Control method and device of crawler loader, electronic equipment and storage medium

Abstract

The invention provides a control method and device of a slagging-off machine, electronic equipment and a storage medium, and relates to the field of metallurgy automation control, the slagging-off machine comprises a slagging-off plate and a control motor, and the method comprises the steps that position information of a target slagging-off point in a ladle is obtained; a first height is obtained, wherein the first height is the height between the non-eroded area of the slagging-off plate and the target slagging-off point; determining a control height based on the position information and the first height, wherein the control height is a tipping height at which the control motor controls the slagging-off plate to reach the target slagging-off point; and based on the position information and the control height, the slagging-off plate is controlled to tilt to the target slagging-off point for slagging-off treatment.

Description

Technical Field

[0001] The present invention relates to the field of metallurgical automation control, and in particular to a control method, device, electronic equipment and storage medium for a slag scraper. Background Art

[0002] With the continuous development of smart factories in steel enterprises, desulphurization and slag removal is one of the important links in the molten iron pretreatment stage, and its slag removal results directly affect the effect of molten iron pretreatment.

[0003] In the related art, the desulfurization slag removal system is usually carried out manually on-site or remotely, which may easily lead to the problem of poor slag removal effect. Summary of the invention

[0004] The present invention provides a control method, a device, an electronic device and a storage medium for a slag scraper, which are used to solve the problem of poor slag scraping treatment effect caused by manual slag scraping in the related art.

[0005] In a first aspect, the present invention provides a control method for a slag scraper, wherein the slag scraper comprises a slag scraper plate and a control motor; the method comprises:

[0006] Obtain the location information of the target slag removal point in the ladle;

[0007] Acquire a first height, where the first height is the height between the uncorroded area of ​​the scraper plate and the target scraper point;

[0008] Determine a control height based on the position information and the first height, the control height being a tipping height of the slag scraping plate controlled by the control motor to reach the target slag scraping point;

[0009] Based on the position information and the control height, the slag scraping plate is controlled to tilt to the target slag scraping point to perform slag scraping processing.

[0010] Optionally, obtaining the position information of the target slag scraping point in the ladle includes: obtaining the slag surface distribution in the ladle, the slag surface distribution is used to characterize the thickness of the slag surface, and the distance between each point on the slag surface and the center of the outer edge of the ladle mouth of the ladle; confirming the position information of the target slag scraping point in the ladle based on the slag surface distribution.

[0011] Optionally, obtaining the first height includes: obtaining the tilting angle of the ladle and the distance from the ladle spout to the bottom of the ladle body; and determining the first height based on the tilting angle of the ladle and the distance from the ladle spout to the bottom of the ladle body.

[0012] Optionally, determining the first height based on the tipping angle of the ladle and the distance from the ladle spout to the bottom of the ladle body includes: determining the distance from the ladle spout to the molten iron trolley based on the tipping angle of the ladle and the distance from the ladle spout to the bottom of the ladle body; obtaining the height from the assumed bottom of the slag skimming plate to the ground, the height from the molten iron trolley to the ground, the thickness of the slag surface in the ladle and the erosion height of the slag skimming plate, the assumed bottom of the slag skimming plate being the bottom of the slag skimming plate when not eroded; determining the first height based on the distance from the ladle spout to the molten iron trolley, the height from the assumed bottom of the slag skimming plate to the ground, the height from the molten iron trolley to the ground and the thickness of the slag surface.

[0013] Optionally, the scraper also includes a tilt bearing; determining the control height based on the position information and the first height includes: obtaining the distance between the tilt bearing and the target scraping point and the distance between the tilt bearing and the control motor; determining the control height based on the distance between the tilt bearing and the target scraping point, the distance between the tilt bearing and the control motor and the first height.

[0014] Optionally, after controlling the slag scraping plate to tilt to the target slag scraping point for slag scraping processing, it also includes: in the process of the slag scraping processing of the slag scraping plate, obtaining the slag surface distribution, and when the slag surface distribution indicates that the slag surface thickness of the target slag scraping point is not greater than the target value, reconfirming the position information of the target slag scraping point.

