Converter steelmaking molten iron adding control method and device based on video recognition technology

Abstract

The invention discloses a converter steelmaking molten iron adding control method and device based on a video recognition technology. The method comprises the steps that multiple molten iron images in a molten iron tank are collected in real time; performing data processing analysis on the molten iron images to obtain molten iron sectional areas and molten iron heights corresponding to the images; establishing a dynamic relationship among the mixed molten iron flow, the molten iron sectional area, the molten iron height and the iron mixing time; according to the dynamic relation and the total amount of the molten iron in the molten iron tank, the real-time residual molten iron flow in the molten iron tank is determined; and according to the dynamic relationship and the real-time residual molten iron flow in the molten iron tank, controlling the molten iron tank to carry out iron blending. According to the invention, the problems of instability and poor precision of manual operation are reduced by automatically controlling the iron blending process, and the efficiency and safety of the iron blending process are improved. And the unmanned converter steelmaking molten iron mixing procedure is achieved. By collecting video data in the converter steelmaking iron blending process, the purpose of monitoring key parameters in the iron blending process in real time is achieved.

Description

Technical Field

[0001] The present invention relates to the field of video recognition technology, and can also be used in the financial field, and in particular to a method and device for controlling molten iron addition in converter steelmaking based on video recognition technology. Background Art

[0002] Converter steelmaking uses molten iron, scrap steel and ferroalloys as the main raw materials. It does not require any external energy and only uses the physical heat of the molten iron itself and the chemical reactions between its components to generate heat for the steelmaking process.

[0003] At present, the process of adding molten iron to converter steelmaking is to first transport the molten iron tank to the charging span of the steelmaking workshop by rail or car. Then the molten iron is desulfurized through molten iron pretreatment. On the operating platform in front of the converter, the on-site operator, the furnace shaker in the command shaking room and the foundry crane driver operate the converter and the molten iron tank to complete the converter iron adding process.

[0004] However, in the actual production process, due to the high temperature of the operating platform in front of the furnace, the smoke and dust emission is large, and the operator needs to operate the converter steelmaking and iron addition operation in a high temperature and high noise environment, which is prone to safety accidents. In addition, the quality of the converter steelmaking and iron addition depends entirely on the experience of the on-site operators, and there are many uncertainties in the iron addition process.

[0005] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No description herein is admitted to be prior art by inclusion in this section. Summary of the invention

[0006] The embodiment of the present invention provides a method for controlling molten iron addition in converter steelmaking based on video recognition technology, which is used to realize automatic and precise control of the molten iron addition process in the converter by integrating video monitoring technology and programmable logic controller automation control technology. The method comprises:

[0007] Collect multiple molten iron images in the molten iron ladle in real time;

[0008] Performing data processing and analysis on the molten iron images to obtain the molten iron cross-sectional area and molten iron height corresponding to each image;

[0009] Establish the dynamic relationship between the molten iron flow rate, molten iron cross-sectional area, molten iron height and molten iron adding time;

[0010] Determining the real-time remaining molten iron flow rate in the molten iron tank according to the dynamic relationship and the total amount of molten iron in the molten iron tank;

[0011] The molten iron tank is controlled to add iron according to the dynamic relationship and the real-time remaining molten iron flow in the molten iron tank.

[0012] Furthermore, the method further comprises:

[0013] The historical data of molten iron addition in converter steelmaking is processed by uniform distribution to generate a molten iron flow time relationship table;

[0014] Among them, the historical data includes: the remaining molten iron flow rate, the molten iron cross-sectional area, the molten iron height, the iron adding time and the converter capacity; the molten iron flow rate time relationship table is used to characterize the mapping relationship between the remaining molten iron setting value, the converter capacity and the preset total iron adding time.

[0015] Further, controlling the molten iron tank to add iron according to the dynamic relationship and the real-time remaining molten iron flow rate in the molten iron tank includes:

[0016] Collect the position image of the molten iron ladle in real time;

[0017] According to the converter capacity and the molten iron flow time relationship table, the preset total iron addition time and the remaining molten iron setting value corresponding to the converter capacity are selected;

[0018] Determining, based on the position image, whether the distance between the bottom of the molten iron ladle and the ground reaches a preset distance and whether the position of the molten iron ladle opening reaches a preset position of the converter furnace opening;

[0019] If the distance between the bottom of the molten iron tank and the ground reaches a preset distance and the position of the molten iron tank mouth reaches a preset position of the converter furnace mouth, the molten iron tank is controlled to add iron;

[0020] When the real-time remaining molten iron flow rate in the molten iron tank reaches the remaining molten iron set value or the real-time iron adding time reaches the preset total iron adding time, the molten iron tank is controlled to stop adding iron.

[0021] Further, determining the real-time remaining molten iron flow rate in the molten iron tank according to the dynamic relationship and the total amount of molten iron in the molten iron tank comprises:

[0022] Determine the current molten iron flow rate according to the dynamic relationship and the molten iron cross-sectional area and molten iron height corresponding to the molten iron adding time;

[0023] The current remaining molten iron flow rate is determined based on the current molten iron flow rate that has been added and the total amount of molten iron.

[0024] The embodiment of the present invention further provides a converter steelmaking molten iron control device based on video recognition technology, which is used to realize automatic and precise control of the converter molten iron adding process by integrating video monitoring technology and programmable logic controller automation control technology. The device includes:

[0025] An image acquisition module, used for acquiring multiple molten iron images in the molten iron ladle in real time;

[0026] An image processing module is used to perform data processing and analysis on the molten iron images to obtain the molten iron cross-sectional area and molten iron height corresponding to each image;

[0027] A dynamic relationship establishment module is used to establish a dynamic relationship between the molten iron flow rate, the molten iron cross-sectional area, the molten iron height and the molten iron addition time;

[0028] A molten iron flow determination module, used to determine the real-time remaining molten iron flow in the molten iron tank according to the dynamic relationship and the total amount of molten iron in the molten iron tank;

[0029] The iron addition control module is used to control the iron addition of the molten iron tank according to the dynamic relationship and the real-time remaining molten iron flow in the molten iron tank.

