Discontinuous high-temperature steel slag waste heat recovery and power generation system

Abstract

The invention discloses a discontinuous high-temperature steel slag waste heat recovery and power generation system. The system comprises a controllable spinning type hot roller device, an efficient double-loop heat recovery power generation system and an intelligent steel slag recoverer trolley. The intelligent steel slag recoverer trolley conveys steel slag to the controllable self-rotating type hot roller device, and high-grade heat energy in the steel slag is recovered through the controllable self-rotating type hot roller device and then converted into electric energy through the efficient double-loop heat recovery power generation system. Based on the waste heat problem in actual production, when a boiler or other high-energy-consumption equipment of a factory produces high-temperature steel slag and steel slag, high-grade heat energy hidden in waste slag is recycled through a self-rotating type hot roller through active recognition, response and rapid movement of a robot, steam power is further utilized for generating electricity and converting the electricity into electric energy, and the waste slag and the high-temperature steel slag are recycled through the self-rotating type hot roller. And the steel slag harmful to the ecological environment is intensively treated, so that the purposes of energy conservation and emission reduction are achieved.

Description

Technical Field

[0001] This invention relates to the field of industrial waste heat recovery and energy utilization technology, and in particular to a discontinuous high-temperature steel slag waste heat recovery and power generation system. Background Technology

[0002] Steel slag, a byproduct of steelmaking, reaches temperatures exceeding 1300℃ and is primarily formed from the oxidation of impurities in pig iron. It contains various useful components and possesses high comprehensive utilization value. However, a significant amount of high-temperature waste heat remains unutilized during the steel slag production process. If this waste heat is not fully utilized, it will not only result in substantial energy waste but also adversely affect the environment. Statistics show that each ton of steel slag releases approximately 1.2 GJ of sensible heat during cooling; recovering and utilizing this heat is of great significance for energy conservation, emission reduction, and energy utilization.

[0003] For the treatment of steel slag, the main methods currently used domestically and internationally include hot pouring, drum treatment, and hot quenching. Hot pouring involves dumping high-temperature liquid steel slag into a slag yard and cooling it with water spray to cause it to self-decompose and break down. However, this method requires a large area, consumes a lot of water, and pollutes the environment. Drum treatment uses high-pressure air to crush the steel slag and spray it into a water tank for cooling. It has a short process, small equipment size, and small footprint, but requires high slag fluidity. Hot quenching involves dumping hot steel slag into a sealed hot quenching tank and intermittently spraying water to cause the slag to self-decompose and pulverize. It has a short processing time, high pulverization rate, and good slag-iron separation, but requires large construction investment and strict operating procedures. In addition, there are methods such as magnetic separation and crushing, heat treatment, and alkali activation to further improve the utilization value of steel slag.

[0004] The waste heat generated from steel slag production is a pressing problem that needs to be solved, requiring the development of efficient waste heat recovery technologies to improve energy utilization efficiency. Meanwhile, various existing steel slag treatment methods exist, each with its own advantages and disadvantages. In practical applications, appropriate treatment methods should be selected based on specific circumstances to achieve the resource utilization of steel slag and the goals of energy conservation and emission reduction. Summary of the Invention

[0005] This invention addresses the problem of difficulty in recovering high-temperature steel slag waste heat in current industrial production. It designs a dual-circuit waste heat recovery and power generation system based on the design of a logarithmic mean temperature difference rotary heat exchanger and steam power cycle power generation, combined with AI intelligent steel slag replenishment.

[0006] The technical solution provided by this invention is as follows: A discontinuous high-temperature steel slag waste heat recovery and power generation system, the system comprising: a controllable self-rotating hot roller device, a high-efficiency dual-loop heat recovery power generation system, and an intelligent steel slag recovery trolley; The intelligent steel slag recycling trolley delivers the steel slag to the controllable spin-type hot roller device. The high-grade heat energy in the steel slag is recovered by the controllable spin-type hot roller device and then converted into electrical energy by the high-efficiency dual-loop heat recovery power generation system.

