Control method and system for a slurry discharge valve

Abstract

The application provides a control method and system of a slurry discharge valve, wherein the method comprises: obtaining a target image sequence of a discharging area corresponding to the slurry discharge valve; processing the target image sequence to extract a slurry discharge feature of the discharging area; the slurry discharge feature comprises at least one of a motion feature of the discharging, a solid-liquid ratio or a probability of agglomeration; in response to the slurry discharge feature satisfying a first condition, generating a first control instruction to control the slurry discharge valve to open or increase the opening degree based on the first control instruction; and in response to the slurry discharge feature satisfying a second condition, generating a second control instruction to control the slurry discharge valve to close based on the second control instruction.

Description

Technical Field

[0001] This application relates to the field of waste treatment technology, and in particular to a control method and system for a slurry discharge valve. Background Technology

[0002] Slurry discharge valves are used to discharge solid particles and agglomerates deposited at the bottom of pipelines or equipment. In related technologies, valves are usually opened at timed intervals or the discharge demand is determined based on indirect parameters such as pressure and current. However, due to the large fluctuations in slurry concentration, particle size and deposition state, timed control is difficult to accurately determine whether the discharge is sufficient, which can easily lead to insufficient discharge causing blockage or excessive discharge causing fluctuations in medium concentration. Summary of the Invention

[0003] In view of this, this application provides a control method, system and electronic device for a slurry discharge valve to overcome the shortcomings of the prior art.

[0004] According to a first aspect of this application, a control method for a slurry discharge valve is provided, comprising: obtaining a target image sequence of a material discharge area corresponding to the discharge valve; processing the target image sequence to extract discharge features of the material discharge area; the discharge features including at least one of the material discharge motion features, solid-liquid ratio, or agglomeration probability; generating a first control command in response to the discharge features satisfying a first condition, to control the discharge valve to open or increase its opening degree based on the first control command; and generating a second control command in response to the discharge features satisfying a second condition, to control the discharge valve to close based on the second control command.

[0005] A second aspect of this application provides a control system for a slurry discharge valve, comprising: an image acquisition module for acquiring a target image sequence of the material discharge area corresponding to the discharge valve; an image processing module for processing the target image sequence to extract discharge features of the material discharge area; the discharge features include at least one of the following: material discharge motion features, solid-liquid ratio, or agglomeration probability; a first control module for generating a first control command in response to the discharge features satisfying a first condition, to control the discharge valve to open or increase its opening degree based on the first control command; and a second control module for generating a second control command in response to the discharge features satisfying a second condition, to control the discharge valve to close based on the second control command.

[0006] A third aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements a control method for any of the above-described slurry discharge valves.

[0007] By adopting the technical solution of this application, the target image sequence is processed to extract the slag discharge features of the material dropping area. The motion features reflect the current flow state of the material dropping, the solid-liquid ratio quantifies the proportion of solid deposits in the discharged material, and the agglomeration probability identifies the discharge progress of the deposited agglomerates. Through the analysis of the slag discharge features, the system can accurately determine whether the slag discharge is sufficient.

[0008] Furthermore, in response to the slag discharge characteristics meeting the first condition, a first control command is generated to control the slag discharge valve to open or increase its opening. This enables timely initiation or enhancement of the slag discharge action when continuous discharge of sediment is detected, avoiding the risk of blockage caused by insufficient slag discharge. In response to the slag discharge characteristics meeting the second condition, a second control command is generated to control the slag discharge valve to close. This enables precise valve closure when the slag discharge characteristics indicate that solid sediment has been discharged, avoiding fluctuations in medium concentration caused by excessive slag discharge. Thus, adaptive adjustment of valve action based on the actual slag discharge status is achieved, improving the accuracy of slag discharge control.

[0009] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0010] The above and other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0011] Figure 1 This is a schematic flowchart of a control method for a slurry discharge valve provided in an embodiment of this application;

[0012] Figure 2 A schematic diagram of the control system for a slurry discharge valve provided in an embodiment of the present invention;

[0013] Figure 3 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0014] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0015] Figure 1A flowchart illustrating a control method for a slurry discharge valve provided in an embodiment of this application is shown.

[0016] like Figure 1 As shown, the control method of the slurry discharge valve includes steps S101 to S104.

[0017] Step S101: Obtain the target image sequence of the material discharge area corresponding to the slag discharge valve;

[0018] Step S102: Process the target image sequence to extract the slag discharge features of the material dropping area; the slag discharge features include at least one of the following: material dropping motion features, solid-liquid ratio, or agglomeration probability.

[0019] Step S103: In response to the slag discharge characteristics meeting the first condition, a first control command is generated to control the slag discharge valve to open or increase its opening degree based on the first control command.

[0020] Step S104: In response to the slag discharge characteristic satisfying the second condition, a second control command is generated to control the slag discharge valve to close based on the second control command.

[0021] In step S101, the slag discharge valve refers to a valve installed at the bottom of the slurry treatment equipment or pipeline for discharging sediments, used to periodically or as needed to discharge solid particles and agglomerates deposited at the bottom.

[0022] Alternatively, the slag discharge valve is typically installed at the underflow port of the hydrocyclone, the bottom of the thickener, the low point of the pipeline, or other locations where solid deposits are likely to occur.

[0023] Similarly, the discharge area corresponding to a slag discharge valve refers to the space below the valve outlet where the material passes through or falls after being discharged. The discharge area typically covers the space directly below the valve outlet to the point where the material falls into the receiving equipment or discharge channel.

[0024] The target image sequence refers to multiple frames of images of the material dropping area that are continuously acquired in chronological order. It can be understood as a set of images obtained by continuously shooting the material dropping area over a period of time, which is used to record and analyze the dynamic changes in the material dropping state during the slag discharge process.

[0025] In one feasible implementation, a camera device can be installed in the material discharge area. The lens of the camera device is aimed at the material discharge area below the slag discharge valve outlet, and the camera device continuously collects images of the material discharge area to form a target image sequence.

[0026] Optionally, to address interference factors such as dust and water mist in the slurry processing environment, a protective cover and a lighting device can be configured for the camera. The protective cover is used to isolate dust and droplets to avoid affecting the lens clarity, and the lighting device is used to provide stable supplementary light when the light is insufficient, so as to ensure that the acquired target image sequence has sufficient clarity and contrast.

[0027] In step S102, the slag discharge characteristic refers to the characteristic parameter that can characterize the state of the discharged material in the material dropping area, and is used to determine whether the current slag discharge is sufficient and whether it is necessary to adjust the opening degree or open state of the slag discharge valve.

[0028] Optionally, the slag discharge characteristics include at least one of the following: material movement characteristics, solid-liquid ratio, or agglomeration probability.

[0029] Among them, the motion characteristics of the falling material refer to the motion state parameters of the material in the falling area. It can be understood as the characteristic quantity describing the flow velocity, flow direction or flow intensity of the discharged material, which is used to determine the current flow rate of the slag discharge.

[0030] Similarly, the solid-liquid ratio of the discharge refers to the ratio of solid material to liquid material in the discharge area. It can be understood as the volume or mass ratio of solid particles or agglomerates in the discharged material, and is used to determine whether the discharged material is solid sediment or clear liquid.

[0031] Similarly, the agglomeration probability of the discharged material refers to the possibility or state of solid agglomerates in the discharge area. It can be understood as a parameter characterizing whether large particle agglomerates exist in the discharged material and the degree of agglomerate discharge, used to determine whether the deposited agglomerates are being discharged or have been completely discharged.

[0032] In one feasible implementation, an image processing algorithm can be used to analyze the target image sequence. First, the motion characteristics of the falling material are obtained by calculating the pixel displacement between adjacent frames. Then, the solid region and the liquid region are distinguished by the image segmentation algorithm and their respective pixel proportions are calculated to obtain the solid-liquid ratio. Finally, the clusters in the image are identified by the target detection algorithm and the confidence of the clusters is calculated to obtain the clustering probability.

[0033] It should be noted that for different slag discharge scenarios, some or all slag discharge features can be extracted according to actual needs. For example, in scenarios where the main focus is on slag discharge flow, only motion features can be extracted, while in scenarios where it is necessary to accurately determine the state of solid sediment discharge, both solid-liquid ratio and aggregation probability need to be extracted.

[0034] In step S103, the first condition refers to the judgment condition that indicates the need to start or strengthen the slag discharge action. It can be understood as the condition threshold that judges that there is a large amount of solid sediment or agglomerates being discharged in the material drop area based on the slag discharge characteristics. It is used to trigger the opening action or the opening degree of the slag discharge valve to strengthen the slag discharge effect.