[0030] Furthermore, the device also includes:

[0031] The historical data analysis module is used to generate a molten iron flow time relationship table by evenly distributing the historical data of converter steelmaking and molten iron;

[0032] Among them, the historical data includes: the remaining molten iron flow rate, the molten iron cross-sectional area, the molten iron height, the iron adding time and the converter capacity; the molten iron flow rate time relationship table is used to characterize the mapping relationship between the remaining molten iron setting value, the converter capacity and the preset total iron adding time.

[0033] Furthermore, the iron addition control module includes:

[0034] A position image acquisition unit, used for acquiring the position image of the molten iron ladle in real time;

[0035] A selection unit, configured to select the preset total iron addition time and the remaining molten iron setting value corresponding to the converter capacity according to a converter capacity and molten iron flow time relationship table;

[0036] A position determination unit, configured to determine, based on the position image, whether the distance between the bottom of the molten iron ladle and the ground reaches a preset distance and whether the position of the molten iron ladle opening reaches a preset position of the converter furnace opening;

[0037] An iron adding control unit, used for controlling the iron adding tank to add iron if the distance between the bottom of the iron tank and the ground reaches a preset distance and the position of the iron tank mouth reaches a preset position of the converter furnace mouth;

[0038] The iron addition completion judgment unit is used to control the molten iron tank to stop adding iron when the real-time remaining molten iron flow in the molten iron tank reaches the remaining molten iron set value or the real-time iron addition time reaches the preset total iron addition time.

[0039] Furthermore, the molten iron flow determination module includes:

[0040] A first molten iron flow rate determination unit is used to determine the current molten iron flow rate according to the dynamic relationship and the molten iron cross-sectional area and molten iron height corresponding to the molten iron addition time;

[0041] The second molten iron flow determination unit is used to determine the current remaining molten iron flow according to the current molten iron flow and the total amount of molten iron.

[0042] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for controlling the addition of molten iron to converter steelmaking based on video recognition technology when executing the computer program.

[0043] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned converter steelmaking and molten iron control method based on video recognition technology is implemented.

[0044] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the above-mentioned converter steelmaking and molten iron control method based on video recognition technology.

[0045] The method and device for controlling molten iron addition in converter steelmaking based on video recognition technology provided by the embodiment of the present invention can obtain the molten iron cross-sectional area and molten iron height corresponding to each image by real-time acquisition of molten iron images in the molten iron tank and data processing and analysis of the molten iron images. The dynamic relationship between the added molten iron flow, molten iron cross-sectional area, molten iron height and iron addition time is established, and the molten iron capacity in the molten iron tank and the remaining molten iron amount in the molten iron tank are calculated in real time by analyzing the video data and the dynamic relationship, so that the iron addition progress can be judged. The accuracy of the data can be ensured by using technologies such as image preprocessing, target detection and dimension measurement. Based on the results of video recognition, the furnace lifting or pressing instructions can be automatically generated to control the lifting or pressing of the converter, which can better adapt to the molten iron addition process. Through automatic control, the instability and poor precision of manual operation are reduced, the efficiency and safety of the iron addition process are improved, and the unmanned converter steelmaking molten iron addition process is realized. By installing a camera to collect video data during the converter steelmaking process, key parameters such as molten iron flow, molten iron cross-sectional area, molten iron height and iron addition time can be monitored in real time. By standardizing iron mixing operations, human operating errors can be reduced, the occurrence of iron spillage accidents can be reduced, the working environment of steelmaking operators can be improved, and the labor intensity of workers can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] 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 prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0047] Figure 1 It is a structural schematic diagram of a converter steelmaking and molten iron adding control system based on video recognition technology in an embodiment of the present invention;

[0048] Figure 2 It is a flow chart of a method for controlling the addition of molten iron to converter steelmaking based on video recognition technology in one embodiment of the present invention;

[0049] Figure 3 It is a flow chart of a method for controlling the addition of molten iron to converter steelmaking based on video recognition technology in another embodiment of the present invention;

[0050] Figure 4 It is a flow chart of a method for controlling the addition of molten iron to converter steelmaking based on video recognition technology in another embodiment of the present invention;

[0051] Figure 5 It is a structural schematic diagram of a converter steelmaking and molten iron adding control device based on video recognition technology in one embodiment of the present invention;

[0052] Figure 6 It is a structural schematic diagram of a converter steelmaking and molten iron adding control device based on video recognition technology in one embodiment of the present invention;

[0053] Figure 7 It is a structural schematic diagram of a converter steelmaking and molten iron adding control device based on video recognition technology in one embodiment of the present invention;

[0054] Figure 8 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0056] The information collected in the technical solution of this application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data comply with the relevant laws, regulations and standards of relevant countries and regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0057] The acquisition, transmission, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of national laws and regulations. It should be noted that in the embodiments of the present invention, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary, and their purpose is only to illustrate the feasibility of the implementation of the technical solution of the present invention, but it does not mean that the applicant has or will necessarily use the solution.

[0058] In order to accurately control the converter molten iron adding process by integrating video monitoring technology and programmable logic controller automation control technology, the present invention provides a converter steelmaking molten iron adding control system based on video recognition technology.

[0059] Figure 1 This is a schematic diagram of the structure of a converter steelmaking and hot metal addition control system based on video recognition technology in an embodiment of the present invention. Figure 1 As shown, the converter steelmaking and molten iron control system includes: two high-temperature and high-brightness cameras 101, a network high-definition camera 102, a switch 103, a network video recorder 104 (NVR), a network video server 105 and a programmable logic controller 106 (PLC).