[0015] In a second aspect, the present invention provides a control device for a slag scraper, the slag scraper comprising a slag scraper plate and a control motor; the device comprises:

[0016] An acquisition module is used to obtain the position information of the target slag removal point in the molten iron ladle;

[0017] The acquisition module is further used to acquire a first height, where the first height is the height between the uncorroded area of ​​the scraper plate and the target scraper point;

[0018] A determination module, configured to determine a control height based on the position information and the first height, wherein the control height is a tipping height of the scraping plate controlled by the control motor to reach the target scraping point;

[0019] The control module is used to control the slag scraping plate to tilt to the target slag scraping point to perform slag scraping processing based on the position information and the control height.

[0020] In a third aspect, the present invention provides an electronic device, characterized in that it includes:

[0021] processor;

[0022] a memory for storing instructions executable by the processor;

[0023] The processor is configured to execute the instructions to implement the method provided in the first aspect.

[0024] In a fourth aspect, the present invention provides a storage medium, which, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to execute the method provided in the first aspect.

[0025] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to perform the method provided in the first aspect.

[0026] According to a control method of a slag scraper provided by the present invention, the slag scraper includes a slag scraper plate and a control motor; obtains the position information of the target slag scraping point in the molten iron ladle; obtains a first height, the first height being the height between the uneroded area of ​​the slag scraper plate and the target slag scraping point; determines a control height based on the position information and the first height, the control height being the tipping height of the slag scraper plate controlled by the control motor to reach the target slag scraping point; based on the position information and the control height, controls the slag scraper plate to tilt to the target slag scraping point for slag scraping. In this way, the control height can be automatically calculated, and the slag scraper plate can be controlled to the target slag scraping point for slag scraping by controlling the motor according to the calculated control height, so as to realize automatic slag scraping, which solves the problem of poor slag scraping effect caused by manual operation in the related technology to a certain extent, thereby improving the slag scraping effect.

[0027] In addition, the loss of the slag plate, the waste of molten iron and the waste of cost can also be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 A flow chart of a control method for a slag scraper provided by an embodiment of the present invention;

[0030] Figure 2 A conceptual diagram of determining a first height provided by an embodiment of the present invention;

[0031] Figure 3 A conceptual diagram of determining a control height provided by an embodiment of the present invention;

[0032] Figure 4A conceptual diagram of a control method for a slag scraper provided by an embodiment of the present invention;

[0033] Figure 5 A structural block diagram of a control device for a slag scraper provided by an embodiment of the present invention;

[0034] Figure 6 A structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] As described in the background technology, with the continuous development of smart factories in steel enterprises, desulphurization and slag removal is one of the important links in the molten iron pretreatment stage, and its slag removal results directly affect the effect of molten iron pretreatment. In the related technology, the desulphurization and slag removal system is usually manual on-site slag removal or manual remote slag removal, which easily leads to poor slag removal treatment effect.

[0036] The present invention provides a control method for a slag scraper, the slag scraper includes a slag scraper plate and a control motor; the method includes: obtaining the position information of a target slag scraping point in a molten iron ladle; obtaining a first height, the first height being the height between an uneroded area of ​​the slag scraper plate and the target slag scraping point; determining a control height based on the position information and the first height, the control height being the tipping height of the slag scraper plate controlled by the control motor to reach the target slag scraping point; based on the position information and the control height, controlling the slag scraper plate to tilt to the target slag scraping point for slag scraping. In this way, the control height can be automatically calculated, and the slag scraper plate can be controlled to the target slag scraping point for slag scraping by the control motor according to the calculated control height, so as to realize automatic slag scraping, which solves the problem of poor slag scraping effect caused by manual operation in the related art to a certain extent, thereby improving the slag scraping effect. In addition, the loss of the slag scraper plate, the waste of molten iron and the waste of cost can also be reduced.