[0007] Preferably, the controllable spin-type heat roller device includes: a roller heat exchanger, a dynamic sealing structure, a controllable motor-assisted rotation system, a fixed base plate, a fixed clamping device, and a bracket.

[0008] Preferably, the outer shell of the controllable spin hot roller device is designed as a double-layer hollow structure, consisting of an outer wall of the hot roller, an inner wall of the hot roller, and an inner and outer partition wall.

[0009] Preferably, the outer wall of the controllable spin hot roller device is in contact with steel slag, and the inner and outer wall layers are filled with liquid metal.

[0010] Preferably, the controllable spin hot roller device utilizes the gravity-assisted drive of high-temperature steel slag to achieve the spin of the hot roller.

[0011] Preferably, the controllable spin-type hot roller device ensures cyclic sealing through the dynamic sealing structure.

[0012] Preferably, when high-temperature steel slag is poured onto the surface of the hot roller, the hot roller spins to promote uniform heat exchange and accelerate the solidification and shedding of the steel slag.

[0013] Preferably, the high-efficiency dual-loop heat recovery power generation system uses liquid metal to extract heat and convert the thermal energy of high-temperature steel slag into electricity.

[0014] Preferably, the intelligent steel slag recycling trolley is equipped with a lidar to automatically identify and avoid obstacles when they appear.

[0015] The technical advantages of this invention are as follows: 1) This invention adopts a dual-loop waste heat recovery and power generation system. Through heat exchangers and other devices, the heat energy in the steel slag is transferred to the working medium, which is heated and converted into power. Then, the heat energy is converted into electrical energy or heat supply through a generator set, realizing the efficient utilization and energy recovery of waste heat energy, converting waste heat energy into renewable energy, and improving energy utilization efficiency.

[0016] 2) The technical solution in this invention reduces the demand for water resources by using a low-loss closed-loop recycling system, making it more economical and environmentally friendly.

[0017] 3) This technical solution uses a closed-loop system design to isolate steel slag from water and steam, which can effectively avoid the problem of secondary pollution.

[0018] 4) This invention, through its closed-loop system design, can effectively prevent safety issues such as burns and fires, reducing the safety risks for operators.

[0019] 5) The intelligent steel slag recycling trolley in this invention adopts an automated control system with communication reception, path planning, and precise tracking functions, enabling contactless intelligent services. This opens up a new avenue for mobile energy green replenishment, constructing a regional low-carbon and zero-carbon replenishment system. Automated transportation can significantly improve the efficiency and safety of the processing, reduce manpower input and operational errors, and increase work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a dual-loop waste heat recovery and power generation system for intelligent steel slag replenishment in one embodiment of the present invention; Figure 2 This is a flowchart illustrating the design of an integrated circulation system in one embodiment of the present invention. Figures 3(a) and 3(b) are schematic diagrams of a hot roller model in one embodiment of the present invention; wherein, Figure 3(a) is a schematic diagram of the overall structure and Figure 3(b) is a detailed cross-sectional view; Figure 4 This is a thermal resistance analysis diagram of the heat transfer process in one embodiment of the present invention; Figure 5 This is a simulation result of the surface temperature distribution of a roller heat exchanger in one embodiment of the present invention; Figure 6 This is a simulation result of the temperature distribution of liquid metal in one embodiment of the present invention; Figures 7(a) to 7(c) are design drawings of a hot roller model in one embodiment of the present invention; wherein, Figure 7(a) is a front view, Figure 7(b) is a side view, and Figure 7(c) is a top view; Figure 8 This is a schematic diagram of a dynamic sealing structure in one embodiment of the present invention; Figure 9 This is a flowchart of a dual-loop cyclic system in one embodiment of the present invention; Figure 10 This is a design drawing of a shell-and-tube heat exchanger in one embodiment of the present invention; Figure 11 This is a real-world illustration of an intelligent supply vehicle in one embodiment of the present invention; Figure 12 This is an intelligent slag replenishment route planning scheme in one embodiment of the present invention; Figures 13(a) to 13(c) are dimensional diagrams of a roller heat exchanger in one embodiment of the present invention; wherein, Figure 13(a) is a front view, Figure 13(b) is a side view, and Figure 13(c) is a top view; Figures 14(a) to 14(c) are dimensional diagrams of the sealing shaft in one embodiment of the present invention; wherein, Figure 14(a) is a perspective view, Figure 14(b) is a front view, and Figure 14(c) is a top view; Figures 15(a) to 15(c) are dimensional diagrams of the liquid gold inlet and outlet in one embodiment of the present invention; wherein, Figure 15(a) is a perspective view, Figure 15(b) is a front view, and Figure 15(c) is a side view; Reference numerals in the attached drawings: 1. Roller heat exchanger; 2. Dynamic sealing structure; 3. Controllable motor-assisted rotation system; 4. Fixed base plate; 5. Fixed clamping device; 6. Support; 11. First liquid metal channel; 12. Second liquid metal channel; 21. Sealing shaft; 211. Front end of sealing shaft; 212. Rear end of sealing shaft; 22. Liquid metal inlet / outlet; 221. Friction ring; 31. Motor base; 32. Motor; 33. Transmission belt; 34. Synchronous pulley; 61. First support; 62. Second support. Detailed Implementation

