Converter alloy chute identification and control method

Abstract

The invention discloses a converter alloy chute identification and control method, and relates to the technical field of ferrous metallurgy automatic detection, and the method comprises the steps: drawing a minimum circumcircle of a large tank opening contour, and obtaining a midpoint pixel coordinate and a circumcircle pixel radius of the large tank opening contour; drawing a minimum enclosing rectangle of the lower alloy chute outline, obtaining pixel coordinates of an upper midpoint and pixel coordinates of a lower midpoint of the minimum enclosing rectangle, solving the pixel length of the upper midpoint and the midpoint of the tank opening outline, obtaining the ratio of the pixel length to the pixel radius of a circumcircle, and controlling a driving mechanism of the lower alloy chute to rotate based on the ratio; and drawing a minimum enclosing rectangle of the outline of the upper alloy chute, obtaining upper-edge midpoint coordinates and lower-edge midpoint coordinates of the minimum enclosing rectangle, solving angle values between the circumscribed circle center of the tank opening and the upper-edge midpoint and the lower-edge midpoint of the enclosing rectangle, and controlling the upper alloy chute driving mechanism to rotate based on the angle values. According to the invention, the position relation between the alloy chute and the ladle opening can be intelligently identified, and the position of the alloy chute can be detected and controlled.

Description

Technical Field

[0001] The invention relates to the technical field of automatic detection of iron and steel metallurgy, and in particular to a method for identifying and controlling a converter alloy chute. Background Art

[0002] In the process of converter steel tapping, adding alloy to the molten steel through the alloy chute to complete the deoxidation and alloying of steel tapping is an important part of converter smelting. The location and timing of adding alloy affect the melting effect of alloy, which is prone to alloy agglomeration and oxidation, prolonging the stirring treatment time, thus affecting the alloy yield and increasing alloy consumption and cost. Therefore, optimizing the detection and control of converter steel tapping alloying can effectively improve the converter alloying efficiency, improve the uniformity of molten steel composition, reduce alloy consumption, and have considerable economic benefits.

[0003] At present, most domestic steel mills still operate manually during converter steel alloying: during converter alloying, the furnace operator needs to observe the conditions of the furnace mouth, steel outlet, chute position, ladle car position, and ladle liquid level, and complete converter tilting, ladle car position, alloy chute rotation, and alloy addition based on manual experience. There are problems such as poor operating environment, high labor intensity, and poor operation uniformity. In addition, operating errors can easily cause accidents such as slag under molten steel, steel overflow from the furnace mouth, steel splashing, and alloy addition outside the ladle. Therefore, some domestic technicians have developed automatic centering technology for alloy chutes in an attempt to solve the problems of addition efficiency and uniformity in the manual alloying process.

[0004] The Chinese patent document with publication number CN118685584A and publication date September 24, 2024, and titled "A converter intelligent steel tapping control method, device, medium and electronic equipment" discloses a converter intelligent steel tapping control method. It includes a drop point control module for confirming the position of the stable drop point of the steel flow at the steel outlet, controlling the motion trajectory of the ladle car according to the position of the stable drop point of the steel flow, so that the center position of the ladle car coincides with the position of the stable drop point of the steel flow, and controlling the setting position of the alloy chute above the ladle car, so that the drop point position of the material flow flowing out of the alloy chute coincides with the position of the stable drop point of the steel flow.

[0005] The Chinese patent document with publication number CN111485055A and publication date August 4, 2020, entitled "Method and system for automatic centering of alloy chute in converter steel-tapping process" discloses a method for automatic centering of alloy chute in converter steel-tapping process. By collecting and storing real-time images of steel flow in the converter process, then processing and analyzing the real-time images, and combining them with the steel-tapping process, the position and range of the steel flow can be accurately and dynamically tracked in real time, and then the position signal of the steel flow is sent to the alloy chute swing actuator, so that the alloy chute automatically follows the position movement of the steel flow, thereby realizing automatic addition of alloy in the converter automatic steel-tapping process.

[0006] The above-mentioned public documents are all based on the automatic tapping technology. Machine vision technology is used to identify the positional relationship between the alloy chute and the tapping steel stream, so as to adjust the rotation angle of the alloy chute and realize the automatic addition of alloy. The above patents only connect the alloy chute and the position of the steel stream. The premise is that it is necessary to ensure that the steel stream is injected into the optimal area in the ladle. The control of the position of the steel stream and the ladle requires the detection support of multiple sensors, and accurate models of the steel stream, tilting angle, and ladle car position are also required to participate in the tapping converter tilting and ladle car position control. The positional relationship between the alloy chute and the ladle mouth is not directly established. Therefore, there is a risk of adding alloy outside the ladle, and it is also impossible to directly ensure that the alloy is added to the deep stirring area of the molten steel. In addition, a large amount of flue gas is generated during the tapping process and floats in the steel stream area, causing great interference to the image recognition of the position of the steel stream and the alloy chute, thereby affecting the centering of the position of the alloy chute and the steel stream. Summary of the Invention

[0007] An embodiment of the present invention provides a method for identifying and controlling an alloy chute of a converter, which solves the above problems existing in the detection and control of the alloy addition position during the alloying process of the existing converter, and intelligently identifies the positional relationship between the alloy chute and the large ladle mouth, and realizes the detection and control of the alloy chute position.