[0037] In the present invention, during the slag scraping process of the scraper plate, the slag surface distribution is obtained. When the slag surface distribution indicates that the slag surface thickness of the target scraping point is not greater than the target value, the position information of the target scraping point is reconfirmed, so that the working process of the scraper can be monitored in real time and adjusted to obtain a better slag scraping effect.

[0038] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0039] It should be understood that the control method of the scraper provided in the embodiment of the present invention can be executed by a target device. The target device can be a control device of the scraper, that is, a programmable logic controller (PLC), which can be one electronic device or multiple electronic devices that cooperate with each other to execute. The electronic device can be a server, such as an independent physical server, a server cluster composed of multiple servers, and a cloud server capable of cloud computing.

[0040] Figure 1 The following is a flow chart of a control method for a slag scraper provided by an embodiment of the present invention. Figure 1 As shown, the control method of the scraper provided by the embodiment of the present invention includes steps 110 to 140.

[0041] Step 110, obtaining the position information of the target slag removal point in the ladle.

[0042] In the embodiment of the present invention, the scraper includes a scraper plate and a control motor. The scraper plate is a device on the scraper responsible for scraping, and the control motor is a control device on the scraper that controls the position and movement of the scraper plate.

[0043] In an embodiment of the present invention, the ladle may be a ladle to be subjected to desulfurization and deslag treatment in a steel production process. The ladle may include molten iron for steel production and may also include impurities generated in the early production process, and the impurities may float on the molten iron.

[0044] In an embodiment of the present invention, the target slag removal point is an impurity processing point in the ladle, and the slag removal machine performs slag removal processing on the target slag removal point, so that impurities flow out from the ladle mouth and retain the pure molten iron in the lower layer of the ladle.

[0045] In an embodiment of the present invention, the position information of the target slag removal point can be expressed in the form of X-axis and Y-axis, with the center of the outer edge of the ladle nozzle being regarded as the origin, and the direction of the outer edge of the ladle nozzle (equivalent to the direction of impurity outflow described above) being regarded as the X-axis.

[0046] In the embodiment of the present invention, after the position information of the target scraping point is obtained, the scraping plate can be controlled to move above the target scraping point, and then step 120 is executed.

[0047] Step 120, obtaining a first height, where the first height is the height between the uncorroded area of ​​the scraper plate and the target scraper point.

[0048] In the embodiment of the present invention, the first height can be obtained by installing a distance sensor or other equipment above the scraping plate. In order to make the first height more accurate, the target device can first move the scraping plate to above the target scraping point by controlling the motor.

[0049] In the embodiment of the present invention, the scraper plate may be a used and corroded scraper plate, and the first height may be understood as the actual height of the scraper plate to the target scraper point.

[0050] Step 130: determining a control height based on the position information and the first height, wherein the control height is a tipping height at which the control motor controls the scraper plate to reach the target scraper point.

[0051] In the embodiment of the present invention, since the control motor and the scraper plate are not located at the same location, the control height can be determined based on the position information and the first height, for example, by proportional calculation.

[0052] Step 140: Based on the position information and the control height, control the scraping plate to tilt to the target scraping point to perform scraping processing.

[0053] In the embodiment of the present invention, after the control height is obtained, the target device can control the motor to control the slag scraping plate to tilt to the target slag scraping point to perform slag scraping processing.

[0054] In this way, the control height can be automatically calculated, and the slag removal plate can be controlled by the motor to move to the target slag removal point for slag removal processing, so as to realize automatic slag removal, improve the slag removal effect, reduce the loss of the slag removal plate and the waste of molten iron, as well as the waste of costs, and to a certain extent solve the problem of poor slag removal treatment effect caused by manual operation in related technologies.

[0055] In some embodiments, step 110 may include the following operating steps: obtaining the slag surface distribution in the ladle, the slag surface distribution is used to characterize the thickness of the slag surface and the distance between each point on the slag surface and the origin; confirming the position information of the target slag removal point in the ladle based on the slag surface distribution.