[0060] The two high-temperature high-brightness cameras 101 , the network high-definition camera 102 , the switch 103 , the network video recorder 104 , and the network video server 105 are all connected to the video dedicated network. The programmable logic controller 106 is connected to the network video server 105 .

[0061] Specifically, two high-temperature, high-brightness cameras 101 and a network high-definition camera 102 are set on the operating platform in front of the converter. One high-temperature, high-brightness camera 101 is set toward the converter furnace mouth to monitor the flow of molten iron at the converter furnace mouth to ensure that the molten iron can be smoothly poured into the converter. The other high-temperature, high-brightness camera 101 is set toward the molten iron tank to collect the state of the molten iron tank and the molten iron flow in the molten iron tank. The network high-definition camera 102 is set toward the main hook, auxiliary hook and molten iron tank of the overhead crane to monitor the movement and positioning of the overhead crane hook and the molten iron tank to ensure that the molten iron tank can be lifted and lowered safely and accurately.

[0062] The network video server 105, the switch 103, the network video recorder 104 and the programmable logic controller 106 are arranged in the converter control room.

[0063] In one embodiment, the network video server 105 serves as the data processing center of the converter steelmaking molten iron control system, and is used to store and process data from multiple cameras, and to run relevant computing models for data analysis. The switch 103 is used to connect and manage the network high-definition camera 102 and other network devices to ensure data transmission and exchange. The network video recorder 104 is used for video recording, video data management and remote access during the molten iron process. The programmable logic controller 106 is used to control the entire molten iron process, including the lifting and lowering of the overhead crane, and the movement of the molten iron ladle.

[0064] In one embodiment, a database server is also provided in the converter control room for collecting and storing a large amount of historical molten iron data such as iron addition time, molten iron cross-sectional area, molten iron height and molten iron flow rate. The database server can be shared with the network video server 105 to achieve real-time data collection and analysis. The database server can be used to construct a dynamic relationship between the added molten iron flow rate and the molten iron cross-sectional area and molten iron height based on a large amount of historical molten iron data.

[0065] In the embodiment of the present invention, the high-temperature high-brightness camera 101 can work in extreme environments, is not affected by light and temperature changes, and ensures that clear video images can be provided under various environmental conditions. The automated molten iron process reduces production interruptions caused by operational delays or errors. The automated control system can run continuously, reducing waiting time and downtime, and improving overall production continuity. And it can perform the iron-adding task with high consistency and accuracy. The automated control system can record and store all previous molten iron data, including molten iron flow, iron-adding time, and molten iron tank position. These data can be used for subsequent analysis to optimize the production process and improve production efficiency. In addition, through real-time video monitoring and precise position verification, the molten iron tank can be accurately aligned with the converter furnace mouth, reducing human error and improving iron-adding efficiency. Through real-time video monitoring of the iron-adding process, real-time on-site feedback is provided, allowing operators to quickly respond to any abnormal situation. This real-time remote monitoring is essential for timely adjustment of iron-adding operations and prevention of potential problems at the iron-adding site. The molten iron-adding process is controlled by the above-mentioned automated control system, which reduces the exposure time of personnel in high-temperature and dangerous environments. Through intelligent remote monitoring and remote iron exchange operations, workers can complete the iron exchange task at a safe distance, significantly reducing the risk of work-related accidents.

[0066] Figure 2 FIG. 1 is a flow chart of a method for controlling the addition of molten iron to converter steelmaking based on video recognition technology in an embodiment of the present invention. Figure 2As shown, the converter steelmaking and molten iron adding control method includes steps 201 to 205.

[0067] Step 201: Collect multiple molten iron images in the molten iron ladle in real time.

[0068] Step 202: Perform data processing and analysis on the molten iron images to obtain the molten iron cross-sectional area and molten iron height corresponding to each image.

[0069] Step 203: Establish a dynamic relationship between the molten iron flow rate, the molten iron cross-sectional area, the molten iron height and the iron adding time.

[0070] Step 204: Determine the real-time remaining molten iron flow rate in the molten iron tank according to the dynamic relationship and the total amount of molten iron in the molten iron tank.

[0071] Step 205: Control the molten iron tank to add iron according to the dynamic relationship and the real-time remaining molten iron flow rate in the molten iron tank.

[0072] from Figure 2 It can be seen from the process shown that in the embodiment of the present invention, by real-time acquisition of molten iron images in the molten iron tank, data processing and analysis of the molten iron images are performed to obtain the molten iron cross-sectional area and molten iron height corresponding to each image. A dynamic relationship between the molten iron flow rate, molten iron cross-sectional area, molten iron height and iron adding time is established. By analyzing the video data and the dynamic relationship, the molten iron capacity in the molten iron tank and the remaining molten iron in the molten iron tank are calculated in real time to determine the iron adding progress. Image preprocessing, target detection and dimension measurement and other technologies are used to ensure the accuracy of the data. Based on the results of video recognition, a furnace lifting or furnace pressing instruction can be automatically generated to control the lifting or pressing of the converter to adapt to the molten iron adding process. This automated control reduces the instability and poor precision of manual operation, improves the efficiency and safety of the iron adding process, and realizes the unmanned converter steelmaking molten iron adding process. By installing a camera to collect video data during the converter steelmaking process, key parameters such as molten iron flow rate, molten iron cross-sectional area, molten iron height and iron adding time can be monitored in real time. By standardizing the iron adding operation, human operating errors can be reduced and the occurrence of iron spilling accidents can be reduced. It improves the working environment of steelmaking operators and reduces the labor intensity of workers.

[0073] like Figure 2 As shown, each step is explained in detail below.

[0074] Step 201: Collect multiple molten iron images in the molten iron ladle in real time.

[0075] Specifically, the image of molten iron in the molten iron tank is collected by the high-temperature and high-brightness camera 101 .

