Non-stop adding control system and method for fish-torpedo tank cover

Abstract

The present application relates to the technical field of torpedo tank, and particularly relates to a non-stop adding and taking torpedo tank cover control system and method, which comprises the following steps: in the process of continuous travel of the torpedo tank, the position of the torpedo tank and the state of the tank opening / tank cover are recognized by a detection device; according to the recognition result, the adding and taking cover device is controlled to switch between the predetermined height positions; and the relative movement between the tank opening / tank cover and the adding and taking cover device is utilized to complete the adding or taking of the tank cover under the non-stop state of the torpedo tank. The present application has the following advantages: through the cooperative detection of the positioning camera and the recognition camera and the switching of the adding and taking cover device between the predetermined height positions, the adding or taking of the tank cover can be completed in the process of continuous travel of the torpedo tank, without the need of parking and waiting; compared with the operation process of the existing off-vehicle scheme which needs multiple parking and vehicle moving, the present application shortens the single adding and taking cover operation time, improves the turnover efficiency of the torpedo tank vehicle, and avoids the influence of the adding and taking cover operation on the production rhythm of iron and steel making.

Description

Technical Field

[0001] This invention relates to the field of torpedo canister technology, and in particular to a control system and method for non-stop loading and unloading of torpedo canister lids. Background Technology

[0002] Molten iron is typically transported from the blast furnace to the steel plant using torpedo-shaped ladle cars. With the continuous development of iron and steel smelting technology, newly built large steel plants generally adopt a "one-stop" process. However, regardless of the transportation method, each step in the series of processes—from tapping from the blast furnace, transportation, returning the empty ladle, to waiting—has varying degrees of impact on the temperature of the molten iron.

[0003] The temperature of molten iron in a blast furnace mainly depends on the tapping temperature and heat loss from the ladle lining during transportation. The temperature of the molten iron upon arrival at the steel plant is directly affected by the tapping temperature and temperature drop during transportation. Therefore, reducing temperature drop during transportation is crucial for increasing the temperature of molten iron entering the plant and achieving energy conservation and emission reduction.

[0004] Existing torpedo ladles are mostly transported open, which presents the following problems: firstly, significant environmental pollution and severe smoke and dust leakage; secondly, significant heat loss, especially when the ladle is empty; and thirdly, adversely affecting the service life of the refractory materials inside the ladle. To address these issues, the industry has proposed a torpedo ladle capping technology. This technology reduces the temperature drop of molten iron while significantly decreasing smoke and dust leakage during transport, which is of great significance for reducing environmental pollution, improving energy efficiency, and promoting the development of green steel.

[0005] Currently, there are three main common methods for adding or removing the lid of a torpedo canister: 1. Under-vehicle plan: The capping device is placed under the car, before the iron tapping point at the ironworks and before the steel mill's ladle transfer station. Before the torpedo ladle car enters the ironworks to receive iron, the cap must be removed, and then reapplied after receiving the iron. After transporting it to the steel mill, the cap must be removed again before entering the ladle transfer station, the iron is transferred, and then the cap is reapplied before returning. This solution has problems such as cumbersome operation procedures, long capping and removal times, disruption to production rhythm, and significant limitations due to ground space constraints.

[0006] 2. On-vehicle plan: Each torpedo tank car is equipped with an independent cap-adding and retrieving device, enabling cap-adding and retrieving functions for a single car. This solution requires modification of all torpedo tank cars, and the equipment's usage and maintenance cycle is shorter than that of the torpedo tank cars themselves, leading to increased maintenance costs. Furthermore, if the cap-adding device malfunctions and the cap cannot retract properly, it will directly affect the tank car's iron-receiving operations and in-plant turnover, thereby disrupting production scheduling and capacity.

[0007] 3. Disposable Consumables Solution: The method uses simple skeleton-type asbestos felt and other consumables, which are added after the iron is bent and enter the torpedo ladle along with the molten iron during the receiving process. This method consumes a lot of consumables, is not economical, and cannot be reused.