[0056] In the embodiment of the present invention, a camera can be arranged directly above the ladle, and the camera takes a picture of the slag surface and sends it to the target device, so that the target device analyzes the slag surface image in the ladle to obtain the slag surface distribution. For example, the darkness of the slag surface image can represent the thickness of the slag surface, and the center of the outer edge of the ladle mouth can be regarded as the origin, and the direction of the outer edge of the ladle mouth can be regarded as the X-axis to determine the distance between each point of the slag surface image and the origin.

[0057] In the embodiment of the present invention, according to the distribution of the slag surface, a point with a higher slag surface thickness and a longer distance from the origin may be determined as a target slag removal point, thereby obtaining position information of the target slag removal point.

[0058] In an embodiment of the present invention, the camera arranged directly above the ladle may include a slag surface image analysis function. After analyzing the slag surface distribution through the slag surface image analysis camera above the ladle, the position information of the target slag removal point can be directly sent to the target device.

[0059] In an embodiment of the present invention, while obtaining the position information of the target slag removal point, the position information of the outer edge of the ladle compared to the origin can also be obtained to determine the activity range of the slag removal plate in the ladle, so that the slag removal plate will not move outside the ladle within the working range, affecting work efficiency.

[0060] In some embodiments, step 120 may include the following operating steps: obtaining the tilting angle of the ladle and the distance from the ladle spout to the bottom of the ladle body; determining the first height based on the tilting angle of the ladle and the distance from the ladle spout to the bottom of the ladle body.

[0061] In an embodiment of the present invention, a tilting angle sensor may be provided on the tilting cylinder on the molten iron trolley, and the target device obtains the tilting angle of the molten iron ladle by receiving the tilting angle of the molten iron ladle sensed by the tilting angle sensor.

[0062] In the embodiment of the present invention, the distance from the ladle mouth to the bottom of the ladle body of the molten iron ladle may be preset in advance.

[0063] After obtaining the tipping angle of the ladle and the distance from the ladle spout to the bottom of the ladle body, the first height can be determined. Specifically, based on the tipping angle of the ladle and the distance from the ladle spout to the bottom of the ladle body, the distance from the ladle spout to the molten iron trolley is determined; the height from the assumed bottom of the slag skimming plate to the ground, the height from the molten iron trolley to the ground, the thickness of the slag surface in the ladle, and the erosion height of the slag skimming plate are obtained, and the assumed bottom of the slag skimming plate is the bottom of the slag skimming plate when it is not eroded; based on the vertical distance from the ladle spout to the molten iron trolley, the height from the assumed bottom of the slag skimming plate to the ground, the height from the molten iron trolley to the ground, and the thickness of the slag surface, the first height is determined.

[0064] In an embodiment of the present invention, Figure 2 A specific schematic diagram for determining the first height is provided. The tilting angle of the ladle can be understood as Figure 2 The distance from the ladle mouth to the bottom of the ladle body can be understood as Figure 2 The distance from the ladle nozzle to the molten iron trolley can be determined by formula (1) (e.g. Figure 2 h2 shown). Formula (1) is:

[0065] h2=s1*sinX

[0066] Wherein, h2 is the distance from the ladle spout to the molten iron trolley, s1 is the distance from the ladle spout to the bottom of the ladle body, and X is the tilting angle of the ladle.

[0067] In the embodiment of the present invention, after each scraping process is completed, the scraping plate will return to the initial position. At the initial position, the height of the assumed bottom of the scraping plate to the ground (such as Figure 2 h4 shown, Figure 2 The scraper plate on the top is an uncorroded scraper plate) can be preset in advance and obtained by the target device by receiving manual input. In actual situations, before the target device obtains the height from the assumed bottom of the scraper plate to the ground, it can obtain the length information of the scraper plate when it is not corroded by receiving manual input.

