A blast furnace unmanned tapping method, device, system and storage medium

Abstract

The present application relates to the technical field of steel, and provides a blast furnace unmanned tapping method, device, system and storage medium, wherein the theoretical distance of the molten iron tank car moving to the target tapping position is determined, then the tractor is controlled to move towards the target tapping position by the theoretical distance, then when the molten iron tank car is in the centering state, the tank cover of the molten iron tank car is controlled to be in the open state, then the tapping chute is controlled to swing to one side of the main line to perform tapping, when the molten iron tank car reaches the full tank condition, the tapping chute is controlled to swing to one side of the auxiliary line to perform tapping to the molten iron tank car located on the auxiliary line, then the tank cover of the molten iron tank car is controlled to be in the closed state, then the center distance of the next molten iron tank car and the previous molten iron tank car is obtained according to the current attribute data, and the tractor is controlled to continue moving by the center distance to perform position adjustment. The present application realizes the automatic control of the blast furnace unmanned tapping, improves the safety of the on-site production, and reduces the failure rate and the accident rate.

Description

Technical Field

[0001] This invention relates to the field of iron and steel technology, and in particular to a method, apparatus, system and storage medium for unmanned blast furnace tapping. Background Technology

[0002] In traditional ironmaking processes, remote control combined with camera monitoring is often used to control the movement of tractors on the railway tracks, thereby achieving positioning control of molten iron ladle cars. However, this method is very difficult to align the molten iron ladle cars, involves frequent movements, and is inefficient. In actual production, inaccurate positioning of molten iron ladle cars due to human error and molten iron slippage due to human negligence have caused serious production safety accidents many times. Through camera monitoring, the video signal is sometimes blurry due to the large amount of dust on site, which also frequently leads to inaccurate positioning. At the same time, the current on-site control of the molten iron chute is mainly based on manual operators, control box buttons, and changeover switches, requiring manual intervention at the control buttons.

[0003] In view of this, it is necessary to propose an unmanned blast furnace tapping method, device, system and storage medium to solve or at least alleviate the above-mentioned defects. Summary of the Invention

[0004] The main objective of this invention is to provide an unmanned blast furnace tapping method, apparatus, system, and storage medium to solve the technical problems in the prior art where the blast furnace tapping process relies too much on manual labor, resulting in low automation of the tapping process, low accuracy of molten iron ladle car positioning, and a high risk of safety accidents.

[0005] To achieve the above objectives, the present invention provides an unmanned blast furnace iron tapping method, comprising the following steps:

[0006] S1, obtain the current attribute data of the molten iron ladle assembly located on the main line; wherein, the molten iron ladle assembly includes a tractor and multiple molten iron ladle cars connected in sequence;

[0007] S2, determine the theoretical distance for the i-th molten iron ladle car to move to the target iron-receiving position, and then control the tractor to move the theoretical distance toward the target iron-receiving position; where i is a positive integer, and the initial value of i is 1;

[0008] S3, obtain the image information of the ith molten iron ladle car, and determine whether the ith molten iron ladle car is in a fixed state based on the image information.

[0009] S4, when the i-th molten iron ladle car is in the centering state, control the ladle cover of the i-th molten iron ladle car to be in the open state, and then control the iron chute to swing to one side of the main line to discharge iron to the i-th molten iron ladle car;

[0010] S5, determine whether the i-th molten iron ladle car has reached the full condition;

[0011] S6, when the i-th molten iron ladle car reaches the full condition, control the iron chute to swing to one side of the auxiliary line to discharge iron to the molten iron ladle car located on the auxiliary line, and then control the lid of the i-th molten iron ladle car to be closed.

[0012] S7, determine whether the i-th molten iron ladle car is the last molten iron ladle car of the receiving ladle assembly; if yes, complete the receiving of iron by the receiving ladle assembly; if no, assign i+1 to i, then obtain the center distance between the i-th molten iron ladle car and the (i-1)-th molten iron ladle car according to the current attribute data, control the tractor to continue moving at the center distance, and then proceed to step S3.

[0013] Preferably, the molten iron ladle car includes a frame and a ladle body, the ladle body is located inside the frame, a sign is centrally located on the outer wall of the frame, a vertical centering positioning mark block is located in the center of the sign, and a vertical laser line is provided at the target iron receiving position; wherein, when the vertical centering positioning mark block is directly below the vertical laser line, the vertical laser line can be projected onto the vertical centering positioning mark block.