[0035] Optionally, the first condition includes, but is not limited to, motion characteristics exceeding a first motion threshold, solid proportion in solid-liquid ratio exceeding a first proportion threshold, aggregation probability exceeding a first probability threshold, or weighted combination of the above parameters exceeding a first comprehensive threshold.

[0036] Similarly, the first control command refers to the instruction signal used to control the slag discharge valve to perform opening or increase the opening degree, and to drive the slag discharge valve to switch from the closed state to the open state or increase from the current opening degree to a larger opening degree.

[0037] In one feasible implementation, the slag discharge characteristics can be compared with a preset first condition. When the motion characteristics exceed a first motion threshold or the solid proportion in the solid-liquid ratio exceeds a first proportion threshold, it is determined that the first condition is met. In response to the first condition being met, a first control command is generated. The first control command is sent to the electric actuator or pneumatic actuator of the slag discharge valve through a communication interface. After receiving the first control command, the actuator drives the slag discharge valve to open or increases the current opening degree by a preset angle.

[0038] In another feasible implementation, when the aggregation probability exceeds the first probability threshold and the duration exceeds the preset duration, the first condition is determined to be met, and a first control command containing the target opening value is generated. The target opening value is calculated based on the size of the current slag discharge characteristics. The larger the slag discharge characteristics, the larger the target opening value. The first control command controls the slag discharge valve to adjust to the target opening to achieve a slag discharge intensity that matches the slag discharge requirements.

[0039] It should be noted that the threshold of the first condition can be adjusted according to different working conditions. For example, when processing high-concentration slurry, the first proportion threshold can be lowered to start slag discharge earlier, while when processing low-concentration slurry, the first proportion threshold can be increased to avoid excessive slag discharge, thereby adapting to different slurry characteristics and slag discharge requirements.

[0040] In step S104, the second condition refers to the judgment condition indicating that the slag discharge has been fully completed and the slag discharge can be stopped.

[0041] Optionally, the second condition includes, but is not limited to, motion characteristics being lower than a second motion threshold, liquid proportion in solid-liquid ratio exceeding a second proportion threshold, aggregation probability being lower than a second probability threshold, or the weighted combination value of the above parameters being lower than a second comprehensive threshold.

[0042] Similarly, the second control command refers to the command signal used to control the slag discharge valve to perform a closing operation.

[0043] In one feasible implementation, the changing trend of slag discharge characteristics can be continuously monitored. When the liquid proportion in the solid-liquid ratio exceeds the second proportion threshold and the agglomeration probability is lower than the second probability threshold, it is determined that the second condition is met. In response to the second condition being met, a second control command is generated. The second control command is sent to the actuator of the slag discharge valve to control the slag discharge valve to close, thereby stopping the slag discharge action and maintaining the effective material in the slurry treatment equipment.

[0044] Optionally, to avoid frequent opening and closing of the slag discharge valve, a hysteresis interval can be set between the first condition and the second condition. That is, there is a certain difference between the threshold of the second condition and the threshold of the first condition. The second control command is only generated when the slag discharge characteristic changes from meeting the first condition to clearly meeting the second condition. This can prevent the slag discharge valve from repeatedly opening and closing when the slag discharge characteristic fluctuates near the threshold, thus affecting the service life of the equipment.

[0045] By adopting the above embodiments, by acquiring the target image sequence of the material discharge area corresponding to the slag discharge valve, and extracting slag discharge features such as motion features, solid-liquid ratio or agglomeration probability that can characterize the slag discharge state from the target image sequence, real-time visual monitoring and quantitative analysis of the slag discharge process are realized. Compared with the timed slag discharge or manual observation methods in related technologies, the current slag discharge state and slag discharge requirements can be judged more accurately.

[0046] Furthermore, by generating a first control command in response to the slag discharge characteristics meeting the first condition to control the slag discharge valve to open or increase its opening, and generating a second control command in response to the slag discharge characteristics meeting the second condition to control the slag discharge valve to close, the automated closed-loop control of the slag discharge valve is realized. This enables the slag discharge valve to be opened or its opening increased in a timely manner to fully discharge slag when solid sediments or agglomerates need to be discharged, and to be closed in a timely manner when the solid materials are basically discharged to avoid excessive loss of liquid and effective materials. This improves the timeliness and accuracy of slag discharge and reduces the loss rate of effective materials.

[0047] Furthermore, by using dynamic feedback control based on actual slag discharge characteristics, the problems of insufficient or excessive slag discharge caused by fixed time interval slag discharge are avoided. This reduces the unnecessary number of times the slag discharge valve is switched on and off, extends the service life of the slag discharge valve and actuator, and reduces the reliance on manual inspection and operation, thereby improving the automation level and production efficiency of the slurry processing process.

[0048] Based on the above embodiments, as an optional embodiment, in order to more accurately determine whether there are solid agglomerates in the material discharge area and the degree of agglomerate discharge, the above step S102 may further include the following steps.

[0049] Step S201: Identify at least one frame of the target image in the target image sequence to determine multiple solid particle connected regions within the material dropping area; the solid particle connected region represents the pixel region in which the solid material in the material dropping is continuously connected in the image.

[0050] Step S202: Obtain the scale characteristics and spatial distribution characteristics of the connected domains of each solid particle; the scale characteristics represent the area of ​​the connected domains; the spatial distribution characteristics represent the density distribution of the connected domains.

[0051] Step S203: The connected domains of solid particles that meet the preset scale conditions are identified as candidate regions for agglomeration blocks.

[0052] Step S204: Determine the aggregation degree parameters of candidate agglomeration areas based on spatial distribution characteristics;

[0053] Step S205: Based on the number of candidate agglomeration regions, scale characteristics, and agglomeration degree parameters, obtain the agglomeration probability of the material dropping region.

[0054] In step S201, the solid particle connected region refers to the set of pixels in the target image that have similar pixel features and are spatially connected. It can be understood as a continuous pixel region formed after the solid material region is distinguished from the background or liquid region by the image segmentation algorithm, which is used to characterize the spatial distribution pattern of solid material in the falling material.

[0055] In one feasible implementation, the target image can be grayscaled and binarized. By setting a pixel grayscale threshold, the solid material region and the liquid region can be separated. Then, a connected component labeling algorithm is used to extract connected components from the binarized image. Adjacent pixels with the same pixel value in the image are labeled as the same connected component, thereby obtaining multiple connected components of solid particles in the material dropping area.

[0056] Optionally, when binarizing the target image, an adaptive threshold segmentation algorithm can be used to address the uneven illumination within the material dropping area. The adaptive threshold segmentation algorithm dynamically adjusts the binarization threshold based on the pixel distribution characteristics of the local area of ​​the image, thereby improving the accuracy of solid particle connected component recognition.

[0057] In step S202, the scale feature refers to the parameter characterizing the geometric size of the connected domain, including at least one of the area, perimeter, and equivalent diameter of the connected domain, used to distinguish between large-sized agglomerates and small-sized dispersed particles.

[0058] Similarly, spatial distribution characteristics refer to parameters that characterize the spatial arrangement of multiple connected domains within the material drop area. They can be understood as characteristic quantities that describe the distance relationship and distribution density between connected domains, and are used to determine whether solid particles are in an agglomerated or dispersed state.

[0059] In one feasible implementation, the number of pixels contained in the connected domain of each solid particle can be counted to calculate the area of ​​the connected domain. The perimeter of the connected domain can be obtained by calculating the number of pixels on the boundary of the connected domain. Furthermore, the equivalent diameter can be calculated based on the area to characterize the feature size of the connected domain.

[0060] Optionally, in order to obtain spatial distribution characteristics, the material dropping area can be divided into multiple grid cells, the number of solid particle connected domains contained in each grid cell can be counted, and the density distribution parameter of the connected domains can be obtained by calculating the distribution variance of the number of connected domains per unit area. The larger the density distribution parameter, the more uneven the spatial distribution of the connected domains, and the smaller the density distribution parameter, the more uniform the distribution of the connected domains.

[0061] In step S203, the preset scale condition refers to the judgment condition used to screen large-sized agglomerates. It can be understood as the connected domain area threshold or equivalent diameter threshold set according to the actual slag discharge requirements, which is used to distinguish the connected domains that may belong to agglomerates from many small-sized dispersed particles.

[0062] Similarly, the candidate region of agglomeration blocks refers to the connected regions of solid particles whose scale features meet the preset scale conditions, and is used to filter out the set of large-size connected regions from all identified connected regions of solid particles.

