate can be opened and closed. Red coke at a temperature of 1200°C is pushed into the drum by a coke pusher. The process of transporting dry coke using the drum involves lifting the filled drum using the hoisting crane and moving it horizontally to the top of the dry quenching tank. A loading device then loads the red coke into the dry quenching tank. The empty drum is then lifted, moved, and lowered onto the drum platform. If the drum tilts while resting on the drum platform, it can cause high-temperature coke slag to spill or the empty drum to tip over, potentially damaging surrounding machinery and equipment and causing production accidents. Therefore, detecting deflection in the drum is crucial and a key technology for ensuring safe production in the metallurgical coking process.

[0003] There are two main reasons why a coke drum tilts after landing on the coke platform. One is that the bottom gate of the coke drum is not fully closed. This may be due to coke jamming, operator error, or a problem with the bottom gate switch control system. The other is that coke sticks or gets stuck on the bottom gate of the coke drum, causing the drum to tilt after landing on the platform. Regardless of these two reasons, the tilt of the drum usually occurs after landing on / in the process of landing on the platform. Therefore, current tilt detection for CDQ coke drums, whether manual or with detection equipment, must be performed before / after the drum lands on the platform.

[0004] Among them, there are usually two ways of manual inspection. When the coke can falls on the coke can platform, one is for the crane operator or the production preparation worker to observe the two sides of the coke can with the naked eye to confirm the alignment and observe whether the coke can is tilted. This method means that the crane operator himself may endanger his life safety; the other is for the crane operator to confirm whether the coke can 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 judge the vertical alignment angle of the coke can; (2) Due to the existence of visual blind spots, the inspection personnel may need to confirm repeatedly, and even the inspection results may be uncertain.

[0005] A coke drum tilt detection method using a detection device replaces manual work. For example, Chinese patent application number 201720058571X proposes installing a proximity switch under the floor of the coke drum car. This approach utilizes the fact that when the coke drum tilts, one corner rises while the other side falls, triggering the proximity switch. This allows for drum tilt detection. Like manual detection, this method also requires testing before and after the coke drum lands on the coke drum platform.

[0006] However, there are at least the following deficiencies in detecting the tilt of the coke can during / after it 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 operation 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 purpose of the present invention is to provide a method and system for quantitatively detecting the tilt of a coke can, which can detect whether the 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] In order 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 provided on the surface of the bottom gate of the coke tank, and a first image acquisition device is provided 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 capture 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 and using the coordinates as the 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 an image of the bottom gate 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 marker 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 calculating the distance between some 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 further included:

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

[0017] Pre-acquiring reference depth information of the coke tank bottom gate, including: determining that the surface of the bottom gate is free of coke residue, when the coke tank is at a second height, the second height being 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, and extracting depth information of each position of the depth image 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 the image is used as the measured depth image;

[0019] Performing image processing on the measured depth image to extract depth information at each position of the depth image as the measured depth information;

[0020] The sticky coke slag area is determined based on 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 technical solutions or a combination of multiple technical solutions may further include 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, with the first laser rangefinder and the second laser rangefinder being located at the same vertical height;

[0023] Pre-acquiring a 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 technical solutions or a combination of multiple technical solutions may further include 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, with the first laser rangefinder and the second laser rangefinder being located at the same vertical height;

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

[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] Furthermore, based on any one of the above 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 by the following method:

[0036] Calculating the difference between the measured depth information and the reference depth information at corresponding coordinate positions in the measured depth image and the reference depth image; if the difference is greater than a preset second threshold, determining the coordinates corresponding to the difference as a salient point, and determining the salient points connected to each other as a connected sticky 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] Furthermore, 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 by the following method:

[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 i-th 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 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 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 condensation tubes are arranged around the inner wall of the cooling cover, and a circulating condensate is arranged in the condensation tubes;

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

[0048] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described 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 drum tilt quantitative detection system is provided, comprising a processor, a first image acquisition device, and one or more markers disposed on a bottom gate of the coke drum. The coke drum tilt quantitative detection system predicts whether the coke drum is tilted by:

[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 capture 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 and using the coordinates as the 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 an image of the bottom gate 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 marker 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 calculating the distance between some 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] Furthermore, based on any one of the above technical solutions or a combination of multiple technical solutions, 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 by:

[0054] Pre-acquiring reference depth information of the coke tank bottom gate, including: determining that the surface of the bottom gate is free of coke residue, when the coke tank is at a second height, the second height being 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, and extracting depth information of each position of the depth image 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 an image of the bottom gate 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 extracted 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] Furthermore, based on any one of the above technical solutions or a combination of multiple technical solutions, the method further includes arranging a first laser rangefinder and a second laser rangefinder in a plane where the coke tank may be tilted, wherein the first laser rangefinder and the second laser rangefinder are located at the same vertical height;

[0059] Pre-acquiring a 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] Furthermore, based on any one of the above technical solutions or a combination of multiple technical solutions, the method further includes arranging a first laser rangefinder and a second laser rangefinder in a plane where the coke tank may be tilted, wherein the first laser rangefinder and the second laser rangefinder are located at the same vertical height;

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

[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] Furthermore, any one of the above technical solutions or a combination of multiple technical solutions further includes a cooling and dustproof device, wherein the first image acquisition device and the second image acquisition device are respectively disposed 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 condensation tubes are arranged around the inner wall of the cooling cover, and a circulating condensate is arranged in the condensation tubes.

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

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

[0074] a. The present invention utilizes the difference in coordinate information of markers in images collected when the bottom gate of the coke drum is in a fully closed state and a fully closed state. By calculating a first error, it is possible to predict whether the coke drum will tilt due to the unclosed bottom gate before the coke drum lands on the coke drum platform. This allows the coke drum to be stopped and the tilt problem to be addressed in a timely manner. This avoids the need to raise and address the coke drum tilt again if the coke drum tilt is discovered on the coke drum platform, thereby improving the efficiency of coke drum tilt detection and production efficiency.

[0075] b. The present invention uses a depth camera to collect depth image information of the bottom gate during the coke drum lifting process and compares it with an image of the bottom gate in a non-sticky coke slag state. If 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, it is determined that the bottom gate is stuck with coke slag and the coke drum is tilted. This allows the lifting of the coke drum to be stopped in time and the problem of coke drum tilt to be addressed. This avoids the problem of coke drum tilt being discovered on the coke drum platform and the need to raise the coke drum again to address the problem. This can improve the efficiency of coke drum tilt detection and production efficiency.

[0076] c. The present invention installs a first laser rangefinder and a second laser rangefinder on both sides of the coke tank within a plane where the coke tank may tilt. By pre-measuring the distances between the two laser rangefinders and the tank body when the coke tank is not tilted, and then measuring the actual distances between the two laser rangefinders and the coke tank during actual testing, the tilt angle of the coke tank can be determined quickly, quantitatively, and with high precision.

[0077] d. By disposing the first and second image acquisition devices within a cooling and dustproof device, the present invention ensures that the temperatures of the first and second image acquisition devices meet their operating temperature requirements, and that the lenses of the image acquisition devices are clean, 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

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

[0082] Figure 4 A schematic structural diagram of a second cooling and dust-proofing 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 solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0087] It should be noted that the terms "first", "second", etc. in the description 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 numbers 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, apparatus, product or device 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 devices.

[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 provided on the surface of the bottom gate of the coke tank, and a first image acquisition device is provided 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 applied to the lower surface of the bottom gate or a bright metal sheet provided 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 capture 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 and using the coordinates as the 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 an image of the bottom gate 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 marker 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 one-to-one with the coordinates of each marker in the first reference coordinate set;

[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 calculating the distance between some 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 region where the marker is located; or the coordinates of the marker are the mean of the pixel coordinates corresponding to all points in the region 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.

[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 by the following method:

[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 i-th 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, for example, four markers are provided on the surface of the bottom gate 11, namely, a first marker 21, a second marker 22, a third marker 23, and a fourth marker 24. Preferably, the distance between each marker and 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 as far outward as possible on the bottom gate 11, which better reflects the non-horizontal / tilted 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). 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 using image recognition technology, and the corresponding coordinates are (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 based on the detection accuracy requirement; 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 by, when the bottom gate is fully closed, repeatedly detecting and extracting the coordinates of each marker, and then determining the upper limit of the error of the coordinates of each marker corresponding to the multiple detection results using the same method as the first error calculation method as the first threshold.