[0008] In summary, existing torpedo canister capping and uncapping technologies generally suffer from problems such as low operational efficiency, strong equipment dependence, high maintenance costs, and disruption to production schedules. Summary of the Invention

[0009] The purpose of this invention is to provide a non-stop torpedo ladle lid loading and unloading control system and method, aiming to solve the problems of existing torpedo ladle lid loading and unloading technologies, such as the need for stopping the operation, low efficiency, strong equipment dependence, high maintenance costs, and impact on production rhythm. This invention uses a detection device to identify the position and ladle opening status of the torpedo ladle in real time, controls the lid loading and unloading device to switch between predetermined heights, and utilizes the relative movement of the torpedo ladle during continuous movement to complete the loading or unloading of the ladle lid, realizing non-stop operation, thereby improving transportation efficiency, reducing the temperature drop of molten iron, reducing smoke and dust overflow, and reducing equipment investment and maintenance costs.

[0010] To achieve the above objectives, the present invention provides the following technical solution: A non-stop torpedo canister lid loading and unloading system includes a lid loading and unloading device and an insulated lid. The lid loading and unloading device includes a first lid loading and unloading device and a second lid loading and unloading device arranged sequentially along the torpedo canister's travel direction. Each lid loading and unloading device includes a traversing mechanism, a lifting mechanism, and a lifting lug. The traversing mechanism is used to drive the lid loading and unloading device to switch between a maintenance position and a working position. The lifting mechanism is used to drive the lifting lug to move up and down between different height positions. The insulated lid and the lifting lug can be detachably coupled.

[0011] It also includes a detection device, which includes a positioning camera and an identification camera. The positioning camera is used to continuously detect the relative position between the mouth of the torpedo can and the lid-adding / removing device, and the identification camera is used to take pictures and identify the state of the mouth or lid of the torpedo can.

[0012] A method for controlling the non-stop loading and unloading of torpedo canister lids includes: S1. During the continuous movement of the torpedo canister, the position of the torpedo canister and the status of the canister mouth / canister cover are identified by the detection device; S2. Based on the recognition result, control the cap-adding / removing device to switch between predetermined height positions; S3. The torpedo can is installed or removed without stopping the machine by using the relative movement between the can mouth / can lid and the lid installation / removal device. When the canister lid is installed, the mouth of the torpedo can push the insulated lid away from the lid installation and removal device during the journey, and the insulated lid covers the mouth of the torpedo can. When the canister lid is removed, the canister lid interacts with the lifting lugs of the canister lid removal device during the movement of the canister, causing the canister lid to detach from the canister opening and hang on the lifting lugs.

[0013] The capping device completes the capping process during the torpedo canister's movement by following these steps: 1) Process 11: With cap-adding device one in a low position and cap-adding device two in a high position, the first torpedo tank passes cap-adding device two in the direction of cap-adding travel. 2) Process 12; The cap removal device 2 is lowered to the low position; 3) Process 13; After the mouth of the first torpedo canister and the mouth of the adjacent second torpedo canister in the direction of travel of the capping contact the heat insulation cap 1 and heat insulation cap 2 respectively, the heat insulation cap detaches from the capping device as the torpedo canister moves. 4) Process 14; After the first and second torpedo canisters pass the corresponding capping and unloading devices, the insulated caps are placed over the openings of the corresponding torpedo canisters and enter the transportation process with them to keep them warm and suppress dust during transportation.