[0014] Preferably, step S3, determining whether the i-th molten iron ladle car is in a centered state based on the ladle image information, includes the following steps:

[0015] S31, an edge detection algorithm is used to extract the rectangular bounding box region of the sign from the tank image information;

[0016] S32, Identify the vertical centering positioning mark block within the rectangular bounding box area, and calculate the first coordinate of the vertical centering positioning mark block in the image coordinate system;

[0017] S33, extract the laser line region within the rectangular bounding box area, and calculate the second coordinate of the vertical central axis of the laser line region in the image coordinate system;

[0018] S34, calculate the vertical offset between the first coordinate and the second coordinate, and determine whether the vertical offset is within a preset range;

[0019] S351, when the longitudinal offset is within a preset range and the duration is greater than the first preset duration, it is determined that the i-th molten iron ladle car is in the centering state, and a positioning success command is sent to the target object.

[0020] S352, when the longitudinal offset is not within the preset range, it is determined that the i-th molten iron ladle car is not in the centering state, and a position adjustment command is generated.

[0021] Preferably, step S5 includes the following steps:

[0022] S51, obtain the liquid level in the tank and the weight of the tank;

[0023] S52, determine whether the liquid level in the tank is within the tolerance range of the target height, and determine whether the weight of the tank is within the tolerance range of the target weight;

[0024] S531, when both of the following conditions are met simultaneously: the liquid level in the tank is within the tolerance range of the target height and the weight of the tank is within the tolerance range of the target weight, the i-th molten iron ladle car is determined to be full, and a full tank signal confirmation command is generated.

[0025] S532, if at least one of the following conditions is not met: the liquid level in the tank is within the tolerance range of the target height, and the weight of the tank is within the tolerance range of the target weight, it is determined that the i-th molten iron ladle car has not reached the full tank condition, and a preset reminder instruction is generated.

[0026] Preferably, the following steps are included before step S51:

[0027] S501, Collect the weight time-series data {W} of the i-th molten iron ladle car during the iron-receiving process. t1 W t2 ,...,W tn}, and based on the weight time series data {W t1 W t2 ,...,W tn Calculate the weight increment ΔW within the time window from the initial time t0 to t0+Δt; where W t1 W represents the weight at time t1. t2 W represents the weight at time t2. tn This represents the weight at time tn.

[0028] S502, determine the average rate of change of weight based on the weight increment ΔW and the time window Δt;

[0029] S503, obtain the initial weight of the molten iron ladle car at the starting time t0, and determine the estimated time from the starting time t0 to the molten iron ladle car reaching the target weight based on the target weight, the initial weight, and the average rate of change of weight; wherein, the estimated time is longer than the time window Δt;

[0030] S505, at the end of the estimated duration, determine whether the tank weight is within the tolerance range of the target weight;

[0031] S506, when the tank weight is within the tolerance range of the target weight, it is determined that the change in tank weight is normal, and proceed to step S51;

[0032] S507: When the tank weight is not within the tolerance range of the target weight, the tank weight change is determined to be abnormal, and an alarm command is sent to the target object.

[0033] Preferably, the step S352 is followed by the following step:

[0034] The adjustment distance that the tractor needs to adjust is determined based on the longitudinal offset between the first coordinate and the second coordinate; the tractor is controlled to move the adjustment distance, and then the process returns to step S31.

[0035] The present invention also provides an unmanned blast furnace tapping device, comprising:

[0036] The data acquisition unit is used to acquire the current attribute data of the molten iron receiving component located on the main line; wherein, the molten iron receiving component includes a tractor and multiple molten iron ladle cars connected in sequence;

[0037] The distance determination unit is used to determine the theoretical distance for the i-th molten iron ladle car to move to the target iron receiving position, and then control the tractor to move towards the target iron receiving position by the theoretical distance; where i is a positive integer and the initial value of i is 1;

[0038] The centering judgment unit is used to obtain the image information of the i-th molten iron ladle car and determine whether the i-th molten iron ladle car is in the centering state based on the image information.

[0039] The first control unit is used to control the lid of the i-th molten iron ladle car to be open when the i-th molten iron ladle car is in the centering state, and then control the iron chute to swing to one side of the main line so as to discharge iron to the i-th molten iron ladle car.

[0040] The full ladle determination unit is used to determine whether the i-th molten iron ladle car has reached the full ladle condition;

[0041] The second control unit is used to control the iron tapping chute to swing to one side of the auxiliary line when the i-th molten iron ladle car reaches the full condition, so as to tap iron to the molten iron ladle car located on the auxiliary line, and then control the ladle cover of the i-th molten iron ladle car to be closed.