[0063] In one feasible implementation, an area threshold can be set to 1% to 5% of the total area of ​​the material dropping area. Solid particle connected domains with a connected domain area greater than the area threshold are selected as candidate regions for agglomeration, thereby filtering out interference from small-area dispersed particles.

[0064] It should be noted that the threshold of the preset scale condition can be adjusted according to the particle characteristics of different slurries. For example, when processing coarse-grained slurries, the area threshold can be increased to avoid misjudging normal coarse particles as agglomerates, while when processing fine-grained slurries, the area threshold can be decreased to detect the formation and discharge of agglomerates earlier.

[0065] In step S204, the aggregation degree parameter refers to the parameter that characterizes the degree of spatial proximity or concentration of candidate agglomeration areas. It can be understood as a feature value obtained by calculating the distance relationship or distribution concentration between candidate agglomeration areas.

[0066] In one feasible implementation, the centroid coordinates of each candidate region of agglomerates can be calculated, and the degree of agglomeration of the candidate regions of agglomerates can be characterized by calculating the average distance or minimum distance between the centroids. When the average distance is less than a preset distance threshold, the candidate regions of agglomerates are determined to be in an agglomerated state, and when the average distance is greater than the preset distance threshold, the candidate regions of agglomerates are determined to be in a dispersed state.

[0067] In step S205, the number of candidate agglomerate regions, the average area of ​​candidate agglomerate regions, and the aggregation degree parameter can be normalized respectively. Then, the normalized parameters are weighted and summed to obtain the aggregation probability. The aggregation probability ranges from 0 to 1. The closer the aggregation probability is to one, the more agglomerate there are in the material dropping area. The closer the aggregation probability is to zero, the less agglomerate there are in the material dropping area or the agglomerate has been completely discharged.

[0068] By employing the above embodiments, through solid particle connected component identification of the target image sequence and extraction of the scale and spatial distribution features of each connected component, the distribution morphology of solid materials within the material discharge area is analyzed, enabling a more accurate distinction between agglomerates and dispersed particles. Furthermore, by screening candidate agglomerate regions based on scale features and calculating aggregation degree parameters, the aggregation probability is obtained by integrating multi-dimensional information, achieving a quantitative assessment of the agglomerate discharge status. This allows for the identification of both the discharge of large single agglomerates and the aggregation phenomenon formed by multiple medium-sized agglomerates.

[0069] Based on the above embodiments, as an optional embodiment, in order to more comprehensively evaluate the presence and dynamic change trend of aggregates, thereby improving the accuracy of aggregate probability calculation, step S205 may further include the following steps.

[0070] Step S301: Determine the area ratio of the candidate agglomerate block area within the material drop area to obtain the agglomeration coverage rate;

[0071] Step S302: Based on multiple consecutive frames of target images in the target image sequence, calculate the scale change rate of the candidate region of the cluster; the scale change rate characterizes the growth or dissipation trend of the cluster in the time series.

[0072] Step S303: Weighted summation of at least one of the aggregation coverage rate, aggregation degree parameter and scale change rate to obtain the aggregation probability of the material drop area.

[0073] In step S301, the agglomeration coverage rate refers to the ratio of the total area of ​​the candidate agglomeration block region to the total area of ​​the material drop region, which is used to represent the distribution scale of the agglomeration blocks in the current frame.

[0074] In one feasible implementation, the total area of ​​the candidate regions of the clustered blocks can be obtained by summing the number of pixels in all candidate regions of the clustered blocks, and the total number of pixels in the dropping area can be obtained as the total area of ​​the dropping area. The clustering coverage rate can be obtained by calculating the ratio of the two. The larger the clustering coverage rate, the larger the space occupied by the clustered blocks in the dropping area.

[0075] Optionally, when calculating the agglomeration coverage rate, an area percentage threshold can be set. When the agglomeration coverage rate exceeds the area percentage threshold, it is determined that there is a significant agglomeration block discharge phenomenon in the material dropping area. When the agglomeration coverage rate is lower than the area percentage threshold, it is determined that the agglomeration blocks have been basically discharged or have not yet started to be discharged.

[0076] In step S302, the scale change rate refers to the rate at which the scale features of the candidate agglomerate region change over time in multiple consecutive frames of target images. It can be understood as a parameter describing the trend of the agglomerate area or equivalent diameter increasing or decreasing over time, and is used to determine whether the agglomerate is forming and dissipating or dissipating completely.

[0077] In one feasible implementation, cluster candidate regions can be identified in N consecutive frames of target images in the target image sequence. The area change of the same cluster candidate region in each frame is tracked. The area change rate is obtained by calculating the difference in area between cluster candidate regions in adjacent frames and dividing it by the time interval. A positive scale change rate indicates that the cluster is growing, and a negative scale change rate indicates that the cluster is dissipating.

[0078] Optionally, when calculating the scale change rate, the area data of consecutive frames can be smoothed to reduce the impact of image noise and recognition errors.

[0079] It should be noted that when the scale change rate is positive and the value is large, it indicates that agglomerates are being discharged in large quantities. At this time, the opening of the slag discharge valve should be maintained or increased to fully discharge the agglomerates. When the scale change rate is negative and the absolute value is large, it indicates that the agglomerates are rapidly dissipating and being discharged. At this time, the opening of the slag discharge valve can be reduced or the slag discharge valve can be closed to avoid excessive loss of effective material.

[0080] In step S303, the clustering coverage rate, the clustering degree parameter, and the scale change rate can be multiplied by their respective weighting coefficients and then summed to obtain the initial value of the clustering probability. Then, the initial value is normalized so that the range of the clustering probability is limited to 0-1. The specific calculation formula can be expressed as the clustering probability equals the normalized value of the first weighting coefficient multiplied by the clustering coverage rate, the second weighting coefficient multiplied by the clustering degree parameter, and the third weighting coefficient multiplied by the scale change rate.

[0081] Optionally, in order to reflect the positive and negative directionality of the scale change rate, the scale change rate can be segmented when calculating the clustering probability. When the scale change rate is positive, it can be directly included in the weighted summation to increase the clustering probability. When the scale change rate is negative, its weight can be reduced or its absolute value can be used in the calculation to reflect the effect of cluster dissipation on the clustering probability.

[0082] It should be noted that the weighting coefficients can be adjusted according to the actual slag discharge control requirements. For example, in the early stage of slag discharge, more attention should be paid to the agglomeration coverage rate to determine whether agglomerates have begun to be discharged, so the first weighting coefficient can be increased. In the middle stage of slag discharge, more attention should be paid to the scale change rate to determine the discharge speed of agglomerates, so the third weighting coefficient can be increased. In the later stage of slag discharge, more attention should be paid to the aggregation degree parameter to determine whether the residual agglomerates have been sufficiently dispersed, so the second weighting coefficient can be increased.

[0083] By adopting the above embodiments and introducing an agglomeration coverage rate parameter to quantify the spatial occupancy of agglomerates within the material discharge area, the actual impact range of agglomerates can be reflected more accurately. By calculating the scale change rate based on continuous multi-frame target images, the dynamic change trend of agglomerates can be tracked and analyzed. This allows for the identification of both the growth and discharge processes of agglomerates, as well as their dissipation and complete removal, thereby improving the predictive ability and timeliness of slag discharge control.

[0084] Based on the above embodiments, as an optional embodiment, in order to more accurately assess the movement state and discharge flow rate of the material in the material dropping area, the above step S102 may further include the following steps.

[0085] Step S401: Perform differential processing on the images of adjacent frames in the target image sequence to identify the moving pixel regions in the material dropping area that have undergone positional changes.

[0086] Step S402: Calculate the material dropping speed in the dropping area based on the position change of the moving pixel area;

[0087] Step S403: Calculate the area change rate of the moving pixel region within a preset time window to obtain the slag discharge flow characteristics of the material dropping area.

[0088] Step S404: The characteristics of the material dropping speed and the slag discharge flow rate are taken as the motion characteristics of the material dropping area.

[0089] In step S401, differential processing refers to performing pixel-level subtraction on two temporally adjacent frames in the target image sequence, which can be used to detect the movement changes of materials within the material dropping area.

[0090] Similarly, the moving pixel region refers to the set of pixels whose grayscale value difference exceeds a preset difference threshold after differential processing, and is used to characterize the distribution position of materials that are moving or being discharged within the material dropping area.

[0091] In one feasible implementation, two frames of images with a preset frame interval in the target image sequence can be selected as adjacent frames. The pixels corresponding to the material dropping area in the two frames are compared one by one, and the absolute value of the gray value difference of each pixel is calculated. Pixels with an absolute value difference of gray value greater than a preset difference threshold are marked as moving pixels, and the continuous area composed of all moving pixels is taken as the moving pixel area.