[0014] During the torpedo canister's movement, the cap removal device completes the cap removal process by following these steps: 1) Process 21: With the cap-adding / removing device one in a high position and the cap-adding / removing device two in a middle position, the first torpedo canister passes the cap-adding / removing device one in the direction of cap removal. 2) Process 22: The cap removal device has been lowered to the middle position; 3) Process 23: After the mouth of the first torpedo canister and the mouth of the adjacent second torpedo canister in the direction of travel for removing the cover come into contact with the first and second cover-removing devices respectively, the heat-insulating cover moves with the torpedo canister and detaches from the cover-removing devices. 4) Process 24: After the first and second torpedo canisters pass the corresponding capping and uncapping devices, the insulated caps detach from the canister opening and remain on the corresponding capping and uncapping devices for use in opening the canister to receive or break iron.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By using the coordinated detection of positioning and recognition cameras, combined with the automatic switching of the cap-adding and removing device between predetermined height positions, the cap can be added or removed during continuous travel of the torpedo can, without stopping and waiting. Compared with the existing undercarriage solution which requires multiple stops and vehicle relocations, this invention shortens the time for a single cap-adding and removing operation, greatly improves the turnover efficiency of the torpedo can car, and avoids the impact of cap-adding and removing operations on the production rhythm of ironmaking and steelmaking. 2. Based on the determination of "cap can be added" or "cap can be removed", the system drives the lifting mechanism to switch the lifting lug to the target height (high position +1500mm, middle position +800mm, low position +200mm). The three predetermined heights correspond to different working conditions: the high position is used to allow the torpedo can to pass safely without contacting the insulated cap; the middle position is used for the lifting lug to engage with the can cap when removing the cap; and the low position is used for the insulated cap to contact the can opening when adding the cap. Through height control, the lifting and removing of the cap is ensured to be smooth, avoiding collisions and interference between the lifting lug and the can body. The lifting and switching is only allowed when all conditions are met, such as the can opening status is normal, the can cap status is correct (in / out), the lifting lug load status is matched, and the recognition confidence level is met. This fundamentally eliminates the possibility of misoperation and requires no manual operation. 3. The insulated cover is in a ready-to-load state on the cover-adding and removing device. The torpedo can mouth directly pushes the insulated cover during travel, causing its hook to naturally detach from the lifting lug and cover the can mouth. The entire process requires no hydraulic, pneumatic, or electric drive, resulting in a simple structure and low failure rate. The covering process is automatically completed during the continuous travel of the torpedo can, without stopping or slowing down, and does not affect the transportation rhythm of the torpedo can car or the scheduling of ironmaking and steelmaking production. The cover removal process is also completed during the continuous travel of the torpedo can, without stopping or waiting. After the torpedo can leaves the cover-adding and removing station, the open can can directly enter the iron receiving or iron-folding area, eliminating the waiting time caused by the cover removal operation in the existing technology. The removed can cover is suspended on the cover-adding and removing device, maintaining a "ready-to-load" state, waiting for the next covering task. The can cover can be reused an unlimited number of times, significantly reducing consumable costs compared to existing disposable consumable solutions (such as asbestos felt). 4. The same set of insulated covers can be used repeatedly in the entire process of "adding covers → transporting → removing covers → bending iron / receiving iron → adding covers again", without the need for manual handling or replacement, realizing fully automatic closed-loop operation; the present invention has specially designed a dual-position arrangement of cover adding and removing device 1 and cover adding and removing device 2, which can handle the cover adding and removing operation of two torpedo cans at the same time, and cover both cans in a single application, which improves efficiency compared to the single-section processing solution. 5. Compared with the existing vehicle-mounted solution, which requires the modification of all torpedo tank cars and the installation of a capping device for each car, this solution does not require any modification to the torpedo tank car itself. The number of devices is small, the maintenance points are concentrated, and the use and maintenance cycle is synchronized with the steel plant's overhaul cycle, which greatly reduces equipment investment and daily maintenance costs. At the same time, even if a capping device fails, the system can switch to a redundant mode or another device can continue to operate, so as not to cause the torpedo tank cars to stop and affect the overall plant scheduling. 6. The first and second cover-adding and removing devices are arranged sequentially along the torpedo can travel direction, matching the distance between the can mouths of the two torpedo cans, and can handle the cover-adding and removing operations of the two cans at the same time; compared with the single-station solution which requires two separate operations, the present invention can complete the addition or removal of the two cans in a single pass, improving work efficiency. 7. The lateral movement mechanism drives the cap-adding and removing device to switch between the maintenance position and the working position. During normal operation, the device is located in the working position (above the center line of the track). When maintenance or replacement of parts is required, it can be laterally moved to the maintenance position (about 1.5 meters away from the center line of the track). This design ensures that maintenance operations and normal passage of torpedo canisters do not interfere with each other, without interrupting the transport line, thus shortening the mean time to repair (MTTR) of the equipment. 8. The lifting mechanism drives the hook to move up and down between different height positions. It has three preset positions: high (+1500mm), medium (+800mm), and low (+200mm), which correspond to three working conditions: letting the vehicle pass, taking off the lid, and putting on the lid. Through precise height control (positioning accuracy ±5mm), it ensures that the hook accurately engages with the lid hook ring when taking off the lid, and that the insulation lid is in a reasonable position that can be pushed by the can opening when putting on the lid, while avoiding collision and interference between the hook and the can body. 9. The positioning camera continuously detects the relative position between the torpedo can mouth and the cap loading / unloading device, collecting real-time distance data at a frequency of 10-20 times per second. The high repeatability and positioning accuracy enable the system to accurately determine the can mouth position during the continuous movement of the torpedo can, providing a reliable basis for the timing of the lifting mechanism's operation without the need for stopping for alignment. 10. The positioning camera and the recognition camera work together: The positioning camera provides a location trigger signal, and the recognition camera performs photo recognition after the trigger. After the operation is completed, the recognition camera takes another photo to verify the effect, and the positioning camera records the completed position, forming a closed-loop control link of "recognition → execution → verification" to ensure that every cap addition and removal operation is traceable and verifiable. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the capping and uncapping process.