[0076] In one embodiment, the high-temperature and high-brightness camera 101 has a built-in semiconductor refrigeration module, which can ensure that the camera can operate stably and uninterruptedly 24 hours a day at 70°C, thereby obtaining clear molten iron images.

[0077] Step 202: Perform data processing and analysis on the molten iron images to obtain the molten iron cross-sectional area and molten iron height corresponding to each image.

[0078] Specifically, the collected molten iron images are processed and analyzed frame by frame through image preprocessing to obtain the molten iron cross-sectional area and molten iron height corresponding to each molten iron image.

[0079] In one embodiment, image preprocessing includes grayscale conversion, histogram equalization, denoising, and contrast enhancement.

[0080] Grayscale is used to convert a color molten iron image into a grayscale image, which can reduce the amount of data and thus simplify the data processing process. Histogram equalization is used to adjust the contrast of the molten iron image, making the histogram distribution of the molten iron image more uniform and enhancing the global contrast of the molten iron image. Denoising is used to reduce the noise (such as Gaussian noise) in the molten iron image. Commonly used denoising methods include Gaussian filtering, median filtering, and bilateral filtering. Contrast enhancement is used to adjust the contrast of the molten iron image, which can make the molten iron image clearer and can be achieved through linear transformation or nonlinear transformation.

[0081] In one embodiment, the quality of the molten iron image can be improved and the boundary features of the molten iron can be highlighted by the grayscale, denoising and contrast enhancement methods. Then, the edge of the molten iron is identified by applying an edge detection algorithm (such as the Sobel operator), thereby determining the cross-sectional area and height of the molten iron. The molten iron image is segmented by binarization, and a pixel value threshold is determined according to the image histogram. The molten iron image is converted into an image with only black and white pixel values, thereby extracting the cross-sectional area and height information of the molten iron.

[0082] Specifically, when adding iron in converter steelmaking, the total time for adding iron is set to n, and the minimum calculation unit of the iron adding time ti can be set to 1s, but the present invention is not limited thereto.

[0083] The iron exchange time ti is set to t1, t2, …, tn, where i is 1, 2, 3, …, n-1, n, and n is a positive integer greater than or equal to 1.

[0084] According to different iron adding time ti, the cross-sectional area A of molten iron ti and molten iron height H tiReal-time measurement is performed to obtain the molten iron cross-sectional area A corresponding to different iron addition times ti during the iron addition process ti And the molten iron height H ti . Thus, a large amount of basic data is collected for subsequent data processing and analysis. Among them, the iron adding time ti is multiple iron adding time periods, and the molten iron cross-sectional area A ti It refers to the cross-sectional area A of the molten iron corresponding to different iron adding times ti (i=1,2,3,…,n-1,n) ti Molten iron height H ti It refers to the different molten iron cross-sectional area A ti The height of the molten iron under the molten iron can be determined according to the actual flow conditions of the molten iron and the results of the molten iron image analysis.

[0085] In one embodiment, the molten iron cross-sectional area A corresponding to different iron addition times ti (i=1, 2, 3, ..., n-1, n) ti The network video server 105 can be used to analyze a large number of molten iron images collected, but the present invention is not limited thereto.

[0086] Step 203: Establish the molten iron flow Q t , molten iron cross-sectional area A ti , molten iron height H ti And the dynamic relationship between the iron addition time ti.

[0087] Specifically, according to the molten iron cross-sectional area A corresponding to the iron adding time ti collected during the iron adding process ti and molten iron height H ti , establish the molten iron flow Q t , molten iron cross-sectional area A ti , molten iron height H ti The dynamic relationship between the time of iron addition ti. The dynamic relationship expression is:

[0088]

[0089] Among them, Q t is the flow rate of molten iron, A ti is the cross-sectional area of ​​molten iron, H ti is the height of molten iron, ti is the iron adding time, and n is a positive integer greater than or equal to 1.

[0090] Specifically, the cross-sectional area A of the molten iron at different time periods ti Multiply by the height H of the molten iron under the section ti , get the molten iron flow rate in each period. Add up the molten iron flow rate in each period to get the molten iron flow rate Q in this period t In order to ensure the accuracy of the calculation results, the measuring equipment should be calibrated regularly, and the influence of various factors such as molten iron temperature and molten iron composition on the measurement results should be considered.

[0091] In the embodiment of the present invention, the cross-sectional area A of the molten iron corresponding to different iron adding times ti in the iron adding process is collected. ti and molten iron height H ti Based on a large amount of basic data, the molten iron flow Q t , molten iron cross-sectional area A ti , molten iron height H ti The dynamic relationship between the iron addition time ti and the iron addition time ti can accurately calculate the real-time iron addition flow Q t , providing important data support for subsequent converter control.

[0092] After the hot metal flow rate Q has been established t , molten iron cross-sectional area A ti , molten iron height H ti After the dynamic relationship between the actual iron adding time ti, the real-time remaining molten iron flow Q in the actual iron adding process is determined by the following steps: s .

[0093] Step 204: Determine the real-time remaining molten iron flow rate Q in the molten iron tank based on the above dynamic relationship and the total amount of molten iron Q in the molten iron tank. s .

[0094] like Figure 3 As shown, step 204 includes step 301 and step 302 .

[0095] Step 301: Determine the current molten iron flow rate Q according to the above dynamic relationship and the molten iron cross-sectional area and molten iron height corresponding to the iron addition time. ti .

[0096] Specifically, in the actual iron adding process, the collected molten iron video is processed in real time to obtain the molten iron images corresponding to different iron adding times ti. The molten iron images corresponding to different iron adding times ti are processed in real time to analyze the molten iron cross-sectional areas A corresponding to different iron adding times ti. ti and at different molten iron cross-sectional areas A ti The height of molten iron under ti The above dynamic relationship expression is used to calculate the molten iron flow Q corresponding to the current iron addition time ti t , thus obtaining the current molten iron flow Q ti .