[0042] The adjustment unit is used to determine whether the i-th molten iron ladle car is the last molten iron ladle car of the receiving ladle assembly; if yes, the receiving ladle assembly completes the receiving of iron; if no, i+1 is assigned to i, and the center distance between the i-th molten iron ladle car and the (i-1)-th molten iron ladle car is obtained according to the current attribute data, and the tractor is controlled to continue moving at the center distance, and then proceed to step S3.

[0043] This invention also provides an unmanned blast furnace tapping system, comprising a control system, a first image device for acquiring attribute data of the receiving ladle assembly, a second image device for acquiring ladle image information, a third image device for acquiring the liquid level height inside the ladle, a weighing device, and a main line and an auxiliary line arranged in parallel at intervals. Receiving ladle assemblies are provided on both the main line and the auxiliary line. Each receiving ladle assembly includes a tractor and multiple molten iron ladle cars connected in sequence. The first image device, the second image device, the third image device, the weighing device, and the tractor are all connected to the control system. The control system includes a memory, a processor, and a real-time data acquisition program for the current ladle of the blast furnace stored in the memory and executable on the processor. When the processor executes the real-time data acquisition program for the current ladle of the blast furnace, it implements the steps of the unmanned blast furnace tapping method described above.

[0044] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the unmanned blast furnace tapping method described above.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] This application provides a method, apparatus, system, and storage medium for unmanned blast furnace tapping. By determining the theoretical distance the molten iron ladle car needs to travel to the target receiving position, and then controlling the tractor to move that theoretical distance towards the target receiving position, and combining this with ladle image information to determine when the molten iron ladle car is in a centered state, the ladle cover is controlled to be open. The tapping chute is then controlled to swing to one side of the main line for tapping. When the molten iron ladle car reaches full capacity, the tapping chute is controlled to swing to one side of the auxiliary line for tapping to molten iron ladle cars located on the auxiliary line. The ladle cover is then controlled to be closed. Based on current attribute data, the center distance between the next and previous molten iron ladle cars is obtained, and the tractor is controlled to continue moving to adjust its position according to the center distance. This application achieves automated control of unmanned blast furnace tapping, improving on-site production safety, reducing error and accident rates, and minimizing human interference with safe production. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0048] Figure 1 This is a schematic flowchart of one embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the system structure in one embodiment of the present invention.

[0050] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0053] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0054] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0055] Please refer to Figures 1 to 2 The present invention provides an unmanned blast furnace iron tapping method, comprising the following steps:

[0056] S1, Obtain the current attribute data of the ladle receiving component located on the main line; wherein, the ladle receiving component includes a tractor and multiple ladle cars connected in sequence; as a preferred example, the current attribute data includes, but is not limited to, one or more of the following: the current position of the tractor, the model data of each ladle car (e.g., large ladle, small ladle), the coding data of each ladle car, and the queue data between multiple ladle cars; wherein, the tractor is equipped with a positioning module for positioning, which can obtain the position of the tractor on the main line in real time. The tractor is connected to the first ladle car, and adjacent ladle cars are connected. Therefore, after obtaining the current position of the tractor, the model data of each ladle car, and the queue data between multiple ladle cars, the position of each ladle car on the main line can be calculated.

[0057] S2, determine the theoretical distance for the i-th molten iron ladle car to move to the target iron-receiving position, and then control the tractor to move towards the target iron-receiving position by the theoretical distance; where i is a positive integer, and the initial value of i is 1; specifically, the target iron-receiving position and the molten iron chute outlet position are set accordingly, and the molten iron ladle car is controlled to move to the target iron-receiving position to achieve the initial positioning of the molten iron ladle car's iron-receiving position; in order to facilitate the accurate expression of iron-receiving by multiple molten iron ladle cars, this application introduces a variable i, and the initial value of i is 1, that is, firstly, the first molten iron ladle car of each iron-receiving ladle assembly is subjected to iron-receiving. As can be seen from the above discussion, the theoretical distance for the i-th molten iron ladle car to move to the target iron-receiving position can be obtained. Preferably, the theoretical distance can be the distance from the vertical axis of the i-th molten iron ladle car to the target iron-receiving position, and then the tractor is controlled to move towards the target iron-receiving position by the theoretical distance so that the i-th molten iron ladle car moves to the target iron-receiving position to achieve the initial positioning of the molten iron ladle car.

[0058] S3, obtain the image information of the ith molten iron ladle car, and determine whether the ith molten iron ladle car is in a fixed state based on the image information.