[0008] In a first aspect, the present invention provides a method for identifying and controlling an alloy chute of a converter, including:

[0009] During the tapping process of the converter, the ladle slag surface image is collected in real time. After detecting the alloying signal of the converter, the upper and lower alloy chute driving mechanisms are respectively controlled by the chute controller to rotate forward.

[0010] Preprocess the ladle slag surface image, and divide the ladle slag surface image into four categories: large ladle mouth, lower alloy chute, upper alloy chute, and background.

[0011] Read the classified images after the ladle slag surface image is segmented, and extract the large ladle mouth contour, lower alloy chute contour, and upper alloy chute contour in the classified images.

[0012] If the large ladle mouth exists, based on the large ladle mouth contour, draw the minimum circumscribed circle O 1 , and obtain the midpoint C 1 coordinate P c of the large ladle mouth contour and the radius R 1 of the circumscribed circle O

[0013] If the lower alloy chute exists, based on the lower alloy chute contour, draw the minimum circumscribed rectangle Rect d , and obtain the midpoint C d of the upper side of the minimum circumscribed rectangle Rect du coordinate P cduand the lower midpoint C dd Coordinate P cdd , find the midpoint C of the upper side du The middle point C of the mouth of the large tank 1 The pixel length S c , and obtain S c With the circumscribed circle O 1 The ratio P of the radius R S , based on the ratio P S , controlling the lower alloy chute driving mechanism to rotate through the chute controller;

[0014] If the upper alloy chute exists, draw the minimum circumscribed rectangle Rect based on the upper alloy chute outline u , get the minimum enclosing rectangle Rect u Upper midpoint C uu Coordinate P cuu and the lower midpoint C ud Coordinate P cud , find ∠C 1 C uu C ud The angle value θ u , based on the angle value θ u , the upper alloy chute driving mechanism is controlled to rotate through the chute controller.

[0015] In some examples, the converter alloying start signal is used as a starting signal for executing alloy chute rotation and alloy chute position detection, and is generated by steel tapping time, detecting the height of molten steel in a large tank, or manual triggering.

[0016] In some examples, the ladle slag surface image is preprocessed to segment the ladle slag surface image into four categories: a large tank mouth, a lower alloy chute, an upper alloy chute, and a background, including:

[0017] Performing image enhancement processing on the ladle slag surface image, reducing the overall brightness and noise of the image through a gamma transform method, strengthening the contour features of the upper and lower alloy chutes and the large tank mouth area, and converting the processed image into a grayscale image;

[0018] Semantic segmentation is adopted to segment the grayscale image into four categories: large tank mouth, lower alloy chute, upper alloy chute and background, and a classified image after segmentation of the ladle slag surface image is obtained.

[0019] In some examples, the step of reading the classified image after segmentation of the ladle slag surface image and extracting the large tank mouth contour, the lower alloy chute contour and the upper alloy chute contour in the classified image comprises:

[0020] The classified image after the ladle slag surface image segmentation is a pixel classification image formed by classifying the ladle slag surface image according to the ladle mouth, the lower alloy chute, the upper alloy chute, and the background, filling the same-class pixel points with the same color, and filling different-class pixel points with different colors, so as to perform color classification filling on each pixel in the ladle slag surface image;

[0021] Perform gray-scale processing on the pixel classification image, and generate ladle mouth, lower alloy chute, and upper alloy chute mask images respectively based on the different gray-scale values of the ladle mouth, lower alloy chute, upper alloy chute, and background in the gray-scale image;

[0022] Adopt the threshold segmentation method to extract the ladle mouth, lower alloy chute, and upper alloy chute contours in the three mask images respectively, and identify whether there are ladle mouths, lower alloy chutes, and upper alloy chutes in the ladle slag surface image according to the contour results.

[0023] In some instances, obtaining the midpoint C of the ladle mouth contour 1 coordinate P c and the circumscribed circle O 1 radius R, including:

[0024] The midpoint C of the ladle mouth contour 1 coordinate P c is the pixel coordinate, and P c =(x c ,y c );

[0025] The circumscribed circle O 1 radius R is the pixel length.

[0026] In some instances, obtaining the minimum circumscribed rectangle Rect d midpoint C of the upper side du coordinate P cdu and midpoint C of the lower side dd coordinate P cdd , obtaining the pixel length S du between the midpoint C of the upper side and the midpoint C of the ladle mouth contour 1 , and obtaining the ratio P c of S c to the radius R of the circumscribed circle O 1 , including: S The four vertex pixel coordinates of the minimum circumscribed rectangle Rect d are P d1 =(x d1 ,y d1 ), P d2 =(x d2 ,y d2 ),d2 )、P d3 =(x d3 ,y d3 )、P d4 =(x d4 ,y d4 );

[0028] The minimum bounding rectangle Rect d The midpoint C of the upper side du The pixel coordinates P cdu and the midpoint C of the lower side dd The pixel coordinates P cdd are:

[0029] The midpoint C of the upper side du and the midpoint C of the can mouth contour 1 The pixel length S c is:

[0030]

[0031] S c and the ratio P of the radius R of the circumscribed circle O 1 is: P S =S S / R. C / R.