[0097] Step 302: Determine the current remaining molten iron flow rate based on the current molten iron flow rate and the total amount of molten iron.

[0098] Specifically, since the total amount of molten iron Q in the molten iron tank is fixed, the remaining molten iron flow rate Q in the molten iron tank is t is the total amount of molten iron in the molten iron tank Q and the amount of molten iron added Qt difference.

[0099] Get the remaining molten iron flow Q t The total amount of molten iron Q and the cross-sectional area of ​​molten iron A ti , molten iron height H ti The dynamic relationship expression of the iron addition time ti is:

[0100]

[0101] Among them, Q s is the remaining molten iron flow, Q is the total amount of molten iron, A ti is the cross-sectional area of ​​molten iron, H ti is the height of molten iron, ti is the iron adding time, and n is a positive integer greater than or equal to 1.

[0102] Specifically, according to the current molten iron flow Q ti , calculate the current remaining molten iron flow Q according to the dynamic relationship expression of the remaining molten iron flow si , i.e. Q si =QQ ti Thus, the real-time remaining molten iron flow Q in the actual iron addition process is obtained. s .

[0103] In one embodiment, if the current iron adding time is t3, the iron adding times of different time periods obtained at this time are t1, t2 and t3. The corresponding molten iron cross-sectional areas at the iron adding times t1, t2 and t3 are A respectively. t1 , A t2 and A t3 . In the cross-sectional area A of the molten iron t1 The height of the molten iron under t1 , in the cross-sectional area of ​​molten iron A t2 The height of the molten iron under t2 , in the cross-sectional area of ​​molten iron A t3 The height of the molten iron under t3 .

[0104] According to the molten iron flow Q t , molten iron cross-sectional area A ti , molten iron height H ti The dynamic relationship expression between the iron addition time ti is used to calculate the current iron addition flow rate Q t3 Q t3 =A t1 H t1 +A t2 H t2 +A t3 H t3 .

[0105] According to the remaining molten iron flow Q tThe total amount of molten iron Q and the cross-sectional area of ​​molten iron A ti , molten iron height H ti The dynamic relationship expression between the iron addition time ti is used to calculate the current remaining molten iron flow Q s3 Q s3 =QQ t3 .

[0106] The above converter steelmaking molten iron control method also includes:

[0107] The historical data of molten iron addition in converter steelmaking is processed by uniform distribution to generate a molten iron flow time relationship table.

[0108] Among them, historical data include: real-time remaining molten iron flow Q s , molten iron cross-sectional area A ti , molten iron height H ti , Iron exchange time H ti and converter capacity Z c ; The molten iron flow time relationship table is used to characterize the remaining molten iron setting value and the converter capacity Z c And the mapping relationship between the preset total iron exchange time.

[0109] Specifically, in the process of adding molten iron to the converter, different converter capacities Z c The corresponding recommended total time for iron exchange is T d and the minimum set value Q of the remaining molten iron in the molten iron ladle m are different.

[0110] First, collect the historical data of converter steelmaking and molten iron. The historical data includes the collected molten iron cross-sectional area A ti , molten iron height H ti , iron adding time ti, total iron adding time and converter capacity Z c etc., and according to the iron adding time ti and its corresponding molten iron cross-sectional area A ti and molten iron height H ti The calculated real-time molten iron flow Q t and the real-time remaining molten iron flow Q s .

[0111] Then, the collected historical data (remaining molten iron flow Q s , molten iron cross-sectional area A ti , molten iron height H ti and total iron-adding time) according to converter capacity Z c to classify.

[0112] Finally, the classified historical data is statistically analyzed and the capacity Z of each converter is determined by the uniform distribution algorithm. c The molten iron flow distribution under the condition generates the corresponding minimum set value Q of the remaining molten ironm .

[0113] In one embodiment, data preprocessing is performed before statistical analysis to identify abnormal values ​​of molten iron data that do not conform to the conventional ones. These abnormal molten iron data are removed from the data set to ensure that the generated minimum set value Q of the remaining molten iron is within the range of 100%. m accuracy.

[0114] As shown in the following table, the generated molten iron flow time relationship table is sent to the programmable logic controller 106. The programmable logic controller 106 calculates the current converter capacity Z according to the current converter capacity Z. c Automatically search the molten iron flow-time relationship table and select the corresponding recommended total molten iron time T d and the minimum setting value of residual molten iron Q m The programmable logic controller 106 controls the overhead crane and the molten iron tank to add iron, thereby optimizing the iron adding process and ensuring the stability and safety of production.

[0115]

[0116] Table: Molten Iron Flow Time Relationship Table

[0117] Among them, the converter capacity Z c Indicates the capacity of different converters in tons (t). Recommended iron addition time T d For each converter capacity Z c Recommended iron addition time, in seconds (s) or minutes (min). Minimum setting value of remaining molten iron Q m Indicates the capacity of each converter Z c The minimum setting value of the remaining molten iron in the molten iron ladle is in tons (t).

[0118] In one embodiment, a complete database is established by collecting a large amount of historical data. The historical data includes but is not limited to molten iron flow, molten iron cross section, molten iron height, iron adding time, and the lifting position of the overhead crane auxiliary hook. By calculating and analyzing the above data, the recommended iron adding time T is continuously iterated and optimized. d and the minimum setting value of residual molten iron Q m .

[0119] Step 205: Control the molten iron tank to add iron according to the above dynamic relationship and the real-time remaining molten iron flow rate in the molten iron tank.

[0120] like Figure 4 As shown, step 205 includes steps 401 to 405 .

[0121] Step 401: Acquire the position image of the molten iron ladle in real time.