[0059] Because molten iron leakage is a very serious accident, it is essential to ensure a sufficiently high level of accuracy in the positioning of the ladle receiving the molten iron. Relying solely on the theoretical distance traveled by controlling the tractor towards the target receiving position in step S2 often results in inaccurate positioning or deviations during actual production. To address this, this application introduces a multiple confirmation mechanism. This avoids the high error and low efficiency problems associated with existing methods relying solely on manual remote control positioning or video monitoring. In addition to controlling the tractor's movement of the theoretical distance, it further acquires image information of the molten iron ladle car and uses this image information to make a precise centering judgment. Furthermore, since step S2 moves the molten iron ladle car to a certain range of the target receiving position before employing image analysis, centering efficiency can be significantly improved, and the drawbacks of relying entirely on image analysis can be avoided.

[0060] S4, when the i-th molten iron ladle car is in the centering state, control the ladle cover of the i-th molten iron ladle car to be in the open state, and then control the iron chute to swing to one side of the main line to discharge iron to the i-th molten iron ladle car; after ensuring that the ladle cover is open, discharge iron to the molten iron ladle car.

[0061] S5, determine whether the i-th molten iron ladle car has reached the full condition;

[0062] S6, when the i-th ladle car reaches the full condition, the molten iron chute is controlled to swing to one side of the auxiliary line to discharge molten iron to the ladle car located on the auxiliary line. Then, the lid of the i-th ladle car is controlled to be closed. It should be noted that the molten iron ladle cars on the auxiliary line serve as a temporary transition. The alignment of the molten iron ladle cars on the auxiliary line can refer to that on the main line. To ensure the continuity of the entire production process, after the i-th ladle car on the main line reaches the full condition, the chute is controlled to swing to one side of the auxiliary line to discharge molten iron to the ladle car located on the auxiliary line. If the next ladle car is in the centered state, the chute is controlled to swing to one side of the main line, thereby achieving continuous production. In other embodiments, after the molten iron ladle car on the auxiliary line reaches the full condition, the chute can be swinged to one side of the main line, and the next molten iron ladle car on the auxiliary line can be controlled to move to a preset position to receive molten iron.

[0063] S7, determine whether the i-th molten iron ladle car is the last molten iron ladle car of the receiving ladle assembly; if yes, the receiving ladle assembly has completed receiving iron, that is, the receiving of all molten iron ladle cars of the receiving ladle assembly has been completed, and the receiving of iron for the next receiving ladle assembly can continue. The process of the next receiving ladle assembly can refer to the process of the previous receiving ladle assembly, which will not be elaborated here; if no, assign i+1 to i, then obtain the center distance between the i-th molten iron ladle car and the (i-1)-th molten iron ladle car according to the current attribute data, control the tractor to continue moving at the center distance, and then proceed to step S3.

[0064] Since adjacent molten iron ladle cars are connected, when the center distance between the i-th molten iron ladle car and the (i-1)-th molten iron ladle car is obtained, the (i-1)-th molten iron ladle car is already in a fixed-center state. Therefore, the tractor can be controlled to continue moving at the center distance to achieve the initial positioning of the next molten iron ladle car. Then, step S3 is entered to perform subsequent operations until all molten iron ladle cars of the receiving ladle assembly are receiving iron.

[0065] This application realizes the automated control of the blast furnace tapping process, especially the molten iron ladle car, which improves the safety of on-site production, reduces the error rate and accident rate, and reduces the interference of human factors on safe production.

[0066] In a preferred embodiment, the molten iron ladle car includes a frame and a ladle body. The ladle body is located inside the frame. A sign is centrally located on the outer wall of the frame. A vertically centered positioning mark block is located in the center of the sign. A vertical laser line is located at the target iron receiving position. When the vertically centered positioning mark block is directly below the vertical laser line, the vertical laser line can be projected onto the vertically centered positioning mark block.

[0067] It is worth noting that in existing technologies, the centering of molten iron ladle cars occasionally relies on camera video monitoring and manual observation of infrared positions to determine whether the ladle car is aligned with the receiving port. However, due to high dust levels on-site, the video signals are sometimes blurry, making ladle car alignment very difficult, and this process is frequent and inefficient. This embodiment addresses this by setting up an identification sign to facilitate recognition by an image recognition device. By matching the positions of the vertically centered positioning marker block and the vertical laser line on the sign, it is possible to determine whether the molten iron ladle car has achieved precise centering, improving centering efficiency and environmental adaptability. Specific embodiments will be provided later for detailed explanation.

[0068] Furthermore, a number identification block can be installed on the sign. This block consists of a first code representing the capacity of the ladle car and a second code for numbering the ladle car. The first code consists of a specific one or two digits, with different capacities using different one or two digits. Since the first code already indicates the ladle car's capacity, the second code can be sequentially numbered without needing to be grouped according to capacity. Therefore, by identifying the number identification block on each molten iron ladle car, the capacity of the ladle car can be determined, as well as the sorting information of the ladle components.