[0032] In some instances, for the midpoint C of the upper side of the obtained minimum bounding rectangle Rect u The midpoint C of the upper side uu The coordinates P cuu and the midpoint C of the lower side ud The coordinates P cud , to obtain the angle value θ 1 of ∠O uu C ud C u , including:

[0033] The four vertex pixel coordinates of the minimum bounding rectangle Rect u are P u1 =(x u1 ,y u1 ), P u2 =(x u2 ,y u2 ), P u3 =(x u3 ,y u3 ), P u4 =(x u4 ,y u4 );

[0034] The minimum bounding rectangle Rect uThe midpoint C at the upper side uu Pixel coordinate P cuu and the midpoint C at the lower side ud Pixel coordinate P cud are:

[0035] Obtain ∠C 1 C uu C ud The angular value θ of u is:

[0036]

[0037] In some instances, based on the ratio P S , controlling the rotation of the lower alloy chute driving mechanism by the chute controller includes:

[0038] When it is detected that the ratio of the lower alloy chute to the center of the ladle P S < P 1 , the lower alloy chute rotates above the deep stirring area of the ladle, and at this time the chute controller stops driving the lower alloy chute;

[0039] After the ladle moves to the right, when it is detected that the ratio of the lower alloy chute to the center of the ladle P S > P 2 , it causes the lower alloy chute to deviate to the left above the deep stirring area of the ladle. At this time, the chute controller starts to drive the alloy chute to rotate forward until P S = P 1 and then stops;

[0040] After the ladle moves to the left, when it is detected that the ratio of the lower alloy chute to the center of the ladle P S < P 3 , it causes the lower alloy chute to deviate to the right above the deep stirring area of the ladle. At this time, the chute controller starts to drive the alloy chute to rotate in reverse until P S = P 1 and then stops, where P 1 、P 2 and P 3 are preset values.

[0041] In some instances, based on the angular value θ u , controlling the rotation of the upper alloy chute driving mechanism by the chute controller includes:

[0042] When it is detected that the position angle θ of the upper alloy chute and the ladle u < α 1When the above alloy chute rotates above the deep stirring area of the ladle, the chute controller stops driving the above alloy chute at this time;

[0043] After the ladle moves to the right, when it is detected that the position angle θ between the above alloy chute and the ladle u >α 2 At this time, the above alloy chute deviates to the left from above the deep stirring area of the ladle. At this time, the chute controller starts to drive the above alloy chute to rotate forward until θ u =α 1 Stop when;

[0044] After the ladle moves to the left, when it is detected that the position angle θ between the above alloy chute and the ladle u <α 3 At this time, the above alloy chute deviates to the right from above the deep stirring area of the ladle. At this time, the chute controller starts to drive the above alloy chute to rotate reversely until θ u =α 1 Stop when, where α 1 、α 2 And α 3 Are preset values.

[0045] Generally speaking, compared with the prior art through the above technical solutions conceived by the present invention, the following beneficial effects can be obtained:

[0046] 1. Based on machine vision technology, directly establish the position relationship between the alloy chute and the ladle mouth, and can realize the real-time quantitative detection of the position of the alloy chute and the ladle mouth, effectively ensure that the alloy is added to the deep stirring area of the ladle, eliminate the risk of the alloy being added outside the ladle, and thus improve the converter alloying effect.

[0047] 2. It can replace manual operation for converter alloying, reduce the labor intensity of the tilter, improve the consistency of converter alloying operation, and enhance the operation safety during the tapping process of the converter.

[0048] 3. The equipment of the present invention has low hardware cost, does not require expensive converter automatic tapping equipment and systems, and can also realize the automatic control of alloy addition to the converter. Description of the Drawings

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0050] Figure 1 It is a flow chart of a method for identifying and controlling a converter alloy chute provided by an embodiment of the present invention;

[0051] Figure 2 This is an image of the ladle slag surface during the tapping process of the converter provided in Embodiment 1 of the present invention;

[0052] Figure 3 Provided in Embodiment 1 of the present invention Figure 2 The classified image after semantic segmentation of image preprocessing;

[0053] Figure 4 Provided in Embodiment 1 of the present invention Figure 3 The grayscale image of the image;

[0054] Figure 5 Provided in Embodiment 1 of the present invention Figure 2 The contour map of the large ladle mouth extracted from the image;

[0055] Figure 6 Provided in Embodiment 1 of the present invention Figure 2 The contour map of the lower alloy chute extracted from the image;

[0056] Figure 7 Provided in Embodiment 1 of the present invention Figure 2 The contour map of the upper alloy chute extracted from the image;

[0057] Figure 8 Provided in Embodiment 1 of the present invention Figure 3 The redrawn map of the positional relationship between the alloy chute and the large ladle mouth in the image;

[0058] Figure 9 Provided in Embodiment 1 of the present invention Figure 2 The redrawn map of the positional relationship between the alloy chute and the large ladle mouth in the image. Detailed implementation manners

[0059] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0060] In the following description, specific embodiments of the present invention will be described with reference to steps and symbols executed by one or more computers, unless otherwise specified. Therefore, these steps and operations will be referred to several times as being executed by a computer. As used herein, computer execution includes operations of a computer processing unit that represents data in a structured form by electronic signals. This operation transforms the data or maintains its position in the computer's memory system, which can reconfigure or otherwise change the operation of the computer in a manner well known to those skilled in the art. The data structure in which the data is maintained is a physical location in the memory, which has specific characteristics defined by the data format. However, the principles of the present invention are described in the above text, which is not meant to be a limitation. Those skilled in the art will understand that the following various steps and operations can also be implemented in hardware.