[0017] Figure 2 This is a detailed diagram illustrating the non-stop dual-position lid removal and lid replacement for the torpedo canister.

[0018] Figure 3 This is a diagram showing the cover.

[0019] Figure 4 This is a diagram showing how to remove the lid. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings, but it should be noted that the implementation of the present invention is not limited to the following embodiments.

[0021] The following embodiments are implemented based on the technical solution of the present invention, providing detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments. Unless otherwise specified, the methods used in the following embodiments are conventional methods.

[0022] Example 1:

[0023] A method for controlling the non-stop loading and unloading of torpedo canister lids includes: S1. During the continuous movement of the torpedo canister, the position of the torpedo canister and the status of the canister mouth / canister cover are identified by the detection device; The torpedo canister car travels continuously along the track at a constant speed (e.g., 2-5 km / h). Approximately 10-20 meters before entering the cap-adding / removing station, a positioning camera activates continuous detection mode, acquiring real-time distance data between the canister opening and the cap-adding / removing device at a frequency of 10-20 times per second, with a repeatability accuracy within ±5mm. Simultaneously, a recognition camera automatically rotates 180° to take multi-angle photos of the canister opening or cap. A pre-trained convolutional neural network (CNN) model then determines whether the canister opening is deformed, whether the cap is in place, and whether the cap seal is intact, outputting a recognition result with a confidence level ≥95%.

[0024] The specific process by which the CNN model determines the state of the can opening / lid: After identifying the original image of the torpedo can mouth or lid captured by the camera, the status is determined through the following steps: (1) Image preprocessing: The original image captured by the recognition camera (1920×1080 pixels) is first sent to the preprocessing module, where it is converted to grayscale, Gaussian filtered to remove noise, histogram equalization to enhance contrast, and then cropped to a standard input size of 640×640 pixels to eliminate interference from factors such as changes in lighting and environmental dust.

[0025] (2) Target detection and localization: The preprocessed image is input into a pre-trained YOLOv8 (YouOnlyLookOnceversion8) object detection network. This network is pre-trained on a training set labeled with objects such as "can opening," "can lid," and "hook and loop," and outputs the bounding box coordinates and class confidence scores of each object in the image. When the object confidence score is ≥0.85, the object is determined to exist and is located.