[0021] The following will refer to the appendix. Figures 1 to 1 5(c) A detailed description of specific embodiments of the invention. Although specific embodiments of the invention are shown in the accompanying drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0022] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that different terms may be used to refer to the same component. This specification and claims do not distinguish components based on differences in terminology, but rather on differences in function. The terms "comprising" or "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising but not limited to." The following descriptions are preferred embodiments for carrying out the invention; however, these descriptions are for the purpose of understanding the general principles of the specification and are not intended to limit the scope of the invention. The scope of protection of this invention is determined by the appended claims.

[0023] To facilitate understanding of the embodiments of the present invention, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific embodiments. The accompanying drawings do not constitute a limitation on the embodiments of the present invention.

[0024] This invention provides a non-continuous high-temperature steel slag waste heat recovery and power generation system, the system comprising: a controllable self-rotating hot roller device, a high-efficiency dual-loop heat recovery power generation system, and an intelligent steel slag recovery trolley.

[0025] The intelligent steel slag recycling trolley delivers the steel slag to the controllable spin-type hot roller device. The high-grade heat energy in the steel slag is recovered by the controllable spin-type hot roller device and then converted into electrical energy by the high-efficiency dual-loop heat recovery power generation system.

[0026] like Figure 1 As shown, this invention addresses the waste heat problem in actual production. When high-temperature steel slag is produced by boilers or other high-energy-consuming equipment in a factory, the high-grade heat energy hidden in the waste slag is recovered through a self-rotating hot roller by a robot's active identification, response, and rapid movement. The heat energy is then further converted into electricity using steam power and centrally processed to treat the steel slag that is harmful to the ecological environment, thus achieving the goal of energy conservation and emission reduction.

[0027] To achieve the above objectives, this invention constructs an integrated cyclic system design method. For example... Figure 2 As shown, the entire system works as follows: Steel slag is produced from the steelmaking furnace. After the steel slag feeding trolley responds, it automatically navigates to the blast furnace to collect the slag, which is then transported to the slag collection box of the hot roller device. The steel slag is continuously poured onto the outer wall of the hot roller. With the assistance of gravity and the rotation of the hot roller, the steel slag is evenly distributed on the outer wall of the hot roller, where it undergoes indirect heat exchange with the liquid metal in the hot roller channel. After being fully heated by the steel slag, the liquid metal enters the steam generator, further transferring heat to the water side. The water is heated to superheated steam and then enters the steam turbine for Rankine cycle power generation, simultaneously driving the compressor.