[0061] As used herein, the terms "module" or "unit" can be regarded as software objects executed on the computing system. Different components, modules, engines, and services herein can be regarded as implementation objects on the computing system. The devices and methods herein are preferably implemented in software, and of course, they can also be implemented in hardware, all within the protection scope of the present invention.

[0062] Those skilled in the art of this technology can understand that, unless specifically stated otherwise, the singular forms "a", "an", and "the" used herein can also include the plural forms. It should be further understood that the term "including" used in the specification of the present invention means the presence of features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein can include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any unit and all combinations of one or more related listed items.

[0063] In the first embodiment of the present invention, a method for identifying and controlling a converter alloy chute is provided. As Figure 1 shown, it includes the following steps:

[0064] S101: Real-time collect the ladle slag surface image during the steel tapping process of the converter;

[0065] S102: Determine whether a converter alloying start signal is received;

[0066] S103: If a converter alloying start signal is received, the chute controller controls the upper and lower alloy chute driving mechanisms to rotate forward respectively;

[0067] S104: preprocessing the ladle slag surface image, segmenting the ladle slag surface image into four categories: large tank mouth, lower alloy chute, upper alloy chute and background; reading the classified image after the segmentation of the ladle slag surface image, and extracting the contours of the large tank mouth, lower alloy chute and upper alloy chute in the classified image;

[0068] S105: Determine whether there is a large tank opening;

[0069] S106: If there is a large tank opening, draw a minimum circumscribed circle O based on the contour of the large tank opening. 1 , get the midpoint C of the mouth of the large tank 1 Coordinate P c With circumcircle O 1 Radius R;

[0070] S107: Determine whether there is a lower alloy chute;

[0071] S108: If there is a lower alloy chute, draw the minimum circumscribed rectangle Rect based on the contour of the lower alloy chute d , get the minimum enclosing rectangle Rect d Upper midpoint C du Coordinate P cdu and the lower midpoint C dd Coordinate P cdd , find the upper midpoint C du and the midpoint C of the tank mouth contour 1 The pixel length S c , and obtain S c With circumcircle O 1 The ratio P of the radius R S , based on the ratio P S , the alloy chute driving mechanism is controlled to rotate through the chute controller;

[0072] S109: Determine whether there is an upper alloy chute;

[0073] S110: If there is an upper alloy chute, draw the minimum circumscribed rectangle Rect based on the upper alloy chute outline u , get the minimum enclosing rectangle Rect u Upper midpoint C uu Coordinate P cuu and the lower midpoint C ud Coordinate P cud , find ∠C 1 C uu C ud The angle value θ u , based on the angle value θ u , the rotation of the upper alloy chute driving mechanism is controlled by the chute controller.

[0074] In the embodiment of the present invention, the converter starting alloying signal is the starting signal for performing the rotation of the alloy chute and the detection of the position of the alloy chute, and can be generated by means such as tapping time, detecting the height of the molten steel in the ladle, or manual triggering.

[0075] In the embodiment of the present invention, the ladle slag surface image is preprocessed, and the ladle slag surface image is segmented into four categories: the ladle mouth, the lower alloy chute, the upper alloy chute, and the background, including:

[0076] The ladle slag surface image is subjected to image enhancement processing. By means of gamma transformation, the overall brightness and noise of the image are reduced, the contour features of the upper and lower alloy chutes and the ladle mouth area are strengthened, and the processed image is converted into a grayscale image;

[0077] Semantic segmentation is adopted to segment the slag surface image into four categories: the ladle mouth, the lower alloy chute, the upper alloy chute, and the background, and the classified image after segmentation of the slag surface image is obtained.

[0078] In the embodiment of the present invention, the classified image after segmentation of the ladle slag surface image is read, and the contours of the ladle mouth, the lower alloy chute, and the upper alloy chute in the classified image are extracted, including:

[0079] The classified image after segmentation of the ladle slag surface image is a pixel classification image formed by classifying the pixels of the ladle slag surface image according to the ladle mouth, the lower alloy chute, the upper alloy chute, and the background, and filling the same-class pixel points with the same color and different-class pixel points with different colors, so as to perform color classification filling on each pixel in the ladle slag surface image.

[0080] The classified image is subjected to grayscale processing. Based on the different grayscale values of the ladle mouth, the lower alloy chute, the upper alloy chute, and the background in the grayscale image, mask images of the ladle mouth, the lower alloy chute, and the upper alloy chute are respectively generated; the threshold segmentation method is adopted to respectively extract the contours of the ladle mouth, the lower alloy chute, and the upper alloy chute in the three mask images, and whether the ladle mouth, the lower alloy chute, and the upper alloy chute exist in the ladle slag surface image is identified according to the contour results.