[0092] Optionally, in order to reduce the impact of image noise and illumination changes on the recognition of moving pixel regions, each frame of the image can be filtered and normalized before differential processing. The filtering process can use Gaussian filtering or median filtering to remove random noise, and the gray-level normalization process can uniformly adjust the gray-level value range of each frame of the image to the same range, thereby improving the accuracy of differential processing.

[0093] In step S402, the position change refers to the spatial displacement of the moving pixel area between adjacent frames. It can be understood as a parameter describing the distance the material moves per unit time, and is used to calculate the material's movement speed.

[0094] Similarly, the material drop velocity refers to the overall or local movement rate of the material within the drop area. It can be understood as a parameter characterizing how fast or slow the material moves in a specific direction during the slag discharge process.

[0095] In one feasible implementation, the centroid coordinates of each moving pixel region can be calculated, the position change amount is obtained by comparing the centroid position changes of the same material block in adjacent frames, the position change amount is divided by the time interval between adjacent frames to obtain the movement speed of the material block, and the movement speed of all moving pixel regions in the material dropping area is further statistically analyzed to calculate the average movement speed as the material dropping movement speed.

[0096] Optionally, in order to track the correspondence of the same material clump in adjacent frames, a target tracking algorithm can be used to perform inter-frame matching of moving pixel regions. For example, matching can be performed based on the area, shape and position similarity of moving pixel regions, and the moving pixel regions with the highest similarity in adjacent frames can be identified as the same material clump, thereby achieving accurate tracking of the movement trajectory and speed calculation of the material clump.

[0097] It should be noted that the speed of the material falling can reflect the effect of adjusting the opening of the slag discharge valve. When the material falling speed is large, it indicates that the material is discharged quickly, and it may be necessary to appropriately reduce the opening of the slag discharge valve to control the discharge flow. When the material falling speed is small, it indicates that the material is discharged slowly, and it may be necessary to appropriately increase the opening of the slag discharge valve to accelerate the discharge of agglomerates.

[0098] In step S403, the preset time window refers to the time range used to statistically analyze the changes in the area of ​​the moving pixel region.

[0099] Similarly, the area change rate refers to the rate at which the total area of ​​the moving pixel region changes over time within a preset time window, and is used to indirectly characterize the change in material discharge flow rate.

[0100] In one feasible implementation, a preset time window can be set to a time span of 5-10 frames. The total area of ​​the moving pixel region in each frame image within the time window is counted. The area change rate is obtained by calculating the difference between the total area of ​​the moving pixel region in the starting frame and the ending frame of the time window and dividing it by the length of the time window as the slag discharge flow rate characteristic.

[0101] It should be noted that the slag discharge flow rate characteristics can reflect the continuity and stability of the slag discharge process. When the absolute value of the area change rate is large, it indicates that the slag discharge flow rate is changing rapidly, which may correspond to the sudden discharge or complete discharge of agglomerates. When the area change rate is close to zero and the area standard deviation is small, it indicates that the slag discharge flow rate is relatively stable, which may correspond to a normal continuous slag discharge state.

[0102] In step S404, the material discharge speed and slag discharge flow rate can be combined to form a feature vector. This feature vector is then used as a motion feature and input into the control algorithm. The current slag discharge status is determined by analyzing the changing trend of the motion feature, and the opening degree and opening duration of the slag discharge valve are adjusted accordingly.

[0103] It should be noted that the motion characteristics and the aforementioned agglomeration probability can be used together to achieve more precise slag discharge control. For example, when the agglomeration probability is high and the material discharge speed is low, it indicates that there are agglomerates but the discharge speed is slow. At this time, it is necessary to increase the opening of the slag discharge valve to speed up the discharge. When the agglomeration probability is low and the area change rate is negative, it indicates that the agglomerates are basically discharged and the amount of slag is decreasing. At this time, it is possible to prepare to close the slag discharge valve to end the current slag discharge operation.

[0104] By employing the above embodiments, and through differential processing of adjacent frame images to identify moving pixel regions, real-time detection of the material movement state within the material discharge area is achieved. By calculating the material discharge velocity and slag discharge flow characteristics, a quantitative assessment of the material discharge velocity and flow rate is realized. This allows for both monitoring instantaneous velocity and statistical analysis of flow rate trends within a certain time window, thus providing characteristic parameters for the dynamic adjustment of the slag discharge valve.

[0105] Based on the above embodiments, as an optional embodiment, in order to accurately identify the distribution state of solid and liquid materials within the material discharge area, step S102 may further include the following steps.

[0106] Step S501: Identify at least one frame of the target image in the target image sequence to extract the texture feature parameters of each pixel position in the material dropping area; the texture feature parameters characterize the texture roughness of the material dropping area.

[0107] Step S502: Based on texture feature parameters, the material dropping area of ​​the target image is divided into a solid phase region and a liquid phase region; the texture roughness of the solid phase region is greater than that of the liquid phase region.

[0108] Step S503: Determine the solid-liquid ratio of the material dropping area based on the ratio of the pixel area of ​​the solid phase region to the pixel area of ​​the liquid phase region.

[0109] In step S501, the texture feature parameter refers to the feature quantity used to describe the spatial distribution law of pixel gray values ​​in a local area of ​​the image. It can be understood as a parameter that quantifies the roughness, directionality and regularity of the image texture, and is used to distinguish the appearance differences of materials in different physical states in the image.

[0110] Similarly, texture roughness refers to a parameter that describes the degree of drastic change in gray values ​​within a local area of ​​an image. High texture roughness indicates that gray values ​​change frequently and with large amplitude, while low texture roughness indicates that gray values ​​change gently and relatively uniformly.

[0111] Optionally, a local binary pattern method can be used to extract texture feature parameters. By performing a sliding window scan on the material dropping area of ​​the target image, the gray value comparison result between the center pixel and the surrounding pixels is calculated at each window position to generate a binary code as a local texture pattern. The distribution histograms of different texture patterns are statistically analyzed as texture feature parameters. The more diverse the texture patterns, the higher the texture roughness.

[0112] It should be noted that solid materials, due to the presence of particles, cracks, and irregular shapes on their surfaces, exhibit frequent changes in grayscale values ​​and coarse textures in images. In contrast, liquid materials, due to their relatively smooth surfaces and fluidity, exhibit uniform grayscale distribution and smooth textures in images. Therefore, the differences in texture feature parameters can be used to distinguish between solid and liquid regions.

[0113] In step S502, the solid region refers to the pixel region with a high degree of texture roughness within the material dropping area of ​​the target image, which is used to characterize the spatial distribution of solid material within the material dropping area.

[0114] Similarly, the liquid phase region refers to the pixel region with low texture roughness within the material drop area of ​​the target image, used to characterize the spatial distribution of liquid phase material within the material drop area.

[0115] In one feasible implementation, a texture roughness threshold can be set as the dividing standard between solid and liquid regions. The texture feature parameters extracted from each pixel position within the material dropping area are traversed, and pixels with texture roughness greater than the texture roughness threshold are classified as solid regions, while pixels with texture roughness less than or equal to the texture roughness threshold are classified as liquid regions.

[0116] Optionally, to improve the accuracy of solid-liquid separation, morphological processing can be performed on the solid and liquid regions after separation. For example, opening operations can be used to remove noise from isolated small regions, and closing operations can be used to fill small holes inside the regions, thereby obtaining solid and liquid regions with clear boundaries and good continuity.

[0117] It should be noted that the texture roughness threshold can be set according to the texture characteristics of the actual material. For example, image samples of pure solid phase material and pure liquid phase material can be collected in the early stage of slag discharge, and the statistical distribution of their texture feature parameters can be calculated respectively. The intersection point or median value of the two distributions can be used as the texture roughness threshold, thereby realizing the adaptive classification of different materials.

[0118] In step S503, the solid-liquid ratio refers to the ratio of the pixel area of ​​the solid phase region to the pixel area of ​​the liquid phase region.

[0119] In one feasible implementation, the total number of pixels in the divided solid phase region can be used as the pixel area of ​​the solid phase region, and the total number of pixels in the liquid phase region can be used as the pixel area of ​​the liquid phase region. The solid-liquid ratio can be obtained by calculating the ratio of the two. The larger the solid-liquid ratio, the higher the proportion of solid material, and the smaller the solid-liquid ratio, the higher the proportion of liquid material.