[0122] Specifically, during the actual iron exchange process, the network high-definition camera 102 collects real-time video images of the entire lifting process of the main hook, auxiliary hook and molten iron ladle of the overhead crane, as well as the real-time position image of the molten iron ladle.

[0123] In one embodiment, a high-temperature and high-brightness camera 101 is used to collect the image of the molten iron in the molten iron ladle in real time. Another high-temperature and high-brightness camera 101 is used to collect the position image of the converter furnace mouth in real time.

[0124] In one embodiment, the overhead crane is monitored by a plurality of the above-mentioned cameras to ensure that the main hook and the auxiliary hook of the overhead crane are in the correct position.

[0125] The programmable logic controller 106 controls the crane to lower the main hook to drive the molten iron ladle to slowly descend. The high-temperature and high-brightness camera 101 monitors the distance between the molten iron ladle and the ground. When the bottom of the molten iron ladle is about 1.5 meters from the ground, the programmable logic controller 106 controls the crane to lower the auxiliary hook. The auxiliary hook of the crane is hung in the ring of the molten iron ladle, and the crane is controlled to lift the molten iron ladle filled with molten iron to the position just above the converter furnace mouth. The position of the molten iron ladle is detected by the high-temperature and high-brightness camera 101 monitoring the converter furnace mouth to ensure that the molten iron ladle is aligned with the converter furnace mouth.

[0126] Step 402: Select the preset total iron addition time and remaining molten iron setting value corresponding to the converter capacity according to the converter capacity and molten iron flow time relationship table.

[0127] Specifically, the generated molten iron flow time relationship table is sent to the programmable logic controller 106. The programmable logic controller 106 calculates the current converter capacity Z according to the current converter capacity Z. c Automatically search the molten iron flow-time relationship table and select the corresponding recommended total molten iron time T d and the minimum setting value of residual molten iron Q m , so as to facilitate the subsequent control of the overhead crane and the molten iron tank for iron mixing. This optimizes the iron mixing process and ensures the stability and safety of production.

[0128] Step 403: judging whether the distance between the bottom of the molten iron ladle and the ground reaches a preset distance and whether the position of the mouth of the molten iron ladle reaches a preset position of the converter furnace mouth according to the position image.

[0129] Specifically, the lifting position of the molten iron ladle and the position of the converter furnace mouth are verified. The positional relationship between the molten iron ladle and the converter furnace mouth is monitored in real time by the high-temperature and high-brightness camera 101 and the network high-definition camera 102 at the converter furnace mouth. According to the collected real-time position images of the molten iron ladle and the converter furnace mouth, it is determined whether the bottom of the molten iron ladle is about 1.5 meters from the ground, and whether the position of the molten iron ladle mouth is tangent to the position of the converter furnace mouth in the vertical direction.

[0130] In one embodiment, the high-temperature and high-brightness camera 101 captures high-definition images of the converter furnace mouth in real time, so as to determine the positional relationship between the converter furnace mouth and the molten iron ladle in real time.

[0131] Step 404: If the distance between the bottom of the molten iron tank and the ground reaches a preset distance and the position of the molten iron tank mouth reaches a preset position of the converter furnace mouth, the molten iron tank is controlled to add iron.

[0132] Specifically, if the distance between the bottom of the molten iron ladle and the ground reaches about 1.5 meters, and the position of the molten iron ladle mouth is tangent to the position of the converter mouth in the vertical direction, a iron adding signal is sent to the programmable logic controller 106 to control the auxiliary hook of the overhead crane hook to hang into the ring of the molten iron ladle, lift the overhead crane auxiliary hook, and control the molten iron ladle to add molten iron into the converter.

[0133] In one embodiment, the auxiliary hook of the overhead crane is used to lift the bottom of the molten iron tank to allow the molten iron to flow into the converter. The flow of molten iron and the iron adding process are monitored in real time by multiple cameras to ensure that the molten iron flows smoothly into the converter. This enables effective monitoring and control of the iron adding process, improving the efficiency and safety of the iron adding operation.

[0134] In one embodiment, the network high-definition camera 102 monitors the positions of the main hook and the auxiliary hook of the overhead crane hook in real time to ensure that during the iron adding process, the mouth of the molten iron tank is always kept directly above the converter furnace mouth.

[0135] Step 405: When the real-time remaining molten iron flow rate in the molten iron tank reaches the remaining molten iron set value or the real-time iron addition time reaches the preset total iron addition time, the molten iron tank is controlled to stop adding iron.

[0136] Specifically, during the iron adding process, the high temperature and high brightness camera 101 is used to collect the molten iron image in the molten iron tank in real time. The real-time molten iron image is processed and analyzed frame by frame through image preprocessing to obtain the real-time molten iron cross-sectional area A corresponding to the real-time iron adding time ti. ti and real-time molten iron height H ti According to the real-time iron addition time ti, the real-time molten iron cross-sectional area A ti and real-time molten iron height H ti , through the pre-established molten iron flow Q t , molten iron cross-sectional area A ti , molten iron height H ti The dynamic relationship expression between the iron adding time ti is used to calculate the real-time iron adding flow rate Q t . When the remaining molten iron flow Q t The total amount of molten iron Q and the cross-sectional area of ​​molten iron A ti , molten iron height H ti The dynamic relationship expression of the iron addition time ti is used to calculate the real-time remaining molten iron flow Q in the molten iron tank. s .

[0137] In one embodiment, the high-temperature and high-brightness camera 101 monitors the flow rate of the molten iron in the molten iron tank in real time, and uses video recognition technology to obtain and calculate and analyze the cross-sectional area A of the molten iron in real time. ti and molten iron height H ti .