[0081] In the embodiment of the present invention, the midpoint C of the ladle mouth contour is obtained 1 coordinate P c and the circumscribed circle O 1 radius R, including:

[0082] The midpoint C of the ladle mouth contour 1 coordinate P c is a pixel coordinate, and P c =(x c , y c );

[0083] The radius R of the circumscribed circle O 1 is a pixel length.

[0084] In the embodiment of the present invention, the minimum bounding rectangle Rect is obtained d The midpoint C of the upper side du Coordinate P cdu And the midpoint C of the lower side dd Coordinate P cdd , obtaining the midpoint C of the upper side du And the midpoint C of the contour of the tank opening 1 The pixel length S c , and obtaining S c And the ratio P of the radius R of the circumscribed circle O 1 is included: S Including:

[0085] The minimum bounding rectangle Rect d The pixel coordinates of the four vertices are P d1 =(x d1 , y d1 ), P d2 =(x d2 , y d2 ), P d3 =(x d3 , y d3 ), P d4 =(x d4 , y d4 );

[0086] The minimum bounding rectangle Rect d The midpoint C of the upper side du The pixel coordinate P cdu And the midpoint C of the lower side dd The pixel coordinate P cdd are:

[0087]

[0088] The midpoint C of the upper side du And the midpoint C of the contour of the tank opening 1 The pixel length S c is:

[0089]

[0090] S c And the ratio P of the radius R of the circumscribed circle O 1 is: S For:

[0091] P S =S C / R (3)

[0092] In the embodiment of the present invention, the minimum bounding rectangle Rect is obtained u The midpoint C of the upper sideuu Coordinate P cuu and the midpoint C of the lower side ud Coordinate P cud , obtain ∠O 1 C uu C ud angle value θ of u , including:

[0093] Minimum bounding rectangle Rect u The pixel coordinates of the four vertices are P u1 =(x u1 , y u1 ), P u2 =(x u2 , y u2 ), P u3 =(x u3 , y u3 ), P u4 =(x u4 , y u4 );

[0094] Minimum bounding rectangle Rect u The midpoint C of the upper side uu Pixel coordinate P cuu and the midpoint C of the lower side ud Pixel coordinate P cud are:

[0095]

[0096] Obtain ∠C 1 C uu C ud angle value θ of u is:

[0097]

[0098] In the embodiment of the present invention, based on the ratio P S , control the rotation of the lower alloy chute drive mechanism through the chute controller, including:

[0099] When it is detected that the ratio of the lower alloy chute to the center of the ladle P S < P 1 , the lower alloy chute rotates above the deep stirring area of the ladle, and at this time the chute controller stops driving the lower alloy chute;

[0100] After the ladle moves to the right, when it is detected that the ratio of the lower alloy chute to the center of the ladle P S > P 2 , it causes the lower alloy chute to deviate to the left above the deep stirring area of the ladle. At this time, the chute controller starts to drive the alloy chute to rotate forward until P S = P1 Stop when

[0101] After the large ladle moves to the left, when the ratio P of the lower alloy chute to the center of the large ladle is detected S < P 3 it causes the lower alloy chute to deviate to the right above the deep stirring area of the large ladle. At this time, the chute controller starts to drive the alloy chute to rotate in the reverse direction until P S = P 1 and stop.

[0102] In the embodiment of the present invention, based on the angle value θ u , controlling the rotation of the upper alloy chute driving mechanism through the chute controller, including:

[0103] When it is detected that the position angle θ between the upper alloy chute and the large ladle u < α 1 the upper alloy chute rotates above the deep stirring area of the large ladle. At this time, the chute controller stops driving the upper alloy chute;

[0104] After the large ladle moves to the right, when it is detected that the position angle θ between the upper alloy chute and the large ladle u > α 2 it causes the upper alloy chute to deviate to the left above the deep stirring area of the large ladle. At this time, the chute controller starts to drive the upper alloy chute to rotate in the forward direction until θ u = α 1 and stop;

[0105] After the large ladle moves to the left, when it is detected that the position angle θ between the upper alloy chute and the large ladle u < α 3 it causes the upper alloy chute to deviate to the right above the deep stirring area of the large ladle. At this time, the chute controller starts to drive the upper alloy chute to rotate in the reverse direction until θ u = α 1 and stop.

[0106] In summary, the working principle of the converter alloy chute recognition and control method in the embodiment of the present invention is as follows:

[0107] 1. Real-time collect the steel ladle slag surface image during the converter steel tapping process, detect the converter alloying signal, and the chute controller respectively controls the forward rotation of the upper and lower alloy chute driving mechanisms.

[0108] 2. Preprocess the steel ladle slag surface image, segment the steel ladle slag surface image into four categories: large ladle mouth, lower alloy chute, upper alloy chute, and background, and extract the contours of the large ladle mouth, lower alloy chute, and upper alloy chute in the classified image.

[0109] 3. If there is a large ladle mouth, extract the contour of the large ladle mouth, draw the minimum circumscribed circle, and obtain the pixel coordinates of the midpoint of the large ladle mouth contour and the pixel radius of the circumscribed circle.