[0120] It should be noted that the solid-liquid ratio can reflect the stage characteristics and slag discharge effect of the slag discharge process. In the early stage of slag discharge, the solid-liquid ratio is usually low, indicating that the main discharged material is liquid phase and a small amount of agglomerates. In the middle stage of slag discharge, the solid-liquid ratio gradually increases, indicating that agglomerates begin to be discharged in large quantities. In the later stage of slag discharge, the solid-liquid ratio decreases again, indicating that the agglomerates are basically discharged and the process gradually returns to a state dominated by liquid phase materials.

[0121] Furthermore, the solid-liquid ratio can be combined with the aforementioned agglomeration probability and motion characteristics to achieve more precise slag discharge control. For example, when the agglomeration probability is high and the solid-liquid ratio is large, it indicates that a large number of solid agglomerates are being discharged. At this time, it is necessary to maintain a large slag discharge valve opening to ensure full discharge. When the agglomeration probability decreases and the solid-liquid ratio returns to a normal level, it indicates that the agglomerates have been basically discharged. At this time, the slag discharge valve can be closed to reduce the loss of liquid phase materials.

[0122] Optionally, the completion time of the slag discharge process can be predicted based on the time-series change trend of the solid-liquid ratio. By statistically analyzing the rate of change of the solid-liquid ratio within a preset time window, when the rate of change of the solid-liquid ratio is less than a preset rate of change threshold and the solid-liquid ratio is close to the baseline value before slag discharge, it is determined that the slag discharge operation is about to end, and the operation command to close the slag discharge valve is prepared in advance.

[0123] By employing the above embodiments, and through extracting texture feature parameters and quantifying texture roughness, the texture differences of materials in different physical states within the material dropping area are identified. By dividing the solid and liquid phase regions based on texture roughness thresholds, accurate identification of the spatial distribution of solid and liquid components within the material dropping area is achieved, enabling the location of both solid materials and the extent to which liquid materials occupy the area.

[0124] Based on the above embodiments, as an optional embodiment, in order to achieve phased control of the slag discharge valve, the opening degree and opening mode of the slag discharge valve are dynamically adjusted according to different states and characteristic parameters of the slag discharge process, so as to ensure that the agglomerates are fully discharged while reducing the loss of effective materials. The above step S103 may also include the following steps.

[0125] Step S601: In response to the slag discharge characteristics of the material discharge area meeting the start-up conditions, a first opening control command is generated; the first opening control command is used to control the slag discharge valve to open at a first opening value.

[0126] Step S602: In response to the agglomeration probability in the material discharge area being greater than a preset agglomeration probability threshold, an enhanced opening control command is generated; the enhanced opening control command is used to control the opening of the slag discharge valve to increase to a second opening value; the second opening value is greater than the first opening value;

[0127] Step S603: In response to the solid-liquid ratio in the material discharge area being higher than a preset solid-liquid ratio threshold, a maintenance opening control command is generated; the maintenance opening control command is used to control the slag discharge valve to maintain the current opening or to dynamically adjust the opening according to the rate of change of the solid-liquid ratio.

[0128] Step S604: In response to the slag discharge valve opening time exceeding the preset time and the motion characteristics of the material dropping area being lower than the preset motion threshold, a pulse control command is generated; the pulse control command is used to control the slag discharge valve to switch between the third opening value and the closed state according to the preset pulse cycle; the third opening value is greater than or equal to the second opening value.

[0129] In step S601, the first opening control command refers to the control command for the initial opening stage of the slag discharge valve, which can be understood as the command to control the slag discharge valve to open at a smaller opening to avoid a large amount of material being discharged instantly.

[0130] In one feasible implementation, the activation condition can be set as the agglomeration probability being greater than the activation agglomeration probability threshold or the solid-liquid ratio exceeding the activation solid-liquid ratio threshold. When the slag discharge characteristics of the material discharge area meet one of the above conditions, it is determined that the slag discharge operation needs to be activated, a first opening control command is generated and sent to the drive device of the slag discharge valve, and the slag discharge valve is controlled to open at the first opening value.

[0131] Optionally, the first opening value can be set to 20%-40% of the maximum opening of the slag discharge valve. This opening range can limit the slag discharge flow while allowing the agglomerates to begin to be discharged, thus preventing a large amount of liquid material from being discharged with the agglomerates due to excessive opening in the early stage of slag discharge, thereby reducing the loss of effective material.

[0132] It should be noted that the activation conditions may also include a continuous judgment on the slag discharge characteristics. For example, it may require that the agglomeration probability is greater than the activation agglomeration probability threshold in multiple consecutive target images, or that the average solid-liquid ratio within a preset time window exceeds the activation solid-liquid ratio threshold. By adding a continuous judgment, false activation caused by image noise or instantaneous disturbances can be avoided.

[0133] In step S602, the preset agglomeration probability threshold refers to the probability standard for judging whether the agglomerated blocks have reached the level that requires increased slag discharge. It can be understood as the probability boundary value that distinguishes between mild agglomeration and severe agglomeration, and is used to determine whether it is necessary to increase the opening of the slag discharge valve to accelerate the discharge of agglomerated blocks.

[0134] Similarly, the enhanced opening control command refers to the control command of the slag discharge valve during the enhanced slag discharge stage. It can be understood as the command to control the opening of the slag discharge valve to increase the slag discharge flow rate and slag discharge speed.

[0135] In one feasible implementation, after the slag discharge valve is opened at a first opening value, the agglomeration probability in the material discharge area can be continuously monitored. When the agglomeration probability is greater than a preset agglomeration probability threshold, it is determined that the amount of agglomerated blocks discharged is large, an enhanced opening control command is generated and sent to the drive device of the slag discharge valve, and the opening of the slag discharge valve is controlled to increase from the first opening value to the second opening value.

[0136] Optionally, the second opening value can be set to 50%-70% of the maximum opening of the slag discharge valve. When the agglomeration probability exceeds this threshold, it indicates that there are a large number of agglomerates in the material discharge area that need to be discharged. Increasing the opening can provide sufficient discharge channels and discharge pressure to accelerate the discharge speed of agglomerates.

[0137] It should be noted that the process of increasing from the first opening value to the second opening value can be done gradually rather than instantaneously, so as to avoid the flow shock and equipment vibration caused by sudden changes in opening through a smooth transition.

[0138] In step S603, the preset solid-liquid ratio threshold refers to the standard for judging whether the discharge amount of solid material reaches the solid-liquid composition standard that requires maintaining or adjusting the opening of the slag discharge valve. It can be understood as the solid-liquid ratio boundary value that distinguishes between normal liquid phase discharge and solid material discharge.

[0139] Similarly, the "maintain opening control command" refers to the control command for the slag discharge valve to maintain the slag discharge stage. It can be understood as a command to control the slag discharge valve to maintain the current opening to maintain the slag discharge flow rate or to make fine adjustments according to the changing trend of the solid-liquid ratio.

[0140] In one feasible implementation, the solid-liquid ratio in the material discharge area can be continuously monitored after the slag discharge valve is opened. When the solid-liquid ratio is higher than the preset solid-liquid ratio threshold, it is determined that the current stage of concentrated discharge of solid phase materials is in progress. A control command to maintain the opening degree is generated to maintain the current opening degree of the slag discharge valve, ensuring that the agglomerates can be discharged continuously and stably.

[0141] Optionally, when the solid-liquid ratio exceeds the threshold, it indicates that the proportion of solid material is significantly higher than that of liquid material. In this case, it is necessary to maintain a large opening of the slag discharge valve to avoid solid material blocking the slag discharge channel.

[0142] Furthermore, the opening control command can also be dynamically adjusted according to the rate of change of the solid-liquid ratio. In one feasible implementation, the rate of change of the solid-liquid ratio within a preset time window can be calculated. When the rate of change of the solid-liquid ratio is positive and large, it indicates that the discharge of solid material is increasing. The opening of the slag discharge valve can be appropriately increased to cope with the increase in the discharge of solid material. When the rate of change of the solid-liquid ratio is negative, it indicates that the discharge of solid material is decreasing. The opening of the slag discharge valve can be appropriately decreased to reduce the loss of liquid material.

[0143] It should be noted that the range of dynamic adjustment of the opening should be controlled within a small range. For example, the amount of change in the opening each time should not exceed 10% of the current opening. Small-scale dynamic adjustments can adapt to the changing trend of the solid-liquid ratio and maintain the stability of the slag discharge process.

[0144] In step S604, the preset motion threshold refers to the threshold of the motion characteristics of the material dropping area. It can be understood as a standard for judging whether the motion state of the material in the dropping area tends to be stable, and is used to identify whether the discharge of agglomerates is basically completed.