[0068] In the embodiment of the present invention, the height from the molten iron trolley to the ground (eg Figure 2 The h3) shown may also be preset in advance and acquired by the target device by receiving manual input.

[0069] In the embodiment of the present invention, in order to calculate more accurately, the thickness of the slag surface in the ladle and the erosion height of the slag skimmer plate may also be considered in actual situations.

[0070] In the embodiment of the present invention, when obtaining the position information of the target slag removal point, the slag surface thickness in the ladle can be obtained at the same time, which can be represented by hslag in the following formula. It should be understood that: Figure 2 In order to show the slag surface level, h slag is not shown.

[0071] In the embodiment of the present invention, a slag plate image analyzer can be installed in front of the molten iron trolley to analyze the use of the slag plate, and combine the uneroded length information of the slag plate preset in the target device in advance to obtain the erosion height of the slag plate, which can be expressed by h plate in the following formula. It should be understood that, Figure 2 The scraper plate on the top is an uncorroded scraper plate. Figure 2 The h-plate is not shown.

[0072] After obtaining the above data, the first height (such as Figure 2 h1 shown). Formula (2) is:

[0073] h1=h4-(h2+h3)+h plate+h slag

[0074] Wherein, h1 is the first height, h4 is the height from the assumed bottom of the slag plate to the ground, h2 is the distance from the ladle mouth to the molten iron trolley obtained in formula (1), h3 is the height from the molten iron trolley to the ground, hplate is the erosion height of the slag plate, and hslag is the slag surface thickness in the ladle.

[0075] In the embodiment of the present invention, after the first height is obtained, the control height can be obtained through the first height.

[0076] In some embodiments, the scraper further includes a tilt bearing, and step 130 may include the following operating steps: obtaining the distance between the tilt bearing and the target scraping point and the distance between the tilt bearing and the control motor; determining the control height based on the distance between the tilt bearing and the target scraping point, the distance between the tilt bearing and the control motor, and the first height.

[0077] In the embodiment of the present invention, the structure of the scraper can be as follows: Figure 3 As shown, the control motor is connected to the scraper plate through a tilt bearing.

[0078] In the embodiment of the present invention, a distance-measuring camera can be arranged at the tilt bearing on the scraper, and the distance between the tilt bearing and the target scraping point (such as Figure 3 s) and the distance between the tilt bearing and the control motor (as shown Figure 3 s1), such as Figure 3 The h1 shown is the first height calculated above.

[0079] In the embodiment of the present invention, after obtaining the distance between the tilt bearing and the target slag removal point and the distance between the tilt bearing and the control motor, the control height can be calculated in proportion (such as Figure 3 h) shown.

[0080] Specifically, in the embodiment of the present invention, the control height can be determined by formula (3) based on the distance between the tilt bearing and the target slag removal point, the distance between the tilt bearing and the control motor, and the first height. Formula (3) is as follows:

[0081]

[0082] Wherein, h is the control height, s1 is the distance between the tilt bearing and the control motor, S is the distance between the tilt bearing and the target slag removal point, and h1 is the first height obtained in formula (2).

[0083] In the embodiment of the present invention, the scraper can automatically scrape the slag according to the position information of the target scraping point and the control coordinates.

[0084] In an embodiment of the present invention, during the slag removal process performed by the slag removal plate, the slag surface distribution can also be obtained in real time by a camera installed above the ladle (for example, the slag surface image analyzer mentioned above). When the slag surface distribution indicates that the slag surface thickness of the target slag removal point is not greater than the target value, the position information of the target slag removal point is reconfirmed.

[0085] In the implementation of the present invention, the target value can represent the qualified threshold value of the purity of the molten iron in the ladle, and the target device can obtain the target value by receiving the artificial preset method in advance. When the slag surface thickness at the target slag removal point is not greater than the target value, it can be considered that the molten iron near the target slag removal point has reached the purity target, and the position information of the target slag removal point can be reconfirmed, and the control height can be recalculated to perform multiple slag removal processes until the slag surface thickness at all positions in the ladle is not greater than the target value, thereby improving the slag removal effect.