[0138] When the real-time remaining molten iron flow rate Q in the molten iron tank is s Reach the selected minimum set value Q of the remaining molten iron m When the iron addition is completed, the programmable logic controller 106 sends a signal for completing the iron addition. After receiving the signal for completing the iron addition, the programmable logic controller 106 generates a command for releasing the crane hook to control the auxiliary hook of the crane hook to fall. This drives the molten iron ladle back to the normal position and completes the iron addition process.

[0139] In one embodiment, when the current iron addition time ti in the molten iron tank reaches the selected recommended total iron addition time T d When the iron addition is completed, the programmable logic controller 106 sends a signal for completing the iron addition. After receiving the signal for completing the iron addition, the programmable logic controller 106 generates a command for releasing the crane hook to control the auxiliary hook of the crane hook to fall. This drives the molten iron ladle back to the normal position and completes the iron addition process.

[0140] In the embodiment of the present invention, by collecting the molten iron image in the molten iron tank in real time, the molten iron image is processed and analyzed to obtain the molten iron cross-sectional area and molten iron height corresponding to each image. A dynamic relationship between the molten iron flow rate, molten iron cross-sectional area, molten iron height and iron adding time is established. By analyzing the video data and the dynamic relationship, the molten iron capacity in the molten iron tank and the remaining molten iron in the molten iron tank are calculated in real time to judge the iron adding progress. The image preprocessing, target detection and dimension measurement techniques are used to ensure the accuracy of the data. Based on the results of video recognition, the furnace lifting or pressing instructions can be automatically generated to control the lifting or pressing of the converter to adapt to the process of molten iron adding. This automated control reduces the instability and poor precision of manual operation and improves the efficiency and safety of the iron adding process. The unmanned converter steelmaking molten iron adding process is realized. By installing a camera to capture video data during the converter steelmaking process, key parameters such as molten iron flow rate, molten iron cross-sectional area, molten iron height and iron adding time can be monitored in real time. The above-mentioned automated hot metal mixing process can reduce resource waste. For example, by accurately controlling the hot metal flow rate and the duration of hot metal mixing, unnecessary resource consumption can be reduced. Accurate control of the hot metal mixing process helps to ensure the consistency of product quality. The automated hot metal mixing process can ensure that the parameters of each hot metal mixing cycle meet the predetermined standards, thereby improving the quality of the final product. By standardizing the hot metal mixing operation, human operating errors can be reduced and the occurrence of hot metal spillage accidents can be reduced. The working environment of steelmaking operators is improved and the labor intensity of workers is reduced.

[0141] The embodiment of the present invention also provides a converter steelmaking molten iron control device based on video recognition technology, as described in the following embodiment. Since the principle of the device to solve the problem is similar to the converter steelmaking molten iron control method based on video recognition technology, the implementation of the device can refer to the implementation of the converter steelmaking molten iron control method based on video recognition technology, and the repeated parts will not be repeated.

[0142] like Figure 5 As shown, the converter steelmaking molten iron adding control device 500 includes an image acquisition module 501, an image processing module 502, a dynamic relationship establishment module 503, a molten iron flow determination module 504 and an iron adding control module 505.

[0143] The image acquisition module 501 is used to acquire multiple molten iron images in the molten iron ladle in real time.

[0144] The image processing module 502 is used to perform data processing and analysis on the molten iron images to obtain the molten iron cross-sectional area and molten iron height corresponding to each image.

[0145] The dynamic relationship establishing module 503 is used to establish a dynamic relationship between the molten iron flow rate, the molten iron cross-sectional area, the molten iron height and the iron adding time.

[0146] The molten iron flow rate determination module 504 is used to determine the real-time remaining molten iron flow rate in the molten iron tank according to the dynamic relationship and the total amount of molten iron in the molten iron tank.

[0147] The iron addition control module 505 is used to control the iron addition of the molten iron tank according to the dynamic relationship and the real-time remaining molten iron flow in the molten iron tank.

[0148] The converter steelmaking and molten iron adding control device 500 also includes a historical data analysis module 506 .

[0149] The historical data analysis module 506 is used to generate a molten iron flow time relationship table by evenly distributing the historical data of molten iron addition during converter steelmaking.

[0150] Among them, the historical data includes: the remaining molten iron flow rate, the molten iron cross-sectional area, the molten iron height, the iron adding time and the converter capacity; the molten iron flow rate time relationship table is used to characterize the mapping relationship between the remaining molten iron setting value, the converter capacity and the preset total iron adding time.

[0151] like Figure 6 As shown, the iron exchange control module 505 includes a position image acquisition unit 601, a selection unit 602, a position judgment unit 603, an iron exchange control unit 604 and an iron exchange end judgment unit 605.

[0152] The position image acquisition unit 601 is used to acquire the position image of the molten iron ladle in real time.

[0153] The selection unit 602 is used to select the preset total iron addition time and the remaining molten iron setting value corresponding to the converter capacity according to the relationship table between the converter capacity and the molten iron flow time.

[0154] The position determination unit 603 is used to determine whether the distance between the bottom of the molten iron ladle and the ground reaches a preset distance and whether the position of the molten iron ladle mouth reaches a preset position of the converter furnace mouth according to the position image.

[0155] The iron addition control unit 604 is used to control the molten iron tank to add iron if the distance between the bottom of the molten iron tank and the ground reaches a preset distance and the position of the molten iron tank mouth reaches a preset position of the converter furnace mouth.

[0156] The iron addition end judgment unit 605 is used to control the molten iron tank to stop adding iron when the real-time remaining molten iron flow in the molten iron tank reaches the remaining molten iron set value or the real-time iron addition time reaches the preset total iron addition time.

[0157] like Figure 7 As shown, the molten iron flow determination module 504 includes a first molten iron flow determination unit 701 and a second molten iron flow determination unit 702 .

[0158] The first molten iron flow rate determination unit 701 is used to determine the current molten iron flow rate according to the dynamic relationship and the molten iron cross-sectional area and molten iron height corresponding to the iron addition time.