[0145] In one feasible implementation, the motion characteristics of the material dropping area are detected after the slag discharge valve has been open for more than a preset time. When the material dropping speed is lower than the speed threshold and the area change rate of the slag discharge flow characteristic is close to 0, it is determined that the motion characteristics are lower than the preset motion threshold, indicating that the material movement in the material dropping area tends to be stable and the agglomerates are basically discharged.

[0146] Furthermore, the pulse control command refers to the control command for the pulse discharge phase of the slag discharge valve. It can be understood as a command to control the slag discharge valve to periodically switch between open and closed states to achieve intermittent slag discharge. It is used to avoid the continuous loss of effective materials by pulse opening in the later stage of slag discharge.

[0147] In one feasible implementation, when the conditions of opening duration exceeding a preset duration and motion characteristics being lower than a preset motion threshold are met, a pulse control command is generated and sent to the drive device of the slag discharge valve to control the slag discharge valve to switch between a third opening value and a closed state according to a preset pulse cycle, each pulse cycle including an opening period and a closing period.

[0148] Optionally, the third opening value can be set to be the same as or slightly larger than the second opening value, so as to achieve pulse-like impact discharge of residual agglomerates by using a larger instantaneous opening value in combination with a shorter opening time.

[0149] It should be noted that the pulse control mode reduces the continuous loss of liquid phase materials by intermittently opening the circuit. At the same time, it uses a large instantaneous flow rate to impact and discharge any remaining agglomerates during each opening period. Compared with the continuous small opening method for slag discharge, the pulse control mode can ensure the discharge of residual agglomerates and effectively reduce the total loss of effective materials.

[0150] Optionally, during the pulse control phase, the parameters of subsequent pulse cycles can be dynamically adjusted based on the slag discharge effect of each pulse cycle. For example, by analyzing the agglomeration probability and solid-liquid ratio changes in the material dropping area during each opening period, when the agglomeration probability continues to be lower than the minimum agglomeration probability threshold and the solid-liquid ratio returns to the normal level, it is determined that the residual agglomerates have been basically discharged, and the pulse control can be terminated and the slag discharge valve can be closed to end the current slag discharge operation.

[0151] Furthermore, the switching between various control commands can be adaptively adjusted according to the real-time changes in slag discharge characteristics. For example, during the execution of the maintain opening control command, if the probability of agglomeration is detected to suddenly increase beyond the preset agglomeration probability threshold, the enhanced opening control command can be regenerated to meet the new demand for agglomeration discharge. During the execution of the pulse control command, if the solid-liquid ratio is detected to increase again beyond the preset solid-liquid ratio threshold, the pulse control mode can be exited and the maintain opening control mode can be restored to meet the repeated discharge of agglomeration.

[0152] By adopting the above embodiments and setting start-up conditions and a first opening control command, a smooth start-up of the slag discharge operation is achieved, avoiding a large loss of material due to excessive opening in the initial stage of slag discharge. Furthermore, by generating an enhanced opening control command based on agglomeration probability, a rapid response is achieved during the concentrated discharge phase of agglomerates, ensuring smooth discharge of agglomerates within the slag discharge channel without causing blockage. In addition, by generating a maintenance opening control command based on the solid-liquid ratio and supporting dynamic adjustment according to the solid-liquid ratio change rate, refined control of the mid-stage of slag discharge is achieved, maintaining a stable slag discharge effect while adapting to dynamic changes in the solid-liquid composition. By employing a pulse control command in the later stage of slag discharge, intermittent impact discharge of residual agglomerates is achieved, effectively reducing liquid phase material loss compared to continuous opening and improving the economic efficiency of slag discharge control. The above-mentioned staged control strategy can adaptively adjust the opening and control mode of the slag discharge valve according to different states of the slag discharge process, achieving a balanced optimization of sufficient agglomerate discharge and minimizing effective material loss.

[0153] Based on the above embodiments, as an optional embodiment, the second condition includes at least one of the following: the motion characteristics of the material dropping area are lower than a preset motion threshold and the duration exceeds a preset stable duration; the solid-liquid ratio of the material dropping area is lower than a preset solid-liquid ratio threshold.

[0154] The second condition refers to the termination condition used to determine whether the slag discharge operation can be ended, and is used to determine the time to close the slag discharge valve.

[0155] The first condition in the second condition mentioned above is that the motion characteristics of the material falling area are lower than the preset motion threshold and the duration exceeds the preset stable duration. This condition judges the completion of slag discharge from the perspective of material motion state. The motion characteristics being lower than the preset motion threshold indicates that the movement speed and discharge flow rate of the material in the falling area have been reduced to a low level, reflecting that the discharge amount of agglomerates has been significantly reduced.

[0156] In one feasible implementation, the material dropping speed threshold can be set to 20%-30% of the normal speed. When both the material dropping speed and the area change rate are lower than the corresponding threshold, the motion characteristics are determined to be lower than the preset motion threshold.

[0157] Furthermore, a duration exceeding a preset stable duration is used to confirm that the low-level state of motion characteristics is persistent rather than a transient fluctuation.

[0158] In one feasible implementation, a sliding time window method can be used to check whether the motion feature is lower than the preset motion threshold throughout the entire preset stable duration. Only when this condition is continuously met is the first condition determined to be true.

[0159] It should be noted that the first condition improves the reliability of the slag discharge completion judgment through a dual constraint. The threshold constraint of motion characteristics ensures that the material movement has become stable, and the constraint of duration ensures the stability of the stable state. The combination of the two can effectively avoid misjudgment caused by the instantaneous decrease of motion characteristics.

[0160] The second condition mentioned above is that the solid-liquid ratio in the material discharge area is lower than the preset solid-liquid ratio threshold. A solid-liquid ratio lower than the preset solid-liquid ratio threshold indicates that the proportion of solid material has been reduced to a normal level, reflecting that the agglomerates have been basically discharged and the material discharge area is mainly composed of liquid material.

[0161] In one feasible implementation, when the solid-liquid ratio is lower than the threshold, it indicates that the pixel area of ​​the solid phase region is lower than or close to the pixel area of ​​the liquid phase region, and the solid-liquid composition of the material discharge region has returned to normal.

[0162] Optionally, to avoid misjudgment caused by instantaneous fluctuations in the solid-liquid ratio, the average value of the solid-liquid ratio in the target image of the most recent few frames can be calculated as the smoothed solid-liquid ratio. When the smoothed solid-liquid ratio is lower than the preset solid-liquid ratio threshold, the second condition is determined to be met.

[0163] In one feasible implementation, a second condition can be determined by logical OR operation. When the motion characteristic is lower than a preset motion threshold and the duration exceeds a preset stable duration, a control command to close the slag discharge valve is generated. Alternatively, when the solid-liquid ratio is lower than a preset solid-liquid ratio threshold, a control command to close the slag discharge valve is generated.

[0164] The advantage of the above judgment method is that it provides multi-dimensional criteria for judging the completion of slag discharge. Different types of agglomerates may exhibit different characteristic change patterns during the discharge process. For example, the movement characteristics will be significantly reduced after large agglomerates are discharged, and the solid-liquid ratio will be quickly restored after small agglomerates are discharged. The method of triggering the end of slag discharge by meeting at least one condition can adapt to the characteristic change patterns of different slag discharge scenarios.

[0165] Optionally, in application scenarios where the requirements for judging the completion of slag discharge are more stringent, the second condition can be determined to be valid only if both conditions are met simultaneously. The slag discharge valve is closed only when both the motion characteristics and the solid-liquid ratio meet the corresponding threshold conditions, ensuring that the agglomerates are fully discharged.

[0166] Furthermore, to improve the accuracy of the slag discharge termination judgment, a pre-closure confirmation operation can be performed after the second condition is met. In one feasible implementation, when the second condition is met for the first time, a preset confirmation time is monitored. Only when the second condition remains met throughout the entire preset confirmation time is a control command to close the slag discharge valve generated. If the second condition fails to meet within the preset confirmation time, the closure operation is canceled and slag discharge continues.

[0167] Optionally, the second condition can be further verified by combining the aggregation probability. While the second condition is met, it is checked whether the aggregation probability is lower than the minimum aggregation probability threshold. Only when the aggregation probability is also lower than the minimum aggregation probability threshold can the slag discharge operation be confirmed to be over.

[0168] By employing the above embodiments and setting termination conditions in two dimensions—motion characteristics and solid-liquid ratio—a multi-dimensional evaluation of slag discharge completion was achieved. By imposing a duration constraint on the motion characteristics, misjudgments caused by instantaneous fluctuations in characteristics were avoided, ensuring the stability of the slag discharge completion assessment.