[0086] In order to better understand the control method of the scraper provided by the embodiment of the present invention, an example is now given. Figure 4 A control method diagram of a slag scraper provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the control method of the scraper provided by the embodiment of the present invention comprises the following steps:

[0087] Step 1: After the molten iron ladle reaches the slag removal point on the molten iron trolley, it automatically tilts into place.

[0088] Step 2: Detect the tilting angle x of the molten iron ladle by means of a tilting angle sensor arranged on the oil cylinder of the molten iron trolley.

[0089] Step 3: Slag surface image analysis The camera starts to perform image analysis on the slag surface of the ladle, analyzes the outer edge position of the ladle and the distribution of the slag surface at this time, and determines the X-axis and Y-axis coordinates of the slag removal based on the priority of the slag surface distribution density, with the outer edge center of the ladle nozzle as the origin and the outflow direction of the nozzle as the X-axis.

[0090] Step 4: After receiving the X-axis and Y-axis coordinates, the slag scraper starts to move to the working position near the ladle.

[0091] Step 5: Slag plate image analysis The camera starts to analyze the slag plate image to determine the slag plate loss value hboard.

[0092] Step 6: Rotate the scraper to the working position.

[0093] Step 7: Calculate the distance from the scraper plate to the target scraper point using the above formulas (1) and (2).

[0094] Step 8: Calculate the Z-axis value of the scraper plate (i.e., the control height mentioned above) by formula (3). For the specific calculation, see above.

[0095] Step 9: The slag scraper automatically scrapes the slag according to the X-axis, Y-axis and Z-axis coordinates, and stops scraping the slag after the slag surface image analysis camera analyzes that the slag surface ratio reaches the requirement.

[0096] The control method of the slag remover provided by the present invention can realize full-automatic desulfurization and slag removal, and can realize full-automatic desulfurization and slag removal without human participation in the whole process. It has strict control over the use of standard desulfurizers and the amount of desulfurization and slag removal and the proportion of residual slag, which is helpful for steelmaking to realize the smelting of special steel. The calculation of the insertion depth of the slag remover plate can accurately control the insertion depth of the slag remover plate, reduce the loss of the slag remover plate and the waste of molten iron, and reduce the waste of costs.

[0097] Figure 5 This is a structural block diagram of a control device for a slag scraper provided in an embodiment of the present application. Figure 5 As shown, the steel performance prediction device 500 provided in the embodiment of the present application includes: an acquisition module 510 , a determination module 520 and a control module 530 .

[0098] An acquisition module 510 is used to acquire the position information of the target slag removal point in the ladle;

[0099] The acquisition module 510 is further used to acquire a first height, where the first height is the height between the uncorroded area of ​​the scraper plate and the target scraper point;

[0100] A determination module 520, configured to determine a control height based on the position information and the first height, wherein the control height is a tipping height of the scraper plate when the control motor controls the scraper plate to reach the target scraper point;

[0101] The control module 530 is used to control the scraping plate to tilt to the target scraping point to perform scraping processing based on the position information and the control height.

[0102] It should be noted that the embodiment of the control device of the slag scraper in this specification and the embodiment of the control method of the slag scraper in this specification are based on the same inventive concept. Therefore, the specific implementation method of this embodiment can refer to the corresponding embodiment of the control method of the slag scraper in the previous text, and the repeated parts will not be repeated.

[0103] Figure 6 A structural block diagram of an electronic device provided for the implementation of this application. Figure 6 As shown, the electronic device provided in the embodiment of the present application includes a processor 610 and a memory 620, wherein the memory is used to store instructions executable by the processor; wherein the processor is configured to execute the instructions to implement as shown in Figure 1 The control method of the scraper is shown.

[0104] In an exemplary embodiment, the electronic device may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above methods.

[0105] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions, and the instructions can be executed by a processor of the device to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device. The non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the electronic device, enables the electronic device to perform Figure 1 The control method of the scraper is shown.