[0028] Furthermore, before discharging the steel slag, the steel slag equipment sends a Bluetooth signal to call the intelligent supply vehicle to receive the steel slag. Once the vehicle is in position, it stops sending signals when releasing the steel slag. After receiving the signal, the vehicle enters movement mode and provides real-time mapping and navigation based on the digital map of the operating area built into its main control board and several preset paths. Upon reaching the exit equipment, the supply vehicle enters loading mode and sends a Bluetooth signal to the exit equipment. The exit equipment receives the signal, begins releasing the steel slag, and stops calling. After loading is complete, the vehicle returns to the recycler along a preset route and switches to unloading mode, dumping the collected steel slag into the recycler for waste heat recovery.

[0029] The heat recovery unit is a controllable spinning hot roller device. The hot roller shell is designed with a double-layer hollow structure, consisting of an outer wall, an inner wall, and an inner and outer interlayer. The outer wall of the hot roller is in contact with the steel slag, while the inner and outer interlayers are filled with liquid metal. When high-temperature steel slag is poured onto the surface of the hot roller, the hot roller spins under its own weight and the designed dynamic sealing structure, promoting uniform heat exchange and accelerating the solidification and shedding of the steel slag. With the assistance of gravity and the rotation of the hot roller, the steel slag is evenly distributed on the outer wall of the hot roller, where it undergoes indirect heat exchange with the liquid metal in the hot roller channel. After being fully heated by the steel slag, the liquid metal enters the steam generator, further transferring heat to the water side. The water is heated to superheated steam and then enters the turbine for Rankine cycle power generation.

[0030] The dual-loop heat recovery power generation system of this invention is based on the classic Rankine cycle, converting the thermal energy of high-temperature steel slag into electricity through heat extraction from liquid metal. In this process, the high-temperature liquid metal absorbs heat in the hot rollers and then flows to the tubes of the shell-and-tube heat exchanger (evaporator), where it undergoes convective heat exchange with the water in the shell. The water enters the shell-and-tube heat exchanger, where it is heated from 65°C to 250°C under high pressure, transforming into superheated steam that enters the turbine, driving the turbine to perform work and powering the generator to produce electricity.

[0031] In another embodiment, the intelligent part of the system uses an STM32 microcontroller as the underlying driver to encapsulate functions such as movement and heat source signal perception. A JetSonNano acts as the host, connecting peripherals such as cameras, robotic arms, and LiDAR, and controlling the overall robot operation logic. A ROS meta-operating system manages the drivers for each part, coupling visual mapping with LiDAR mapping to improve the stability of Simultaneous Localization and Mapping (SLAM). Based on localization and mapping, a heat source signal receiving node is established to parse target point location information and achieve automatic path planning and navigation, enabling automatic heat source identification and path planning / navigation. A model of a spinner heat roller simulating the waste heat recovery process in actual production is designed for simulation experiments to verify the feasibility and superiority of this waste heat recovery method. This waste heat recovery and power generation system features multi-scenario application, all-weather response, and integrated energy storage and conversion, providing a new approach for high-energy-consuming industries and power plants to centrally manage waste and recover energy.

[0032] 1. Controllable self-rotating hot roller

[0033] Figures 3(a) and 3(b) show schematic diagrams of the hot roller model. The controllable spin hot roller is one of the core components of this system. Through a unique design, it utilizes the gravity-assisted drive of high-temperature steel slag to achieve the spin of the hot roller, thereby enabling efficient heat exchange with the liquid metal working fluid. The specific design is as follows: As shown in Figure 3(b), the outer shell of the hot roller is designed as a double-layer hollow structure, consisting of an outer wall, an inner wall, and an inner and outer interlayer. The outer wall of the hot roller is in contact with the steel slag, and the inner and outer interlayers are filled with liquid metal. When high-temperature steel slag is poured onto the surface of the hot roller, the hot roller spins under its own weight and the designed dynamic sealing structure, promoting uniform heat exchange and accelerating the solidification and shedding of the steel slag. This design, through the assistance of thermal resistance theory analysis and numerical simulation software, ensures that the surface temperature of the hot roller is maintained below the material's thermal creep temperature, effectively controlling costs while ensuring the long-term operation of the equipment.