[0169] Based on the above embodiments, as an optional embodiment, in order to adapt to the complex environmental conditions of the slag discharge valve discharge port, the image sequence is processed in a targeted manner according to environmental parameters to improve the accuracy of image feature extraction. The above step S101 may further include the following steps.

[0170] Step S701: Obtain the first image sequence of the slag discharge valve;

[0171] Step S702: Obtain the environmental parameters of the slag discharge valve discharge port; the environmental parameters include at least one of light intensity, steam concentration, and dust concentration.

[0172] Step S703: In response to the environmental parameters satisfying the third condition, image stabilization processing is performed on the first image sequence to obtain the target image sequence.

[0173] In step S701, the first image sequence refers to the original image sequence directly acquired by the image acquisition device.

[0174] It should be noted that the discharge port of the slag discharge valve is usually located in a high-temperature and high-humidity industrial environment, where there are adverse factors such as changes in light, steam interference, and dust obstruction. These environmental factors can cause vibration of the image acquisition device or a decrease in image quality. Therefore, the first image sequence may have problems such as image blurring, jitter, and noise, and needs to be processed in a targeted manner according to the environmental parameters.

[0175] In step S702, the environmental parameters refer to the physical parameters of the environment in which the slag discharge valve's discharge port is located. Optionally, the environmental parameters may include, but are not limited to, at least one of light intensity, steam concentration, and dust concentration.

[0176] Light intensity refers to the brightness of the light in the material discharge area, which can be understood as the illuminance level of the discharge area, reflecting the lighting conditions for image acquisition. In one feasible implementation, a light sensor can be installed at the discharge port of the slag discharge valve to monitor the light intensity of the discharge area in real time. Changes in light intensity affect the brightness and contrast of the image. When the light intensity is too low or changes drastically, it may lead to underexposure or overexposure of the image, affecting the accuracy of feature extraction.

[0177] Steam concentration refers to the amount of steam in the air near the discharge port. In one feasible implementation, the steam concentration near the discharge port can be monitored using a humidity sensor or a steam concentration sensor. Excessive steam concentration can lead to blurred images and reduced contrast; additionally, the flow of steam can cause changes in light refraction, resulting in image jitter or distortion.

[0178] Dust concentration refers to the content of dust particles in the air near the material discharge port. In one feasible implementation, dust concentration near the material discharge port can be monitored using a dust sensor or a particulate matter sensor. Excessive dust concentration can lead to significant noise and occlusion in the image, reducing image clarity. Furthermore, dust movement can cause localized changes in the image, affecting the stability of feature extraction.

[0179] In step S703, the third condition refers to the condition for determining whether image stabilization processing is required, and is used to determine the triggering time for image stabilization processing. In one feasible implementation, the third condition may include at least one of the following: the rate of change of light intensity exceeds a preset light intensity change rate threshold, the steam concentration is higher than a preset steam concentration threshold, and the dust concentration is higher than a preset dust concentration threshold.

[0180] Furthermore, image stabilization refers to image processing operations that perform anti-shake and stabilization processing on image sequences. It can be understood as the process of eliminating image jitter through image registration and motion compensation.

[0181] In one feasible implementation, a feature point matching-based image stabilization algorithm can be used. First, feature points, such as corner points or edge points, are extracted from the first image sequence. Then, the displacement vectors of the feature points between adjacent frames are calculated. Based on the displacement vectors, the global motion parameters of the image are calculated. Finally, reverse motion compensation is performed on each frame to eliminate jitter, resulting in a stable target image sequence.

[0182] Optionally, image stabilization can also be adaptively adjusted in conjunction with environmental parameters. For example, when the steam concentration is high, the smoothing intensity of image stabilization can be increased to suppress image distortion caused by steam. When the dust concentration is high, noise reduction processing can be performed before image stabilization to reduce the interference of dust noise on feature point extraction.

[0183] Optionally, if the environmental parameters do not meet the third condition, the first image sequence can be directly output as the target image sequence, or only basic image enhancement processing, such as brightness adjustment or contrast enhancement, can be performed without image stabilization processing, thereby realizing a targeted processing strategy based on environmental conditions.

[0184] Optionally, the image stabilization parameters can be dynamically adjusted according to the specific values ​​of environmental parameters. In one feasible implementation, the image stabilization intensity coefficient can be calculated based on the values ​​of steam concentration and dust concentration. The higher the steam concentration or dust concentration, the larger the image stabilization intensity coefficient and the stronger the smoothness of the image stabilization. By adaptively adjusting the image stabilization parameters, the image stabilization effect of corresponding intensity can be provided for different degrees of environmental interference.

[0185] By employing the above embodiments, a correlation between image data and environmental conditions was established by acquiring the first image sequence of the slag discharge valve and simultaneously acquiring environmental parameters. By setting environmental parameters including light intensity, steam concentration, and dust concentration, comprehensive monitoring of the main environmental interference factors at the slag discharge valve's discharge port was achieved, enabling accurate identification of environmental conditions affecting image quality.

[0186] Figure 2 This is a schematic diagram of the control system for a slurry discharge valve provided in an embodiment of this application, as shown below. Figure 2 As shown, the control system of the slurry discharge valve includes: an image acquisition module for acquiring a target image sequence of the material discharge area corresponding to the discharge valve; an image processing module for processing the target image sequence to extract the discharge features of the material discharge area; the discharge features include at least one of the following: material discharge motion features, solid-liquid ratio, or agglomeration probability; a first control module for generating a first control command in response to the discharge features meeting a first condition, to control the discharge valve to open or increase its opening degree based on the first control command; and a second control module for generating a second control command in response to the discharge features meeting a second condition, to control the discharge valve to close based on the second control command.

[0187] Based on the above embodiments, as an optional embodiment, the image processing module is further configured to identify at least one frame of the target image sequence to determine multiple solid particle connected regions within the material dropping area; the solid particle connected regions represent the pixel regions where solid materials in the material dropping are continuously connected in the image; obtain the scale features and spatial distribution features of each solid particle connected region; the scale features represent the area of ​​the connected region; the spatial distribution features represent the density distribution of the connected region; identify solid particle connected regions whose scale features meet preset scale conditions as candidate regions for agglomeration blocks; determine the aggregation degree parameter of the candidate regions for agglomeration blocks based on the spatial distribution features; and obtain the agglomeration probability of the material dropping area based on the number, scale features, and aggregation degree parameter of the candidate regions for agglomeration blocks.

[0188] Based on the above embodiments, as an optional embodiment, the image processing module is further configured to determine the area ratio of the candidate agglomeration region within the material drop area to obtain the agglomeration coverage rate; calculate the scale change rate of the candidate agglomeration region based on multiple consecutive frames of target images in the target image sequence; the scale change rate characterizes the growth or dissipation trend of the agglomeration in the time series; and perform a weighted summation of at least one of the agglomeration coverage rate, the agglomeration degree parameter, and the scale change rate to obtain the agglomeration probability of the material drop area.

[0189] Based on the above embodiments, as an optional embodiment, the image processing module is further configured to perform differential processing on the images of adjacent frames in the target image sequence to identify moving pixel regions whose positions change within the material dropping area; calculate the material dropping speed of the material dropping area based on the position change of the moving pixel regions; statistically analyze the area change rate of the moving pixel regions within a preset time window to obtain the slag discharge flow characteristics of the material dropping area; and use the material dropping speed and slag discharge flow characteristics as the motion characteristics of the material dropping area.

[0190] Based on the above embodiments, as an optional embodiment, the image processing module is further configured to identify at least one frame of the target image in the target image sequence to extract texture feature parameters of each pixel position within the material dropping area; the texture feature parameters characterize the texture roughness of the material dropping area; based on the texture feature parameters, the material dropping area of ​​the target image is divided into a solid phase area and a liquid phase area; the texture roughness of the solid phase area is greater than that of the liquid phase area; based on the ratio of the pixel area of ​​the solid phase area to the pixel area of ​​the liquid phase area, the solid-liquid ratio of the material dropping area is determined.

[0191] Based on the above embodiments, as an optional embodiment, the image acquisition module is further configured to acquire a first image sequence of the slag discharge valve; acquire environmental parameters of the slag discharge valve discharge port; the environmental parameters include at least one of light intensity, steam concentration, and dust concentration; and, in response to the environmental parameters satisfying a third condition, perform image stabilization processing on the first image sequence to obtain a target image sequence.