[0106] The present application also provides a computer program product, including a computer program, which, when executed by a processor, Figure 1 The control method of the scraper is shown.

[0107] In the above description, the technical details such as the patterning of each layer are not described in detail. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of desired shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above. In addition, although the various embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage.

[0108] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0109] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A control method for a slag scraper, characterized in that: The scraper includes a scraper plate and a control motor; the method includes: Obtain the location information of the target slag removal point in the ladle; Acquire a first height, where the first height is the height between the uncorroded area of ​​the scraper plate and the target scraper point; Determine a control height based on the position information and the first height, the control height being a tipping height of the slag scraping plate controlled by the control motor to reach the target slag scraping point; Based on the position information and the control height, the slag scraping plate is controlled to tilt to the target slag scraping point to perform slag scraping processing.

2. The system according to claim 1, characterized in that The step of obtaining the position information of the target slag removal point in the ladle comprises: Obtaining the distribution of the slag surface in the ladle, wherein the slag surface distribution is used to characterize the thickness of the slag surface and the distance between each point on the slag surface and the center of the outer edge of the ladle mouth of the ladle; The position information of the target slag removal point in the ladle is confirmed based on the slag surface distribution.

3. The system according to claim 1, characterized in that The obtaining of the first height includes: Obtaining the tilting angle of the ladle and the distance from the ladle mouth to the bottom of the ladle body; The first height is determined based on the tilting angle of the ladle and the distance from the ladle spout to the bottom of the ladle body.

4. The system according to claim 3, characterized in that The determining the first height based on the tilting angle of the ladle and the distance from the ladle mouth to the bottom of the ladle body comprises: Determine the distance from the ladle nozzle to the molten iron trolley based on the tilting angle of the ladle and the distance from the ladle nozzle to the bottom of the ladle body of the ladle; Obtain the height from the assumed bottom of the slag skimmer plate to the ground, the height from the molten iron trolley to the ground, the thickness of the slag surface in the molten iron ladle, and the erosion height of the slag skimmer plate, wherein the assumed bottom of the slag skimmer plate is the bottom of the slag skimmer plate when it is not eroded; The first height is determined based on the distance from the ladle nozzle to the molten iron trolley, the height from the assumed bottom of the slag skimmer to the ground, the height from the molten iron trolley to the ground, and the slag surface thickness.

5. The system according to claim 1, characterized in that The scraper further includes a tilt bearing; and the controlling height is determined based on the position information and the first height, comprising: Acquire the distance between the tilt bearing and the target slag removal point and the distance between the tilt bearing and the control motor; The control height is determined based on the distance between the tilt bearing and the target scraping point, the distance between the tilt bearing and the control motor, and the first height.

6. The system according to claim 2, characterized in that After controlling the slag scraping plate to tilt to the target slag scraping point for slag scraping, the method further includes: During the slag removal process of the slag removal plate, the slag surface distribution is obtained, and when the slag surface distribution indicates that the slag surface thickness of the target slag removal point is not greater than the target value, the position information of the target slag removal point is reconfirmed.

7. A control device for a slag scraper, characterized in that: The scraper includes a scraper plate and a control motor; the device includes: An acquisition module is used to obtain the position information of the target slag removal point in the molten iron ladle; The acquisition module is further used to acquire a first height, where the first height is the height between the uncorroded area of ​​the scraper plate and the target scraper point; A determination module, configured to determine a control height based on the position information and the first height, wherein the control height is a tipping height of the scraping plate controlled by the control motor to reach the target scraping point; The control module is used to control the slag scraping plate to tilt to the target slag scraping point to perform slag scraping processing based on the position information and the control height.

8. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the control method of the scraper according to any one of claims 1 to 6.

9. A storage medium, when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the control method for a slag scraper according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, wherein the control method of a scraper according to any one of claims 1 to 6 is executed by a processor through the computer program.

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