[0069] In a preferred embodiment, step S3, which involves determining whether the i-th molten iron ladle car is in a centered state based on the ladle image information, includes the following steps:

[0070] S31, an edge detection algorithm is used to extract the rectangular bounding box region of the sign from the tank image information; the RGB tank image is converted to grayscale, and Canny edge detection can be used, for example, the Suzuki algorithm can be used to extract the outer contour, thereby filtering out the rectangular bounding box region of the sign;

[0071] S32, Identify the vertical centering positioning marker block within the rectangular bounding box area, and calculate the first coordinate of the vertical centering positioning marker block's vertical center line in the image coordinate system; the vertical centering positioning marker block can be set to a color that facilitates visual recognition, such as red, and the first coordinate of the vertical center line in the image coordinate system can be obtained by identifying the boundary of the vertical centering positioning marker block and then taking the midpoint of the left and right boundaries.

[0072] S33, extract the laser line region within the rectangular bounding box area, and calculate the second coordinate of the vertical central axis of the laser line region in the image coordinate system; specifically, the laser line can be green or other colors, perform an opening operation on the green channel, select the connected component with the largest area as the laser line region, then extract the vertical central axis of the laser line region, and then obtain the second coordinate of the vertical central axis in the image coordinate system;

[0073] S34, calculate the vertical offset between the first coordinate and the second coordinate, and determine whether the vertical offset is within a preset range;

[0074] It should be noted that before performing the precise determination of whether the molten iron ladle car is in the centering state in step S3, this application first performs preliminary positioning by controlling the movement distance of the tractor, and then performs precise positioning according to this embodiment. The longitudinal offset between the first coordinate and the second coordinate (i.e., the offset along the movement direction of the tractor) is calculated to determine whether the molten iron ladle car is in the precise centering state, thereby ensuring the accuracy of iron receiving and avoiding iron slippage. The preset range can be set according to actual needs, for example, the preset range can be set to ±10cm.

[0075] S351, when the longitudinal offset is within a preset range and the duration is greater than the first preset duration, it is determined that the i-th molten iron ladle car is in the centering state, and a positioning success command is sent to the target object.

[0076] S352, when the longitudinal offset is not within the preset range, it is determined that the i-th molten iron ladle car is not in the centered state, and a position adjustment command is generated. If the longitudinal offset is not within the preset range, it means that the molten iron ladle car has not reached the centered state. In order to make the molten iron ladle car reach the centered state, the position of the molten iron ladle car needs to be adjusted.

[0077] Furthermore, the step S352 is followed by the following steps:

[0078] The adjustment distance that the tractor needs to adjust is determined based on the longitudinal offset between the first coordinate and the second coordinate; the tractor is controlled to move the adjustment distance, and then the process returns to step S31.

[0079] In this embodiment, when the longitudinal offset is not within the preset range, it indicates that the i-th molten iron ladle car has not yet reached the centering state. At this time, based on the longitudinal offset and the actual distance corresponding to each pixel in the field of view of the known image device, the image conversion coefficient can be obtained in advance, and the corresponding real adjustment distance can be calculated. Then, by controlling the tractor to move the adjustment distance, the process returns to step S31 to re-determine whether the i-th molten iron ladle car has reached the centering state, until the i-th molten iron ladle car reaches the centering state.

[0080] This embodiment can perform a secondary fine-tuning positioning after the tractor has moved the theoretical distance for initial positioning, thereby improving positioning accuracy and efficiency.

[0081] In a preferred embodiment, step S5 includes the following steps:

[0082] S51, obtain the liquid level height and weight of the tank; specifically, a radar level gauge can be installed at a suitable position above the target iron receiving position and the molten iron ladle car. The data acquisition frequency can be set according to actual needs, such as 20Hz; the weight of the tank can be obtained by a weighing device, such as a spoke-type weighing sensor installed on the molten iron ladle car or a weighing device set at the target iron receiving position.

[0083] S52, determine whether the liquid level in the tank is within the tolerance range of the target height (e.g., set to ±30mm), and determine whether the weight of the tank is within the tolerance range of the target weight; wherein, the target height can be preset according to the type of molten iron ladle car or process requirements, the target weight can be determined by the current molten iron density and the type of molten iron ladle car or process requirements, and the tolerance range can be set by those skilled in the art according to actual needs, for example, the tolerance range of the target weight can be set to ±0.8% of the target weight.