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

[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 set at a second position, where the second image acquisition device is a depth camera. The second position and the first position may be the same or different. For example, if the first image acquisition device and the second 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 second image acquisition device are two different cameras, then the two positions are preferably different.

[0105] Pre-acquiring reference depth information of the coke tank bottom gate, including: determining that the surface of the bottom gate is free of coke residue, when the coke tank is at a second height, the second height being 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, and extracting depth information of each position of the depth image 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 the image is used as the measured depth image;

[0107] Performing image processing on the measured depth image to extract depth information at each position of the depth image as the measured depth information;

[0108] The sticky coke slag area is determined based on 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 slag region may be determined by:

[0110] Calculating the difference between the measured depth information and the reference depth information at corresponding coordinate positions in the measured depth image and the reference depth image; if the difference is greater than a preset second threshold, the coordinates corresponding to the difference are determined to be salient points, and interconnected salient points are determined to be a connected sticky 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 can described in this embodiment is to use a depth camera to determine whether there is coke slag on the surface of the bottom gate of the coke can before the coke can falls on the coke can platform, that is, during the lifting process of the coke can. If it is determined that there is coke slag, it can be predicted that when the coke can falls on the coke can platform, the coke can will be tilted due to the coke slag at the bottom, so as to stop the lifting of the coke can in time and deal with the problem of the coke can tilt, so as to avoid the problem of the coke can tilt being found on the coke can platform and then being dealt with again, thereby improving the efficiency of coke can tilt detection and production efficiency.

[0113] To improve the accuracy of prejudgment, this application uses dual marking to determine if the area of ​​a single connected sticky slag region is greater than a preset area threshold, and the height of the sticky slag region is greater than a preset height threshold. This can reduce the probability of misjudgment due to factors such as signal noise and system errors. The area threshold and the height threshold are determined based on the detection accuracy requirements. The higher the detection accuracy requirement, the smaller the area threshold and the height threshold.

[0114] In the above embodiments, the first and second image acquisition devices are both located below the coke tank, and the first and second image acquisition devices capture images of the bottom gate of the coke tank upward. Due to the high dust and temperature in the inspection environment, to ensure that the first and second image acquisition devices can accurately and reliably capture images, in one embodiment of the present application, the first and second image acquisition devices are each located within a cooling and dustproof device.

[0115] See also Figure 3 and Figure 4 The cooling 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 pipes 43 are arranged around the inner wall of the cooling cover 42, and a circulating condensate is arranged in the condensation pipes 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 the annular condenser 43. The cooling cover without the condenser can ensure that the temperature around the first image acquisition device and the second image acquisition device meets the operating temperature requirements of the image acquisition device.

[0116] Because the coke drum production environment is dusty, a dust cover 41 is provided to cover the upper opening of the cooling hood 42. Before each image acquisition device captures an image, a driving mechanism is controlled to drive the dust cover 41 away from the upper opening of the cooling hood 42. After the image is acquired, the dust cover 41 is controlled to re-cover the image acquisition device. 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 purge the lens of the image acquisition device to remove dust from the lens surface.

[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 in which the coke tank 1 may tilt is predetermined as the first plane. In actual applications, because the coke tank is constrained by other mechanisms, it typically only tilts left and right or front and back, and does not tilt 360° around the tank's axis. For example, the tank body 12 of the coke tank 1 is constrained on both sides by a lifting mechanism, and thus only tilts in the front and back direction. Therefore, based on the specific constraining method of the coke tank, the plane in which the coke tank may tilt can be predetermined as the first plane. It is only necessary to perform tilt detection on the coke tank within the first plane and determine the tilt angle.

[0119] A first laser rangefinder 31 and a second laser rangefinder 32 are provided on the left and right sides of the coke tank in the first plane. 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 obtained 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. dA and dB can be obtained only once or periodically, such as daily, weekly, or monthly, and updated.