[0034] In one embodiment, Figure 3(a) shows a model and working schematic diagram of the core component, the roller heat exchanger. The green portion represents the high-temperature slag channel, shaped like an "Ω," with the left and right ends serving as the inlet and outlet for the high-temperature slag, through which the slag passes. The silver portion represents the cylindrical outer shell of the hot roller, with the high-temperature slag channel in close contact with it. Preferably, the outer diameter of the cylindrical hot roller shell is 4200 mm, and its thickness is 25 mm; the inner diameter is 4000 mm, and its thickness is 25 mm, with the center filled with liquid metal. The entire cylindrical inner and outer walls of the roller heat exchanger are formed using a steel coiling process, and the circular pipes through which the liquid metal flows are connected to the inner and outer walls of the roller heat exchanger by welding.

[0035] Its thermal resistance analysis is as follows Figure 4 As shown in the figure. The main thermal resistance in the heat transfer process includes the surface contact thermal resistance between the solidified phase change steel slag and the outer wall of the roller (as shown in the figure). (represented by) the thermal resistance of the outer wall of the roller (indicated by) (represented) and the convective heat transfer thermal resistance between the outer wall of the roller and the liquid metal (represented in the figure). (This is indicated). Since the thermal conductivity of liquid metal is much greater than that of solidified steel slag, and the outer wall of the roller is very thin, the main thermal resistance in the heat transfer process is the surface contact thermal resistance between the solidified phase change steel slag and the outer wall of the roller. The temperature of the outer wall of the roller will be close to the temperature of the liquid metal side, thus ensuring that the outer wall of the roller will not undergo high-temperature creep.

[0036] Furthermore, using the numerical simulation software Siemens NX, the preset steel slag temperature field was used as the heat source for the outer wall of the roller heat exchanger. By inputting the preset roller wall material parameters and liquid metal physical property parameters, the simulation results of the surface temperature distribution of the roller heat exchanger were obtained. Figure 5 ) and simulation results of liquid metal temperature distribution ( Figure 6 ).

[0037] like Figure 5 As shown, under the preset outer surface steel slag temperature field, a steady-state heat transfer process is formed between the steel slag, the roller heat exchanger, and the liquid metal. The lowest surface temperature of the roller heat exchanger is at the liquid metal inlet side. Figure 5 (Left side), approximately 200℃; its surface temperature increases regularly along the direction of liquid metal flow, and is highest at the liquid metal outlet side ( Figure 5 The temperature reached its highest point (on the right side of the middle section), at approximately 610℃.

[0038] like Figure 6 As shown, the temperature of the liquid metal flowing through the gap between the inner and outer walls of the roller heat exchanger exhibits a regular distribution during this steady-state heat exchange process, with the lowest temperature occurring at the liquid metal inlet side. Figure 6 (Left side), approximately 150°C, with the highest temperature located on the liquid metal outlet side ( Figure 6(Right side of the middle), approximately 550℃.

[0039] Specifically, the development of a controllable spinning hot roller device involves using steel slag gravity to drive the hot roller to spin, ensuring a tight seal during circulation through a sophisticated dynamic sealing structure, and exchanging heat with the liquid metal working fluid. The specific design is as follows: Figure 8 As shown, the first liquid metal channel 11 and the second liquid metal channel 12 at both ends of the roller heat exchanger 1 are fixedly connected by the rear end 212 of the dynamic sealing shaft 21 using high-temperature resistant adhesive and friction. The liquid metal inlet / outlet 22 is connected to the sealing shaft 21 at the front end 211 of the dynamic sealing shaft 21, which is pressed against the sealing shaft 21 by the friction ring 221 on the liquid metal inlet / outlet 22, ensuring sealing while allowing the roller heat exchanger to maintain rotation. Through thermal resistance theory analysis and numerical simulation software, the surface temperature of the spinning hot roller is ensured to be lower than the material's thermal creep temperature, effectively saving process costs.