[0084] S531, when both the liquid level in the ladle is within the tolerance range of the target height and the weight of the ladle is within the tolerance range of the target weight are simultaneously satisfied, the i-th molten iron ladle car is determined to be full, and a full ladle signal confirmation command is generated. Currently, ladle level detection mainly uses radar level detectors for alignment detection, which has a large error in measuring the liquid level, making it difficult to accurately determine whether it is the true liquid level in the ladle, leading to frequent molten iron leakage. This embodiment uses dual control of weight and liquid level, combined with ladle cover control, to ensure that the molten iron ladle car reaches the full ladle condition and strictly control the occurrence of molten iron leakage.

[0085] S532, if at least one of the following conditions is not met: the liquid level in the tank is within the tolerance range of the target height, and the tank weight is within the tolerance range of the target weight, it is determined that the i-th molten iron ladle car has not reached the full capacity condition, and a preset reminder instruction is generated. The preset reminder instruction includes, but is not limited to, one or more of the following: flashing warning lights, SMS notification to the dispatcher and maintenance personnel.

[0086] In a preferred embodiment, the following steps are included before step S51:

[0087] S501, Collect the weight time-series data {W} of the i-th molten iron ladle car during the iron-receiving process. t1 W t2 ,...,W tn}, and based on the weight time series data {W t1 W t2 ,...,W tn Calculate the weight increment ΔW within the time window from the initial time t0 to t0+Δt; where W t1 W represents the weight at time t1. t2 W represents the weight at time t2. tn This represents the weight at time tn.

[0088] S502, determine the average rate of change of weight based on the weight increment ΔW and the time window Δt; specifically, a weighing device, such as a load cell, can be installed at the target iron-bearing location. By acquiring load cell data in real time or at preset time intervals, the weight time-series data {W} can be obtained. t1 W t2 ,...,W tn By obtaining the weight increment ΔW over a time window Δt, the average weight change rate can be obtained. Furthermore, when the weight increment ΔW changes abnormally, such as when ΔW is 0 or fails to reach a preset value, an alarm command can be triggered. Additionally, if the average weight change rate is outside a preset range, an alarm command can also be triggered.

[0089] S503, obtain the initial weight of the molten iron ladle car at the starting time t0, and determine the estimated time from the starting time t0 to the molten iron ladle car reaching the target weight based on the target weight, the initial weight, and the average rate of change of weight; wherein, the estimated time is longer than the time window Δt; in the actual production process, during the stable iron receiving process, the average rate of change of weight fluctuates little and can be regarded as a constant. Therefore, the estimated time from the starting time t0 to the molten iron ladle car reaching the target weight can be estimated by the target weight, the initial weight, and the average rate of change of weight. This estimated time can play a role in preliminary prediction and judgment.

[0090] S505, at the end of the estimated duration, determine whether the tank weight is within the tolerance range of the target weight;

[0091] S506: If the tank weight is within the tolerance range of the target weight, the change in tank weight is determined to be normal, and the process proceeds to step S51. It is noteworthy that after determining the tank weight change to be normal, step S51 is then performed to determine both the liquid level and tank weight. This improves detection efficiency, eliminating the need for lengthy determinations of both indicators. The tolerance range can be set according to actual needs, typically 0.5% to 1% of the target weight. The target weight can be preset based on the size and model of the molten iron ladle car.

[0092] S507: When the tank weight is outside the allowable tolerance range of the target weight, an abnormal change in tank weight is determined, and an alarm command is sent to the target object. The alarm command includes, but is not limited to, one or more of the following: audible and visual alarm, control panel pop-up prompt, automatic emergency shutdown, and SMS notification to staff.

[0093] The present invention also provides an unmanned blast furnace tapping device, comprising:

[0094] The data acquisition unit is used to acquire the current attribute data of the molten iron receiving component located on the main line; wherein, the molten iron receiving component includes a tractor and multiple molten iron ladle cars connected in sequence;

[0095] The distance determination unit is used to determine the theoretical distance for the i-th molten iron ladle car to move to the target iron receiving position, and then control the tractor to move towards the target iron receiving position by the theoretical distance; where i is a positive integer and the initial value of i is 1;

[0096] The centering judgment unit is used to obtain the image information of the i-th molten iron ladle car and determine whether the i-th molten iron ladle car is in the centering state based on the image information.

[0097] The first control unit is used to control the lid of the i-th molten iron ladle car to be open when the i-th molten iron ladle car is in the centering state, and then control the iron chute to swing to one side of the main line so as to discharge iron to the i-th molten iron ladle car.

[0098] The full ladle determination unit is used to determine whether the i-th molten iron ladle car has reached the full ladle condition;

[0099] The second control unit is used to control the iron tapping chute to swing to one side of the auxiliary line when the i-th molten iron ladle car reaches the full condition, so as to tap iron to the molten iron ladle car located on the auxiliary line, and then control the ladle cover of the i-th molten iron ladle car to be closed.