[0159] The second molten iron flow rate determination unit 702 is used to determine the current remaining molten iron flow rate according to the current molten iron flow rate and the total amount of molten iron.

[0160] Figure 8 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, such as Figure 8 As shown, the electronic device 800 includes: a processor (processor) 801, a memory (memory) 802 and a bus 803.

[0161] The processor 801 and the memory 802 communicate with each other via a bus 803 .

[0162] The processor 801 is used to call the program instructions in the memory 802 to execute the methods provided by the above-mentioned method embodiments.

[0163] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned converter steelmaking and molten iron control method based on video recognition technology is implemented.

[0164] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the above-mentioned converter steelmaking and molten iron control method based on video recognition technology.

[0165] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0166] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0167] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0168] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0169] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling molten iron in converter steelmaking based on video recognition technology, characterized in that: include: Collect multiple molten iron images in the molten iron ladle in real time; Performing data processing and analysis on the molten iron images to obtain the molten iron cross-sectional area and molten iron height corresponding to each image; Establish the dynamic relationship between the molten iron flow rate, molten iron cross-sectional area, molten iron height and molten iron adding time; Determining the real-time remaining molten iron flow rate in the molten iron tank according to the dynamic relationship and the total amount of molten iron in the molten iron tank; The molten iron tank is controlled to add iron according to the dynamic relationship and the real-time remaining molten iron flow in the molten iron tank.

2. The method according to claim 1, characterized in that The method further comprises: The historical data of molten iron addition in converter steelmaking is processed by uniform distribution to generate a molten iron flow time relationship table; Among them, the historical data includes: the remaining molten iron flow rate, the molten iron cross-sectional area, the molten iron height, the iron adding time and the converter capacity; the molten iron flow rate time relationship table is used to characterize the mapping relationship between the remaining molten iron setting value, the converter capacity and the preset total iron adding time.

3. The method according to claim 2, characterized in that Controlling the molten iron tank to add iron according to the dynamic relationship and the real-time residual molten iron flow rate in the molten iron tank includes: Collect the position image of the molten iron ladle in real time; According to the converter capacity and the molten iron flow time relationship table, the preset total iron addition time and the remaining molten iron setting value corresponding to the converter capacity are selected; Determining, based on the position image, whether the distance between the bottom of the molten iron ladle and the ground reaches a preset distance and whether the position of the molten iron ladle opening reaches a preset position of the converter furnace opening; If the distance between the bottom of the molten iron tank and the ground reaches a preset distance and the position of the molten iron tank mouth reaches a preset position of the converter furnace mouth, the molten iron tank is controlled to add iron; When the real-time remaining molten iron flow rate in the molten iron tank reaches the remaining molten iron set value or the real-time iron adding time reaches the preset total iron adding time, the molten iron tank is controlled to stop adding iron.

4. The method according to claim 1, characterized in that: Determining the real-time remaining molten iron flow rate in the molten iron tank according to the dynamic relationship and the total amount of molten iron in the molten iron tank comprises: Determine the current molten iron flow rate according to the dynamic relationship and the molten iron cross-sectional area and molten iron height corresponding to the molten iron adding time; The current remaining molten iron flow rate is determined based on the current molten iron flow rate that has been added and the total amount of molten iron.

5. A converter steelmaking molten iron control device based on video recognition technology, characterized in that: include: An image acquisition module, used for acquiring multiple molten iron images in the molten iron ladle in real time; An image processing module is used to perform data processing and analysis on the molten iron images to obtain the molten iron cross-sectional area and molten iron height corresponding to each image; A dynamic relationship establishment module is used to establish a dynamic relationship between the molten iron flow rate, the molten iron cross-sectional area, the molten iron height and the molten iron addition time; A molten iron flow determination module, used to determine the real-time remaining molten iron flow in the molten iron tank according to the dynamic relationship and the total amount of molten iron in the molten iron tank; The iron addition control module is used to control the iron addition of the molten iron tank according to the dynamic relationship and the real-time remaining molten iron flow in the molten iron tank.

6. The device according to claim 5, characterized in that The device also includes: The historical data analysis module is used to generate a molten iron flow time relationship table by evenly distributing the historical data of converter steelmaking and molten iron; Among them, the historical data includes: the remaining molten iron flow rate, the molten iron cross-sectional area, the molten iron height, the iron adding time and the converter capacity; the molten iron flow rate time relationship table is used to characterize the mapping relationship between the remaining molten iron setting value, the converter capacity and the preset total iron adding time.

7. The device according to claim 6, characterized in that The iron addition control module comprises: A position image acquisition unit, used for acquiring the position image of the molten iron ladle in real time; A selection unit, for selecting the preset total iron addition time and the remaining molten iron setting value corresponding to the converter capacity according to a converter capacity and molten iron flow time relationship table; A position determination unit, configured to determine, based on the position image, whether the distance between the bottom of the molten iron ladle and the ground reaches a preset distance and whether the position of the molten iron ladle opening reaches a preset position of a converter furnace opening; An iron adding control unit, used for controlling the iron adding tank to add iron if the distance between the bottom of the iron tank and the ground reaches a preset distance and the position of the iron tank mouth reaches a preset position of the converter furnace mouth; The iron addition completion judgment unit is used to control the molten iron tank to stop adding iron when the real-time remaining molten iron flow in the molten iron tank reaches the remaining molten iron set value or the real-time iron addition time reaches the preset total iron addition time.

8. The device according to claim 5, characterized in that The molten iron flow determination module comprises: A first molten iron flow rate determination unit is used to determine the current molten iron flow rate according to the dynamic relationship and the molten iron cross-sectional area and molten iron height corresponding to the molten iron addition time; The second molten iron flow rate determination unit is used to determine the current remaining molten iron flow rate according to the current molten iron flow rate and the total amount of molten iron.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

11. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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