[0040] The following provides modeling information for a 1:11 scale model of the main body of a roller heat exchanger (including the roller heat exchanger and dynamic seal structure). In the model, the dimensions of the roller heat exchanger 1 (Figures 13(a) to 13(c)), the sealing shaft 21 (Figures 14(a) to 14(c)), and the liquid metal inlet / outlet 22 (Figures 15(a) to 15(c)) are shown in the figures. Specifically, referring to Figures 13(a) to 13(c), the inner and outer diameters of the cylindrical channels 11 and 12 are 36 mm and 40 mm, respectively. Referring to Figures 14(a) to 14(c), the inner diameter of the cylindrical sealing shaft front end 211 of the sealing shaft 21 is 20 mm, and the inner diameter of the sealing shaft rear end 212 is 40 mm. Referring to Figures 15(a) to 15(c), the outer diameter of the rear end of the liquid metal inlet / outlet 22 is 20 mm.

[0041] In actual production, the proportions of each component in the roller heat exchanger are consistent with those in the model shown in the figure. Specifically, the first liquid metal channel 11 and the second liquid metal channel 12 in the model have cylindrical channels with inner and outer diameters of 36mm and 40mm respectively, which mate with the rear end 212 of the sealing shaft with an inner diameter of 40mm; the front end 211 of the cylindrical sealing shaft 21 has an inner diameter of 20mm, which mates with the rear end of the liquid metal inlet / outlet 22 with an outer diameter of 20mm.

[0042] In the actual production of the roller heat exchanger, the first liquid metal channel and the second liquid metal channel have cylindrical channels with inner and outer diameters of 396 mm and 440 mm, respectively, which are matched with the rear end of the sealing shaft with an inner diameter of 440 mm; the inner diameter of the front end of the cylindrical sealing shaft is 220 mm, which is matched with the rear end of the liquid metal inlet and outlet with an outer diameter of 220 mm.

[0043] The design drawings of the controllable spin-type heat roller model are shown in Figures 7(a) to 7(c). Its main structure includes a roller heat exchanger 1, a dynamic sealing structure 2, a controllable motor-assisted rotation system 3, a fixed base plate 4, a fixed clamping device 5, and a support 6.

[0044] The bracket 6 includes a first bracket 61 and a second bracket 62, both in an "A" shape. The bottom of the "A" shape of the first bracket 61 and the second bracket 62 is fixed to the fixed base plate 4 with screws. After the dynamic sealing structure 2 is connected to the roller heat exchanger 1 through the above-mentioned dynamic sealing method, the liquid metal inlet / outlet 22 is fixed to the top of the "A" shaped bracket with screws and a fixing clamping device 5 to ensure the stability of the roller heat exchanger 1. The synchronous pulley 34, which is fixed to the first liquid metal channel 11 of the roller heat exchanger with locking screws, is connected to the motor 32 through the transmission belt 33. The motor 32 is fixed to the motor base 31 with screws, and the motor base 31 is fixed to the fixed base plate 4 with screws.

[0045] Its working principle is as follows: High-temperature liquid metal enters the inner and outer wall layers of the roller heat exchanger 1 through the liquid metal inlet / outlet 22, and exchanges heat with the steel slag poured on the outer wall of the roller heat exchanger 1; the controllable motor-assisted rotation system 3 rotates the motor 32 fixed on the motor base 31, drives the transmission belt 33 to rotate, and drives the entire roller heat exchanger 1 to rotate through the synchronous pulley 34, so as to achieve uniform heat exchange and drive the steel slag to solidify and fall off. The high-temperature liquid metal after heat exchange flows out from the liquid metal inlet / outlet 22 and enters the heat exchanger for subsequent steam power circulation to generate electricity.