[0100] The adjustment unit is used to determine whether the i-th molten iron ladle car is the last molten iron ladle car of the receiving ladle assembly; if yes, the receiving ladle assembly completes the receiving of iron; if no, i+1 is assigned to i, and the center distance between the i-th molten iron ladle car and the (i-1)-th molten iron ladle car is obtained according to the current attribute data, and the tractor is controlled to continue moving at the center distance, and then proceed to step S3.

[0101] This invention also provides an unmanned blast furnace tapping system, comprising a control system, a first image device for acquiring attribute data of the receiving ladle assembly, a second image device for acquiring ladle image information, a third image device for acquiring the liquid level height inside the ladle, a weighing device, and a main line and an auxiliary line arranged in parallel at intervals. Receiving ladle assemblies are provided on both the main line and the auxiliary line. Each receiving ladle assembly includes a tractor and multiple molten iron ladle cars connected in sequence. The first image device, the second image device, the third image device, the weighing device, and the tractor are all connected to the control system. The control system includes a memory, a processor, and a real-time data acquisition program for the current ladle of the blast furnace stored in the memory and executable on the processor. When the processor executes the real-time data acquisition program for the current ladle of the blast furnace, it implements the steps of the unmanned blast furnace tapping method described above.

[0102] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the unmanned blast furnace tapping method described above.

[0103] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0104] The aforementioned computer-readable storage medium may be included in the unmanned blast furnace tapping system; or it may exist independently and not be installed in the unmanned blast furnace tapping system.

[0105] The above are merely preferred embodiments of the present invention and do not limit the scope of protection of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention’s specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for unmanned iron tapping in a blast furnace, characterized in that, Includes the following steps: S1, obtain the current attribute data of the molten iron ladle assembly located on the main line; wherein, the molten iron ladle assembly includes a tractor and multiple molten iron ladle cars connected in sequence; S2, determine the theoretical distance for the i-th molten iron ladle car to move to the target iron-receiving position, and then control the tractor to move the theoretical distance toward the target iron-receiving position; where i is a positive integer, and the initial value of i is 1; S3, obtain the image information of the ith molten iron ladle car, and determine whether the ith molten iron ladle car is in a fixed state based on the image information. S4, when the i-th molten iron ladle car is in the centering state, control the ladle cover of the i-th molten iron ladle car to be in the open state, and then control the iron chute to swing to one side of the main line to discharge iron to the i-th molten iron ladle car; S5, determine whether the i-th molten iron ladle car has reached the full condition; S6, when the i-th molten iron ladle car reaches the full condition, control the iron chute to swing to one side of the auxiliary line to discharge iron to the molten iron ladle car located on the auxiliary line, and then control the lid of the i-th molten iron ladle car to be closed. S7, determine whether the i-th molten iron ladle car is the last molten iron ladle car of the receiving ladle assembly; if yes, complete the receiving ladle assembly receiving iron; if no, assign i+1 to i, then obtain the center distance between the i-th molten iron ladle car and the (i-1)-th molten iron ladle car according to the current attribute data, control the tractor to continue moving at the center distance, and then proceed to step S3. Step S3, which involves determining whether the i-th molten iron ladle car is in a centered state based on the ladle image information, includes the following steps: S31, an edge detection algorithm is used to extract the rectangular bounding box region of the sign from the tank image information; S32, Identify the vertical centering positioning marker block within the rectangular bounding box area, and calculate the first coordinate of the vertical centering positioning marker block in the image coordinate system; S33, extract the laser line region within the rectangular bounding box area, and calculate the second coordinate of the vertical central axis of the laser line region in the image coordinate system; S34, calculate the vertical offset between the first coordinate and the second coordinate, and determine whether the vertical offset is within a preset range; S351, when the longitudinal offset is within a preset range and the duration is greater than the first preset duration, it is determined that the i-th molten iron ladle car is in the centering state, and a positioning success command is sent to the target object. S352, when the longitudinal offset is not within the preset range, it is determined that the i-th molten iron ladle car is not in the centering state, and a position adjustment command is generated; Step S5 includes the following steps: S51, obtain the liquid level in the tank and the weight of the tank; S52, determine whether the liquid level in the tank is within the tolerance range of the target height, and determine whether the weight of the tank is within the tolerance range of the target weight; S531, when both of the following conditions are met simultaneously: the liquid level in the tank is within the tolerance range of the target height and the weight of the tank is within the tolerance range of the target weight, the i-th molten iron ladle car is determined to be full, and a full tank signal confirmation command is generated. S532, when at least one of the following conditions is not met: the liquid level in the tank is within the tolerance range of the target height, and the weight of the tank is within the tolerance range of the target weight, it is determined that the i-th molten iron ladle car has not reached the full tank condition, and a preset reminder instruction is generated. The following steps are included before step S51: S501, Collect the weight time series data of the i-th molten iron ladle car during the iron receiving process. And based on weight time series data Calculate the start time to Weight increment within the time window ;in, for The weight corresponding to each moment. for The weight corresponding to each moment. for The weight corresponding to a given moment; S502, according to the weight increment and time window Determine the average rate of change of weight; S503, Obtain the starting time of the molten iron ladle car. The initial weight is determined based on the target weight, the initial weight, and the average rate of change of weight, starting from the initial time. The estimated time until the molten iron ladle car reaches the target weight; wherein the estimated time is longer than the time window. ; S505, at the end of the estimated duration, determine whether the tank weight is within the tolerance range of the target weight; S506, when the tank weight is within the tolerance range of the target weight, it is determined that the change in tank weight is normal, and proceed to step S51; S507: When the tank weight is not within the tolerance range of the target weight, the tank weight change is determined to be abnormal, and an alarm command is sent to the target object.