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

[0123] The tilt angle θ of the coke tank 1 is calculated using dA, dB, dA1, dB1 and d, as shown in FIG. 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 can 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 can, and as the coke can is used for a long time, dust or other substances may adhere to the outside of the can body of the coke can. By updating the dA and dB values, even if the diameter of the coke can changes due to wear, dust falling, etc., or foreign matter is attached to the outside of the coke can, it will not affect the detection accuracy of the coke can inclination angle, and it can ensure that a reliable coke can inclination angle value 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 obtain the distance d between the first laser rangefinder and the second laser rangefinder in advance, but the outer diameter 2R of the coke tank is obtained in advance.

[0127] In this embodiment, the inclination angle θ of the coke tank is calculated using dA, dB, dA1, dB1, and 2R. The calculation formula for 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 tilt angle. For example, Chinese patent application number 2011200271039 proposes setting a laser sensor at the upper and lower ends of one side of the detected object, and using the distances L1 and L2 from the two sensors to the object, respectively, and the distance L12 between the two objects, to calculate the object's tilt angle as arctan[(L1-L2) / L12]. Although this method can also detect the object's tilt angle, when the object's tilt angle is small, L1-L2 is an extremely small difference, which may be in the centimeter or even millimeter level; while the length of L12 is usually in the decimeter or even 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 object's surface, the measurement result will be very unreliable.

[0130] The tilt angle at which the coke drum may tilt in this application is generally a relatively small value. Regardless of which embodiment of the coke drum tilt quantitative detection method is used to quantitatively determine the coke drum tilt angle, since d-dA-dB and d-dA1-dB1 are of the same order of magnitude, and 2R and dA+dB+2R-dA1-dB1 are also of different orders of magnitude, the coke drum tilt angle measurement error proposed in this application is relatively small, and a more reliable and accurate value for the coke drum tilt angle can be obtained. Furthermore, the method for calculating the coke drum tilt angle provided in this embodiment has the advantage that it is independent of the coke drum wall thickness, resulting in a more reliable calculated value for the tilt angle.

[0131] It should be noted that the coke tank 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 tank moves to the third height, but also applicable to other heights, and is not only applicable to the inclination angle detection of the coke tank, but also applicable to the inclination angle detection of other objects tilted in 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 calibrating the deflection and detecting the deflection, and issuing an 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, it is ensured that the laser beam is vertically irradiated onto the surface of the coke tank, and that the detector can 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 from the laser beam.

[0133] A calibration plate, typically a flat surface with known geometry and dimensions, can be used to simulate the deflection of a coke drum. By adjusting the positions of the laser, lens, and reflector, the laser beam is perpendicular to the surface of the calibration plate and the detector accurately receives the reflected laser signal. Using the known deflection angle or amount on the calibration plate, the parameters of the laser line detection system are adjusted to accurately measure the deflection of the coke drum. This can include adjusting the detector sensitivity and calibrating the laser output power.

[0134] Place the coke can in an appropriate position so that it is perpendicular to the laser beam. Start the laser and illuminate the surface of the coke can. The detector receives the reflected laser signal and converts it into an electrical signal. Ensure that the laser, lens, reflector, and detector are functioning properly, and calibrate the system to ensure accurate measurement. Place the coke can to be measured in an appropriate position so that it is parallel to the laser beam. Ensure that the surface of the coke can is clean and free of debris and dirt. Start the laser and illuminate the laser beam onto the surface of the coke can. The laser beam will be reflected by the surface of the coke can and received by the detector. The detector receives the reflected laser signal and converts it into an electrical signal. The strength 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 can 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 to process and analyze the data to obtain accurate measurement results.

[0136] Based on the measurement results, a report is generated that describes the deflection of the coke can and provides necessary suggestions or measures to correct the deflection. First, the signal received from the detector is processed, including noise removal, filtering, and signal amplification. This can be achieved through the use of signal processing algorithms and filters.

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

[0138] Skew calculation: Based on the extracted features, the canister's skew angle or amount is calculated. This can be achieved using mathematical models and geometric calculations. Depending on the skew detection method, different calculation formulas and algorithms may be required.