[0046] 2. High-efficiency dual-loop heat recovery power generation system

[0047] like Figure 9 As shown, the dual-loop heat recovery power generation system of this invention is based on the classic Rankine cycle, converting the thermal energy of high-temperature steel slag into electricity through heat extraction from liquid metal. In this process, the high-temperature liquid metal enters the hot roller from arrow ① to absorb heat, then flows from arrow ② to the tube layer of the shell-and-tube heat exchanger (evaporator), where it undergoes convective heat exchange with the water in the shell layer. Water enters the shell-and-tube heat exchanger from arrow ④, and under high pressure, the water is heated from 65°C to 250°C in the heat exchanger, transforming into superheated steam, which enters the turbine from arrow ③, driving the turbine to perform work and generating electricity. To ensure system efficiency, we used Aspen Plus industrial simulation software for precise selection and design, obtaining heat exchanger design data that meets the expected heat exchange power, as shown in Tables 1 and 2 below. The shell-and-tube heat exchanger design drawings are shown below. Figure 10 As shown, by matching key components such as evaporators, steam turbines, condensers and pumps, an integrated dual-loop closed-loop system is constructed, realizing the low-loss recycling of water resources.

[0048] Table 1 Heat Exchanger Data

[0049] Table 2 Heat Exchanger Component Parameters

[0050] 3. Design of Intelligent Steel Slag Recycler Trolley

[0051] Figure 11 The image shows the constructed AI-powered intelligent slag delivery vehicle, comprising both hardware and software components. The hardware consists of a four-wheel drive DC motor chassis with omnidirectional wheels, a LiDAR, a binocular camera, an STM32 microcontroller, and a JetSonNano host. The software is built on the STM32 microcontroller, encapsulating functions such as movement and heat source signal sensing. The main control code is developed on the JetSonNano host, connecting peripherals such as the camera, robotic arm, and LiDAR, and controlling the overall robot operation logic. The ROS meta-operating system manages the various drivers, coupling visual mapping with LiDAR mapping to improve the stability of Simultaneous Localization and Mapping (SLAM). Based on localization and mapping, a heat source signal receiving node is established to parse target point location information and achieve automatic path planning and navigation, enabling automatic heat source identification and path planning navigation. Before discharging slag, the slag delivery vehicle sends a Bluetooth signal to call the intelligent supply vehicle to receive the slag. Once the vehicle is in position and the slag is released, the signal transmission stops. After receiving the signal, the vehicle enters movement mode and provides real-time mapping and navigation based on the digital map of the operating area built into its main control board and several preset paths. Upon reaching the exit equipment, the supply vehicle enters loading mode and sends a Bluetooth signal to the exit equipment. After receiving the signal, the exit equipment begins releasing steel slag and stops calling. After loading is complete, the vehicle returns to the recycling unit along the preset route and switches to unloading mode, pouring the collected steel slag into the recycling unit for waste heat recovery. Figure 12 The diagram shows the intelligent slag replenishment route planning scheme. The replenishment trolley is equipped with a lidar to automatically identify and avoid obstacles when they appear.

[0052] This invention addresses the discontinuous generation of steel slag by using an STM32 microcontroller as the control core. It communicates and detects multiple steel slag source terminals in real time. By coupling a lidar sensor with a depth camera sensor, it constructs a slag extraction path planning system that combines global and local approaches, providing stable and continuous services for waste heat recovery and power generation systems.