2. The unmanned blast furnace tapping method according to claim 1, characterized in that, The molten iron ladle car includes a frame and a ladle body. The ladle body is located inside the frame. A sign is centrally located on the outer wall of the frame. A vertical centering positioning mark block is located in the center of the sign. A vertical laser line is located at the target iron receiving position. When the vertical centering positioning mark block is directly below the vertical laser line, the vertical laser line can be projected onto the vertical centering positioning mark block.

3. The unmanned blast furnace tapping method according to claim 1, characterized in that, Following step S352, the following steps are also included: The adjustment distance that the tractor needs to adjust is determined based on the longitudinal offset between the first coordinate and the second coordinate; Control the movement of the tractor to adjust the distance, and then return to step S31.

4. A blast furnace unmanned tapping device, used to perform the blast furnace unmanned tapping method as described in any one of claims 1-3, characterized in that, include: The data acquisition unit is used to acquire the current attribute data of the molten iron receiving component located on the main line; wherein, the molten iron receiving component includes a tractor and multiple molten iron ladle cars connected in sequence; The distance determination unit is used to determine the theoretical distance for the i-th molten iron ladle car to move to the target iron receiving position, and then control the tractor to move towards the target iron receiving position by the theoretical distance; where i is a positive integer and the initial value of i is 1; The centering judgment unit is used to obtain the image information of the i-th molten iron ladle car and determine whether the i-th molten iron ladle car is in the centering state based on the image information. The first control unit is used to control the lid of the i-th molten iron ladle car to be open when the i-th molten iron ladle car is in the centering state, and then control the iron chute to swing to one side of the main line so as to discharge iron to the i-th molten iron ladle car. The full ladle determination unit is used to determine whether the i-th molten iron ladle car has reached the full ladle condition; The second control unit is used to control the iron tapping chute to swing to one side of the auxiliary line when the i-th molten iron ladle car reaches the full condition, so as to tap iron to the molten iron ladle car located on the auxiliary line, and then control the ladle cover of the i-th molten iron ladle car to be closed. The adjustment unit is used to determine whether the i-th molten iron ladle car is the last molten iron ladle car of the receiving ladle assembly; if yes, the receiving ladle assembly completes the receiving of iron; if no, i+1 is assigned to i, and the center distance between the i-th molten iron ladle car and the (i-1)-th molten iron ladle car is obtained according to the current attribute data, and the tractor is controlled to continue moving at the center distance, and then proceed to step S3.

5. A blast furnace unmanned iron tapping system, characterized in that, The system includes a control system, a first image device for acquiring attribute data of the molten iron ladle assembly, a second image device for acquiring ladle image information, a third image device for acquiring the liquid level height inside the ladle, a weighing device, and a main line and an auxiliary line arranged in parallel at intervals. The main line and the auxiliary line each have a molten iron ladle assembly. Each molten iron ladle assembly includes a tractor and multiple molten iron ladle cars connected in sequence. The first image device, the second image device, the third image device, the weighing device, and the tractor are all connected to the control system. The control system includes a memory, a processor, and a real-time data acquisition program for the current ladle of the blast furnace stored in the memory and executable on the processor. When the processor executes the real-time data acquisition program for the current ladle of the blast furnace, it implements the steps of the unmanned blast furnace tapping method as described in any one of claims 1 to 3.

6. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the unmanned blast furnace tapping method as described in any one of claims 1 to 3.

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