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

[0140] The above laser beam reflection ranging method is used to detect the deflection angle of the coke tank body. It is suitable for solving the problem of dust and smoke caused by the temperature difference between high-temperature dust near the coke tank and the surrounding environment, which affects the visual transparency. According to the high penetration ability and focusing degree of the laser, 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 tank is tilted is also the last step of the coke tank tilt detection provided by this 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 that it is not tilted, and there is no need to lift the coke tank again to deal with the coke tank 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 coke drum tilt quantitative detection system 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 disposed on a bottom gate of the coke drum. The markers are at least three in number and can be identified from images captured by the first image acquisition device. The second image acquisition device is a depth camera. A first plane is predetermined as the plane where the coke drum may tilt. A first laser rangefinder and a second laser rangefinder are disposed on the left and right sides of the coke drum within the first plane, the first and second laser rangefinders being located at the same vertical height. The first and second image acquisition devices are each disposed within a cooling and dustproof device as described in the above-mentioned 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 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 an image of the bottom gate 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 further configured to predict whether the coke tank is tilted by:

[0150] Pre-acquiring reference depth information of the coke tank bottom gate, including: determining that the surface of the bottom gate is free of coke residue, using the second image acquisition device to acquire a depth image of the bottom gate as a reference depth image, and extracting depth information of each position in the depth image 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 extracted 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 further 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. dA and dB can be obtained only once, or can be obtained and updated regularly, for example, daily, weekly, or monthly.

[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 can tilt quantitative detection system and the embodiment of the coke can tilt quantitative detection method belong to the same inventive concept, and the entire content of the embodiment of the coke can tilt quantitative detection method is incorporated into the embodiment of the coke can tilt quantitative detection system by reference.

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

[0162] The above is only a specific implementation method 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, with the first laser rangefinder and the second laser rangefinder being located at the same vertical height; Pre-acquiring a 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 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)]; One or more markers are provided on the surface of the bottom gate of the coke tank, and a first image acquisition device is provided 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 capture 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 and using the coordinates as the 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 an image of the bottom gate 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 marker are determined and used as a first measured coordinate set; Calculating an error between the first measured coordinate set and the first reference coordinate set and determining it as a first error, the first error being obtained by calculating the distance between some or all coordinates in the first measured coordinate set and corresponding coordinates in the first reference coordinate set; if the first error is greater than a preset first threshold, predicting that the coke tank is tilted; and when the bottom gate is fully closed, an upper limit of the error of the coordinates of each marker is the first threshold; If the first error is not greater than a preset first threshold, the method further includes the following steps: Setting a second image acquisition device at a second position, wherein the second image acquisition device is a depth camera; Pre-acquiring reference depth information of the coke tank bottom gate, including: determining that the surface of the bottom gate is free of coke residue, when the coke tank is at a second height, the second height being 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, and extracting depth information of each position of the depth image 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 the image is used as the measured depth image; Performing image processing on the measured depth image to extract depth information at each position of the depth image as the measured depth information; Determine a sticky coke slag area based on the measured depth information and the reference depth information, and if there is a single connected sticky coke slag area whose area is greater than a preset area threshold and whose height is greater than a preset height threshold, predict that the coke tank is tilted; 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 (41) and a cooling cover (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 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).

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, with the first laser rangefinder and the second laser rangefinder being located at the same vertical height; Obtaining the outer diameter 2R of the coke tank in advance; 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 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)]; One or more markers are provided on the surface of the bottom gate of the coke tank, and a first image acquisition device is provided 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 capture 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 and using the coordinates as the 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 an image of the bottom gate 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; Calculating an error between the first measured coordinate set and the first reference coordinate set and determining it as a first error, the first error being obtained by calculating the distance between some or all coordinates in the first measured coordinate set and corresponding coordinates in the first reference coordinate set; if the first error is greater than a preset first threshold, predicting that the coke tank is tilted; and when the bottom gate is fully closed, an upper limit of the error of the coordinates of each marker is the first threshold; If the first error is not greater than a preset first threshold, the method further includes the following steps: Setting a second image acquisition device at a second position, wherein the second image acquisition device is a depth camera; Pre-acquiring reference depth information of the coke tank bottom gate, including: determining that the surface of the bottom gate is free of coke residue, when the coke tank is at a second height, the second height being 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, and extracting depth information of each position of the depth image 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 the image is used as the measured depth image; Performing image processing on the measured depth image to extract depth information at each position of the depth image as the measured depth information; Determine a sticky coke slag area based on the measured depth information and the reference depth information, and if there is a single connected sticky coke slag area whose area is greater than a preset area threshold and whose height is greater than a preset height threshold, predict that the coke tank is tilted; 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 (41) and a cooling cover (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 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).