[0053] This invention has significant advantages over traditional steel slag treatment methods in terms of heat recovery efficiency, economy, and intelligent automation. Specific details are as follows: 1. Controllable spin-type heat roller heat exchanger The controllable spin-type hot roller boasts high heat recovery efficiency. It recovers waste heat through a steel slag-liquid metal-water process, achieving low-cost, high-value reuse of high-temperature steel slag. Simultaneously, the spin-type hot roller utilizes gravity-assisted drive, combined with numerical simulation software, to ensure the surface temperature remains below the material's thermal creep temperature, effectively saving process costs. In experiments, when the heat transfer oil temperature reached 350℃, the heat exchanger of the hot roller achieved a heat exchange capacity of 3200W. It is projected that a 1MW hot roller prototype can meet design requirements, with an overall heat recovery efficiency exceeding 80%.

[0054] 2. High-efficiency dual-loop circulating heat recovery power generation system The dual-loop power generation system in this invention is based on a steam Rankine cycle. It utilizes liquid metal for heat extraction and integrates key components such as evaporators, turbines, condensers, and pumps to achieve efficient waste heat recovery and power generation. The dual-loop cycle system achieves a thermal efficiency of 42.1%, significantly improving thermal energy utilization compared to traditional heat recovery methods.

[0055] A single intelligent recycling system generates 1.8 × 10⁶ kWh of electricity annually. Calculated at 0.42 yuan / kWh, the annual profit is 607,468 yuan, the payback period is 4 years, and the net profit over its life cycle is approximately 3 million yuan.

[0056] 3. Intelligent steel slag replenishment system This steel slag replenishment trolley system features intelligence and precise tracking. The system has communication reception, path planning, and precise tracking functions, enabling contactless intelligent services and building a low-carbon, zero-carbon replenishment system.

[0057] To address the discontinuous generation of steel slag, the system utilizes multiple sensors for real-time monitoring and communication, providing a stable and continuous steel slag replenishment service. During system operation, a slag removal path planning system combining global and local approaches is constructed through the coupling of lidar and depth camera sensors, ensuring the continuous operation of the waste heat recovery and power generation system.

[0058] The foregoing general description of the invention and its specific embodiments should not be construed as a limitation on the technical solution of the invention. Those skilled in the art, based on the disclosure of this application, can add, reduce, or combine the disclosed technical features in the foregoing general description and / or specific embodiments (including examples) without departing from the constituent elements of the invention, to form other technical solutions within the scope of protection of this application.

Claims

1. A discontinuous high-temperature steel slag waste heat recovery and power generation system, characterized in that, The system includes: a controllable self-rotating hot roller device, a high-efficiency dual-loop heat recovery power generation system, and an intelligent steel slag recycling trolley; The intelligent steel slag recycling trolley delivers the steel slag to the controllable spin-type hot roller device. The high-grade heat energy in the steel slag is recovered by the controllable spin-type hot roller device and then converted into electrical energy by the high-efficiency dual-loop heat recovery power generation system.

2. The system according to claim 1, characterized in that, Preferably, the controllable self-rotating heat roller device includes: a roller heat exchanger, a dynamic sealing structure, a controllable motor-assisted rotation system, a fixed base plate, a fixed clamping device, and a bracket.

3. The system according to claim 1, characterized in that, The outer shell of the controllable spin hot roller device is designed as a double-layer hollow structure.

4. The system according to claim 3, characterized in that, The outer wall of the controllable spinning hot roller device is in contact with steel slag.

5. The system according to claim 1, characterized in that, The controllable spin hot roller device utilizes the gravity-assisted drive of high-temperature steel slag to achieve the spin of the hot roller.

6. The system according to claim 2, characterized in that, The controllable self-rotating hot roller device ensures cyclic sealing through the dynamic sealing structure.

7. The system according to claim 1, characterized in that, When high-temperature steel slag is poured onto the surface of the hot roller, the hot roller spins to promote uniform heat exchange and accelerates the solidification and shedding of the steel slag.

8. The system according to claim 1, characterized in that, The high-efficiency dual-loop heat recovery power generation system converts the thermal energy of high-temperature steel slag into electricity by extracting heat from liquid metal.

9. The system according to claim 1, characterized in that, The intelligent steel slag recycling trolley is equipped with lidar to automatically identify and avoid obstacles.

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