[0110] 4. If there is a lower alloy chute, extract the contour of the lower alloy chute, draw the minimum bounding rectangle, obtain the pixel coordinates of the midpoint of the upper side and the midpoint of the lower side of the minimum bounding rectangle, calculate the pixel length between the midpoint of the upper side and the midpoint of the ladle opening contour, and obtain the ratio of this pixel length to the pixel radius of the circumscribed circle. Based on this ratio, control the rotation of the lower alloy chute driving mechanism through the chute controller.

[0111] 5. If there is an upper alloy chute, extract the contour of the upper alloy chute, draw the minimum bounding rectangle, obtain the coordinates of the midpoint of the upper side and the midpoint of the lower side of the minimum bounding rectangle, calculate the angular value between the center of the circumscribed circle of the ladle opening and the midpoints of the upper and lower sides of the circumscribed rectangle. Based on this angular value, control the rotation of the upper alloy chute driving mechanism through the chute controller.

[0112] In the second embodiment of the present invention, in combination with the attached Figures 1 - 9 and embodiments, the present invention is further described as follows:

[0113] The present invention provides a method for identifying and controlling a converter alloy chute. This method directly connects the relationship between the alloy chute and the ladle opening position, can quantitatively detect the relative position between the alloy chute and the tundish ladle opening in real time, realize the detection and control of the alloy chute position, and thus improve the automation level and alloying effect of the converter alloying process.

[0114] Specifically, a method for identifying and controlling a converter alloy chute according to an exemplary embodiment of the present invention mainly includes steps 101 to 110.

[0115] At step 101, the ladle slag surface image during the converter steel tapping process is collected in real time.

[0116] At step 102, if the converter alloying start signal is detected, continue to execute at step 103, otherwise jump to step 101 to execute.

[0117] At step 103, the chute controller controls the forward rotation of the upper and lower alloy chute driving mechanisms respectively.

[0118] At step 104, the ladle slag surface image is preprocessed, and the ladle slag surface image is segmented into four categories: tundish ladle opening, lower alloy chute, upper alloy chute, and background, and the contours of the tundish ladle opening, lower alloy chute, and upper alloy chute in the classified image are extracted.

[0119] At step 105, if there is a tundish ladle opening, continue to execute at step 106, otherwise jump to step 101 to execute.

[0120] At step 106, extract the contour of the tundish ladle opening, draw the minimum circumscribed circle O 1 , and obtain the midpoint C 1 of the tundish ladle opening contour, and the coordinate P cWith the circumscribed circle O 1 Radius R.

[0121] At step 107, if there is a lower alloy chute, continue to execute at step 108, otherwise jump to step 109 for execution.

[0122] At step 108, based on the lower alloy chute profile, draw the minimum circumscribed rectangle Rect d , whose four vertex pixel coordinates are P d1 = (x d1 , y d1 ), P d2 = (x d2 , y d2 ), P d3 = (x d3 , y d3 ), P d4 = (x d4 , y d4 );

[0123] The minimum circumscribed rectangle Rect d The midpoint C du of the upper side and the pixel coordinate P cdu and the midpoint C dd of the lower side and the pixel coordinate P cdd are:

[0124]

[0125] The midpoint C du of the upper side and the midpoint C 1 of the tank mouth profile and the pixel length S c are:

[0126]

[0127] S c The ratio P 1 of S to the radius R of the circumscribed circle O S is:

[0128] P S = S C / R (8)

[0129] Based on the ratio P S , control the rotation of the lower alloy chute drive mechanism through the chute controller.

[0130] At step 109, if there is an upper alloy chute, continue to execute at step 110, otherwise jump to step 101 for execution.

[0131] At step 110, based on the upper alloy chute profile, draw the minimum circumscribed rectangle Rect u, the pixel coordinates of its four vertices are P u1 =(x u1 , y u1 ), P u2 =(x u2 , y u2 ), P u3 =(x u3 , y u3 ), P u4 =(x u4 , y u4 );

[0132] The minimum bounding rectangle Rect u The midpoint C uu of the upper side pixel coordinate P cuu and the midpoint C ud of the lower side pixel coordinate P cud are:

[0133]

[0134] Obtain the angle value θ 1 of ∠C uu C ud C u as:

[0135]

[0136] Based on the angle value θ u , control the rotation of the upper alloy chute drive mechanism through the chute controller;

[0137] Continue to jump to step 101 for execution.

[0138] Refer to Figures 2 - 9 to describe a converter alloy chute recognition and control method provided in Embodiment 1 of the present invention:

[0139] Figure 2 This is an image of the ladle slag surface during the tapping process of a converter provided in Embodiment 1 of the present invention, with a resolution of (512, 384). The image of the ladle slag surface is preprocessed, and the image of the ladle slag surface is segmented into four categories: the large ladle opening, the lower alloy chute, the upper alloy chute, and the background. The classification images are as Figure 3 shown.