3. The method for quantitatively detecting the tilt of a coke tank according to claim 1 or 2, 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: Calculating the difference between the measured depth information and the reference depth information at corresponding coordinate positions in the measured depth image and the reference depth image; if the difference is greater than a preset second threshold, determining the coordinates corresponding to the difference as a salient point, and determining the salient points connected to each other as a connected sticky 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.

4. 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, summation, and mean square error on the distances between some or all coordinates in the first measured coordinate set and corresponding coordinates in the first reference coordinate set.

5. The method for quantitatively detecting the tilt of a coke tank according to claim 4, 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 i The coordinates of the markers in the first reference image, ( x i , y i ) is the i coordinates of markers in the first measured image, where N is the total number of markers; The calculation formula of the first error σ1 is: .

6. The method for quantitatively detecting the tilt of a coke tank according to claim 1 or 2, characterized in that: 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 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.

7. The method for quantitatively detecting the tilt of a coke tank according to claim 1 or 2, characterized in that: It also includes a purging device provided in 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.

8. A coke tank tilt quantitative detection system, characterized in that: The invention comprises 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-acquiring a 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 tilt angle θ of the coke tank using dA, dB, dA1, dB1 and d. The calculation formula of the tilt angle θ is: θ=arccos[(d-dA-dB) / (d-dA1-dB1)]; The system also includes 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 by the following methods: 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 capture 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 and using the coordinates as the 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 an image of the bottom gate 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 marker are determined and used as a first measured coordinate set; Calculating an error between the first measured coordinate set and the first reference coordinate set and determining it as a first error, the first error being obtained by calculating the distance between some or all coordinates in the first measured coordinate set and corresponding coordinates in the first reference coordinate set; if the first error is greater than a preset first threshold, predicting that the coke tank is tilted; and when the bottom gate is fully closed, an upper limit of the error of the coordinates of each marker is the first threshold; 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 by: Pre-acquiring reference depth information of the coke tank bottom gate, including: determining that the surface of the bottom gate is free of coke residue, when the coke tank is at a second height, the second height being 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, and extracting depth information of each position of the depth image 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 an image of the bottom gate 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 extracted depth information as the measured depth information; The processor is further 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 an area of ​​a single connected sticky coke slag area is greater than a preset area threshold and a height of the sticky coke slag area is greater than a preset height threshold; 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 cover (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).

9. A coke tank tilt quantitative detection system, characterized in that: The invention comprises 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 the outer diameter 2R of the coke tank in advance; 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 tilt angle θ of the coke tank using dA, dB, dA1, dB1 and 2R. The calculation formula of the tilt angle θ is: θ=arccos[2R / (dA+dB+2R-dA1-dB1)]; The system also includes 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 by the following methods: 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 capture 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 and using the coordinates as the 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 an image of the bottom gate 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; Calculating an error between the first measured coordinate set and the first reference coordinate set and determining it as a first error, the first error being obtained by calculating the distance between some or all coordinates in the first measured coordinate set and corresponding coordinates in the first reference coordinate set; if the first error is greater than a preset first threshold, predicting that the coke tank is tilted; and when the bottom gate is fully closed, an upper limit of the error of the coordinates of each marker is the first threshold; 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 by: Pre-acquiring reference depth information of the coke tank bottom gate, including: determining that the surface of the bottom gate is free of coke residue, when the coke tank is at a second height, the second height being 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, and extracting depth information of each position of the depth image 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 an image of the bottom gate 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 extracted depth information as the measured depth information; The processor is further 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 an area of ​​a single connected sticky coke slag area is greater than a preset area threshold and a height of the sticky coke slag area is greater than a preset height threshold; 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 cover (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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