[0192] Based on the above embodiments, as an optional embodiment, the first control module is further configured to generate a first opening control command in response to the slag discharge characteristics of the material discharge area meeting the start-up conditions; the first opening control command is used to control the slag discharge valve to open at a first opening value; in response to the agglomeration probability of the material discharge area being greater than a preset agglomeration probability threshold, an enhanced opening control command is generated; the enhanced opening control command is used to control the opening of the slag discharge valve to increase to a second opening value; the second opening value is greater than the first opening value; in response to the solid-liquid ratio of the material discharge area being higher than a preset solid-liquid ratio threshold, a maintenance opening control command is generated; the maintenance opening control command is used to control the slag discharge valve to maintain the current opening or dynamically adjust the opening according to the change rate of the solid-liquid ratio; in response to the slag discharge valve opening time exceeding a preset time and the motion characteristics of the material discharge area being lower than a preset motion threshold, a pulse control command is generated; the pulse control command is used to control the slag discharge valve to switch between a third opening value and a closed state according to a preset pulse cycle; the third opening value is greater than or equal to the second opening value.

[0193] Figure 3 This is a schematic diagram of the physical structure of an electronic device provided in an embodiment of this application, such as... Figure 3 As shown, the electronic device may include a processor 310, a communications interface 320, a memory 330, and a communication bus 340. The processor 310, communications interface 320, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logic instructions stored in the memory 330 to execute the control method for the slurry discharge valve.

[0194] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0195] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the control method for the slurry discharge valve provided by the above methods.

[0196] In another aspect, this application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the control methods for the slurry discharge valve provided by the above methods.

[0197] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0198] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0199] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a slurry discharge valve, characterized in that, include: Obtain the target image sequence of the material discharge area corresponding to the slag discharge valve; The target image sequence is processed to extract the slag discharge features of the material discharge area; the slag discharge features include at least one of the following: material discharge motion features, solid-liquid ratio, or agglomeration probability. In response to the slag discharge characteristic satisfying the first condition, a first control command is generated to control the slag discharge valve to open or increase its opening degree based on the first control command; In response to the slag discharge characteristic satisfying the second condition, a second control command is generated to control the slag discharge valve to close based on the second control command; the second condition includes the solid-liquid ratio in the material discharge area being lower than a preset solid-liquid ratio threshold. Wherein, the step of generating a first control command in response to the slag discharge characteristic satisfying a first condition includes: In response to the slag discharge characteristics of the material discharge area meeting the start-up conditions, a first opening control command is generated; the first opening control command is used to control the slag discharge valve to open at a first opening value; In response to the agglomeration probability in the material discharge area being greater than a preset agglomeration probability threshold, an enhanced opening control command is generated; the enhanced opening control command is used to control the opening of the slag discharge valve to increase to a second opening value; the second opening value is greater than the first opening value; In response to the solid-liquid ratio in the material discharge area being higher than a preset solid-liquid ratio threshold, a maintenance opening control command is generated; the maintenance opening control command is used to control the slag discharge valve to maintain its current opening or to dynamically adjust its opening according to the rate of change of the solid-liquid ratio; In response to the slag discharge valve being open for a duration exceeding a preset duration and the motion characteristics of the material discharge area being lower than a preset motion threshold, a pulse control command is generated; the pulse control command is used to control the slag discharge valve to switch between a third opening value and a closed state according to a preset pulse cycle; the third opening value is greater than or equal to the second opening value.

2. The control method for the slurry discharge valve according to claim 1, characterized in that, The step of processing the target image sequence to extract the clustering probability of the material dropping area includes: At least one frame of the target image in the target image sequence is identified to determine multiple solid particle connected regions within the material dropping area; the solid particle connected regions represent the pixel regions in which solid material in the material dropping is continuously connected in the image. The scale characteristics and spatial distribution characteristics of the connected domains of each solid particle are obtained; the scale characteristics represent the area of ​​the connected domains; the spatial distribution characteristics represent the density distribution of the connected domains. The scale features identify solid particle connected regions that meet preset scale conditions as candidate regions for agglomeration blocks. The aggregation degree parameters of the candidate agglomeration regions are determined based on the spatial distribution characteristics. Based on the number, scale characteristics, and aggregation degree parameters of the candidate agglomeration regions, the agglomeration probability of the material dropping region is obtained.

3. The control method for the slurry discharge valve according to claim 2, characterized in that, The process of obtaining the agglomeration probability of the material dropping area based on the number, scale characteristics, and aggregation degree parameters of the candidate agglomeration regions includes: The area ratio of the candidate agglomerate region within the material drop area is determined to obtain the agglomeration coverage rate; Based on multiple consecutive frames of target images in the target image sequence, the scale change rate of the candidate region of the cluster is calculated; the scale change rate characterizes the growth or dissipation trend of the cluster in the time series. The aggregation probability of the material drop area is obtained by weighted summation of at least one of the aggregation coverage rate, the aggregation degree parameter, and the scale change rate.

4. The control method for the slurry discharge valve according to claim 1, characterized in that, The process of processing the target image sequence to extract the motion features of the material dropping area includes: Differential processing is performed on adjacent frames in the target image sequence to identify moving pixel regions whose positions change within the material dropping area; The material dropping speed of the material dropping area is calculated based on the position change of the moving pixel area; The slag discharge flow characteristics of the material dropping area are obtained by statistically analyzing the area change rate of the moving pixel region within a preset time window. The material dropping speed and the slag discharge flow rate are used as the motion characteristics of the material dropping area.

5. The control method for the slurry discharge valve according to claim 1, characterized in that, The process of processing the target image sequence to extract the solid-liquid ratio of the material discharge area includes: At least one frame of the target image in the target image sequence is identified to extract texture feature parameters of each pixel position in the material dropping area; the texture feature parameters characterize the texture roughness of the material dropping area. Based on the texture feature parameters, the material dropping area of ​​the target image is divided into a solid phase region and a liquid phase region; the texture roughness of the solid phase region is greater than that of the liquid phase region. The solid-liquid ratio of the material discharge region is determined based on the ratio of the pixel area of ​​the solid phase region to the pixel area of ​​the liquid phase region.

6. The control method for the slurry discharge valve according to claim 1, characterized in that, The second condition includes at least one of the following: The motion characteristics of the material dropping area are lower than the preset motion threshold and the duration exceeds the preset stable duration.

7. The control method for the slurry discharge valve according to claim 1, characterized in that, The acquisition of the target image sequence of the slag discharge valve includes: Obtain the first image sequence of the slag discharge valve; Obtain environmental parameters at the discharge port of the slag discharge valve; the environmental parameters include at least one of light intensity, steam concentration, and dust concentration. In response to the environmental parameters satisfying the third condition, the first image sequence is stabilized to obtain the target image sequence.

8. A control system for a slurry discharge valve, characterized in that, include: The image acquisition module is used to obtain the target image sequence of the material discharge area corresponding to the slag discharge valve; An image processing module is used to process the target image sequence to extract the slag discharge features of the material discharge area; the slag discharge features include at least one of the following: material discharge motion features, solid-liquid ratio, or agglomeration probability. The first control module is used to generate a first control command in response to the slag discharge characteristic satisfying a first condition, so as to control the slag discharge valve to open or increase its opening degree based on the first control command. The second control module is used to generate a second control command in response to the slag discharge characteristic meeting a second condition, so as to control the slag discharge valve to close based on the second control command; the second condition includes the solid-liquid ratio in the material discharge area being lower than a preset solid-liquid ratio threshold. The first control module is also configured to generate a first opening control command in response to the slag discharge characteristics of the material discharge area meeting the start-up conditions; the first opening control command is used to control the slag discharge valve to open at a first opening value. The first control module is further configured to generate an enhanced opening control command in response to the agglomeration probability in the material discharge area being greater than a preset agglomeration probability threshold; the enhanced opening control command is used to control the opening of the slag discharge valve to increase to a second opening value; the second opening value is greater than the first opening value; The first control module is also used to generate a maintenance opening control command in response to the solid-liquid ratio in the material discharge area being higher than a preset solid-liquid ratio threshold; the maintenance opening control command is used to control the slag discharge valve to maintain the current opening or to dynamically adjust the opening according to the rate of change of the solid-liquid ratio; The first control module is also used to generate a pulse control command in response to the slag discharge valve opening time exceeding a preset time and the motion characteristics of the material dropping area being lower than a preset motion threshold; the pulse control command is used to control the slag discharge valve to switch between a third opening value and a closed state according to a preset pulse cycle; The third opening value is greater than or equal to the second opening value.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for the slurry discharge valve as described in any one of claims 1-7.

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