[0140] Figure 4 is the image obtained after gray processing of the classification image. Based on Figure 4 the different gray values of the large ladle opening, the lower alloy chute, the upper alloy chute, and the background in Figure 5 ,Figure 6 , Figure 7 as shown

[0141] Based on the outline of the large tank opening Figure 5 , draw the minimum circumscribed circle O 1 , and obtain the midpoint C of the outline of the large tank opening 1 The pixel coordinates P c =(157, 254) and the circumscribed circle O 1 The pixel radius R = 126

[0142] Based on the outline of the lower alloy chute Figure 6 , draw the minimum circumscribed rectangle Rect d , and the pixel coordinates of its four vertices are P d1 =(112, 286), P d2 =(139, 265), P d3 =(164, 297), P d4 =(138, 319); The midpoint C of the upper side of the minimum circumscribed rectangle Rect d The pixel coordinates P du =(125, 275), and the midpoint C of the lower side cdu The pixel coordinates P dd =(151, 308); The pixel length S between the midpoint C of the upper side cdd and the midpoint C of the tank opening outline du is S 1 c = 37.8, and the ratio P of S c to the radius R of the circumscribed circle O 1 is P S u = 0.3

[0143] Based on the outline of the upper alloy chute Figure 7 , draw the minimum circumscribed rectangle Rect u , and the pixel coordinates of its four vertices are P u1 =(130, 180), P u2 =(140, 123), P u3 =(174, 129), P u4 =(164, 186); The midpoint C of the upper side of the minimum circumscribed rectangle Rect u The pixel coordinates P uu =(157, 126), and the midpoint C of the lower side cuu The pixel coordinates P ud =(147, 183); The angle value θ of ∠C cud C 1 C uu C ud is θ u = 10°

[0144] Figure 8 In the image provided by Embodiment 1 of the present invention Figure 3 the minimum circumscribed circle O of the large tank opening contour 1 the minimum circumscribed rectangle Rect of the lower alloy chute contour d the minimum circumscribed rectangle Rect of the upper alloy chute contour u ∠C 1 C uu C ud the angular value θ of u S c and the ratio P of the circumscribed circle O 1 to the radius R S Redrawing of information.

[0145] Figure 9 In the image provided by Embodiment 1 of the present invention Figure 2 the minimum circumscribed circle O of the large tank opening contour 1 the minimum circumscribed rectangle Rect of the lower alloy chute contour d the minimum circumscribed rectangle Rect of the upper alloy chute contour u ∠C 1 C uu C ud the angular value θ of u S c and the ratio P of the circumscribed circle O 1 to the radius R S Redrawing of information.

[0146] The stop threshold P of the ratio of the lower alloy chute to the center of the large tank 1 = 0.35, the right threshold P 2 = 0.45, the left threshold P 3 = 0.2. In Embodiment 1 of the present invention, it is detected that P S = 0.3. The lower alloy chute is above the deep stirring area of the large tank, and the lower alloy chute stops rotating and waits for the alloy to be added.

[0147] The stop threshold α of the position angle of the upper alloy chute with respect to the large tank 1 = 15°, the right threshold α 2 = 20°, the left threshold α 3 = 5°. In Embodiment 1 of the present invention, it is detected that θ u = 10°. The upper alloy chute is above the deep stirring area of the large tank, and the upper alloy chute stops rotating and waits for the alloy to be added.

[0148] The above has introduced in detail a converter alloy chute identification and control method provided by the embodiments of the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A converter alloy chute identification and control method, characterized in that: include: The image of the ladle slag surface is collected in real time during the converter steel-making process. After the converter alloying signal is detected, the chute controller controls the upper and lower alloy chute drive mechanisms to rotate forward respectively; Preprocessing the ladle slag surface image, segmenting the ladle slag surface image into four categories: a large tank mouth, a lower alloy chute, an upper alloy chute and a background; Reading the classified image after the ladle slag surface image is segmented, and extracting the large tank mouth contour, the lower alloy chute contour and the upper alloy chute contour in the classified image; If the large tank mouth exists, draw the minimum circumscribed circle O1 based on the large tank mouth contour, and obtain the coordinates P of the midpoint C1 of the large tank mouth contour. c The radius R of the circumscribed circle O1; If the lower alloy chute exists, draw the minimum circumscribed rectangle Rect based on the outline of the lower alloy chute d , get the minimum enclosing rectangle Rect d Upper midpoint C du Coordinate P cdu and the lower midpoint C dd Coordinate P cdd , find the midpoint C of the upper side du The pixel length S of the midpoint C1 of the mouth of the large tank c , and obtain S c The ratio P to the radius R of the circumscribed circle O1 S , based on the ratio P S , controlling the lower alloy chute driving mechanism to rotate through the chute controller; If the upper alloy chute exists, draw the minimum circumscribed rectangle Rect based on the upper alloy chute outline u , get the minimum enclosing rectangle Rect u Upper midpoint C uu Coordinate P cuu and the lower midpoint C ud Coordinate P cud , find ∠C1C uu C ud The angle value θ u , based on the angle value θ u , the upper alloy chute driving mechanism is controlled to rotate through the chute controller.

2. The method according to claim 1, characterized in that The converter alloying start signal is used as a starting signal for executing alloy chute rotation and alloy chute position detection, and is generated by steel tapping time, detecting the height of molten steel in a large tank, or manually triggering.

3. The method according to claim 1 or 2, characterized in that: The preprocessing of the ladle slag surface image is performed to segment the ladle slag surface image into four categories: a large tank mouth, a lower alloy chute, an upper alloy chute and a background, including: Performing image enhancement processing on the ladle slag surface image, reducing the overall brightness and noise of the image through a gamma transform method, strengthening the contour features of the upper and lower alloy chutes and the large tank mouth area, and converting the processed image into a grayscale image; Semantic segmentation is adopted to segment the grayscale image into four categories: large tank mouth, lower alloy chute, upper alloy chute and background, and a classified image after segmentation of the ladle slag surface image is obtained.

4. The method according to claim 3, characterized in that The step of reading the classified image after segmentation of the ladle slag surface image and extracting the large tank mouth contour, the lower alloy chute contour and the upper alloy chute contour in the classified image comprises: The classification image after the segmentation of the ladle slag surface image is a pixel classification image formed by classifying the ladle slag surface image according to the large tank mouth, the lower alloy chute, the upper alloy chute and the background, and filling the same type of pixels with the same color, and filling different types of pixels with different colors, thereby performing color classification and filling for each pixel in the ladle slag surface image; Grayscale processing is performed on the pixel classification image, and based on the different grayscale values ​​of the large tank mouth, the lower alloy chute, the upper alloy chute and the background in the grayscale image, mask images of the large tank mouth, the lower alloy chute and the upper alloy chute are generated respectively; The threshold segmentation method is used to extract the contours of the large tank mouth, lower alloy chute and upper alloy chute in the three mask images respectively, and it is identified whether the large tank mouth, lower alloy chute and upper alloy chute exist in the ladle slag surface image based on the contour results.

5. The method according to claim 4, characterized in that The coordinate P of the midpoint C1 of the large tank mouth contour is obtained c The circumscribed circle O1 with radius R, includes: The coordinates of the midpoint C1 of the large tank mouth contour are P c is the pixel coordinate, and P c =(x c ,y c ); The radius R of the circumscribed circle O1 is the pixel length.

6. The method according to claim 5, characterized in that The minimum enclosing rectangle Rect is obtained d Upper midpoint C du Coordinate P cdu and the lower midpoint C dd Coordinate P cdd , find the midpoint C of the upper side du The pixel length S between the midpoint C1 of the tank mouth contour c , and obtain S c The ratio P to the radius R of the circumscribed circle O1 S ,include: The minimum bounding rectangle Rect d The pixel coordinates of the four vertices are P d1 =(x d1 ,y d1 ), P d2 =(x d2 ,y d2 ), P d3 =(x d3 ,y d3 ), P d4 =(x d4 ,y d4 ); The minimum bounding rectangle Rect d Upper midpoint C du Pixel coordinate P cdu and the lower midpoint C dd Pixel coordinate P cdd for: The upper midpoint C du The pixel length S between the midpoint C1 of the tank mouth contour c for: S c The ratio P to the radius R of the circumscribed circle O1 S For: P S =S C / R.

7. The method according to claim 6, characterized in that The minimum enclosing rectangle Rect is obtained u Upper midpoint C uu Coordinate P cuu and the lower midpoint C ud Coordinate P cud , find ∠O1C uu C ud The angle value θ u ,include: The minimum bounding rectangle Rect u The pixel coordinates of the four vertices are P u1 =(x u1 ,y u1 ), P u2 =(x u2 ,y u2 ), P u3 =(x u3 ,y u3 ), P u4 =(x u4 ,y u4 ); The minimum bounding rectangle Rect u Upper midpoint C uu Pixel coordinate P cuu and the lower midpoint C ud Pixel coordinate P cud for: Find ∠C1C uu C ud The angle value θ u for:

8. The method according to claim 7, characterized in that The ratio P S , controlling the alloy chute driving mechanism to rotate through the chute controller, including: When the ratio P between the lower alloy chute and the center of the large tank is detected S When <P1, the lower alloy chute rotates to above the deep stirring zone of the large tank, and the chute controller stops driving the lower alloy chute; After the large tank moves to the right, when the ratio P between the lower alloy chute and the center of the large tank is detected S >P2, causing the lower alloy chute to deviate to the left above the deep stirring zone of the large tank, and at this time the chute controller starts to drive the alloy chute to rotate forward to P S = Stop when P1; After the large tank moves to the left, when the ratio P between the lower alloy chute and the center of the large tank is detected S When the lower alloy chute deviates to the right above the deep stirring zone of the large tank, the chute controller starts to drive the alloy chute to rotate in the opposite direction to P S =P1, where P1, P2 and P3 are preset values.

9. The method according to claim 8, characterized in that The angle value θ is based on u , controlling the upper alloy chute driving mechanism to rotate through the chute controller, including: When the position angle θ between the upper alloy chute and the large tank is detected u When α<1, the upper alloy chute rotates to above the deep stirring zone of the large tank, and the chute controller stops driving the upper alloy chute; After the large tank moves to the right, when the position angle θ between the upper alloy chute and the large tank is detected u >α2, causing the upper alloy chute to deviate to the left above the deep stirring zone of the large tank, and at this time the chute controller starts to drive the upper alloy chute to rotate forward to θ u = Stop when α1; After the large tank moves to the left, when the position angle θ between the upper alloy chute and the large tank is detected u When α<3, the upper alloy chute deviates to the right above the deep stirring zone of the large tank. At this time, the chute controller starts to drive the upper alloy chute to rotate in the opposite direction to θ u =α1, where α1, α2 and α3 are preset values.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 9.

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