[0026] (3) State classification: The detected "can opening" target region is cropped and then input into the ResNet-50 classification network, which outputs three class probabilities: Can mouth deformation: By comparing the roundness deviation of the can mouth edge (normal can mouth roundness deviation ≤5%, deformed can mouth deviation >10%), output "normal" or "deformed"; Can lid in place: The presence of a "can lid" target above the can opening and the overlap (IoU) between its bounding box and the can opening bounding box are detected. If the IoU is ≥ 0.7, it is determined to be "in place"; otherwise, it is determined to be "missing". The can lid is sealed well: For the detected "can lid" target area, the sealing gap features of the contact surface between the edge of the lid and the lid opening are further extracted through the semantic segmentation network (U-Net). When the average sealing gap is ≤3mm and there is no area with continuous gap >5mm, "well" is output; otherwise, "damaged" or "loose" is output.

[0027] (4) Comprehensive judgment output: The outputs of the three sub-models are converged into the judgment fusion module. The overall confidence level is calculated according to the preset weights (0.3 for can mouth deformation, 0.4 for can lid in place, and 0.3 for seal integrity). When the overall confidence level is ≥0.9 and each individual judgment is "normal / in place / intact", the final output is the recognition result of "can be capped" or "can be removed". If any individual judgment is abnormal, the corresponding alarm information is output (such as "can mouth deformed, cannot be capped").

[0028] (5) Basis for model training: The aforementioned CNN models (YOLOv8, ResNet-50, U-Net) were trained using 5,000 labeled images collected on-site (covering various working conditions such as normal, deformed, missing, and damaged images). The training set, validation set, and test set were divided in a 6:2:2 ratio. The test accuracy reached 96.7%, and the inference time per image was ≤50ms, meeting the requirements for real-time detection.

[0029] S2. Based on the recognition result, control the cap-adding / removing device to switch between predetermined height positions; After receiving the identification data from step S1, the centralized operation and management platform compares the data using its built-in judgment logic. If the tank opening status is "normal" and there is currently no lid, it is determined as "lid can be added"; if the lid status is "in place" and the lifting lug is unloaded, it is determined as "lid can be removed". If the judgment result is "lid can be added" or "lid can be removed", the centralized operation and management platform sends a control command to the corresponding lid-adding / removing device, driving the lifting mechanism to switch the lifting lug from its current height (e.g., high position +1500mm, middle position +800mm, low position +200mm, based on the rail surface) to the target height. The lifting mechanism uses a servo motor-driven lead screw structure, with a lifting speed controlled between 100~200mm / s and a switching time ≤3 seconds.

[0030] The specific judgment process of the built-in judgment logic: After receiving the identification result output from step S1, the centralized operation and management platform's built-in judgment logic module performs the judgment according to the following method and process: (1) Judgment content: The judgment logic module has two independent judgment methods preset, one for the cap-adding condition and the other for the cap-removing condition: (2) Judgment process: The decision logic module uses a "sequential check, stop upon encountering an error" approach to perform the decision. The specific process is as follows: Covering judgment process: Step 1: Check if the "Can opening status" output by S1 is "normal". If it is "deformed", immediately output "Cannot be capped", alarm code "E01 - Can opening deformed", and interrupt the judgment.

[0031] Step 2: Check if the "Can lid in position status" is "missing". If it is "in position", output "Cannot be capped", alarm code "E02 - Can opening already has a lid", and interrupt the judgment.

[0032] Step 3: Query the status database of the lid-adding and removing device to confirm whether the corresponding lifting lug is "with the insulation lid hanging". If it is "without insulation lid", output "Cannot add lid", alarm code "E03-Lid-adding and removing device has no lid", and interrupt the judgment.

[0033] Step 4: Check if the overall confidence level of S1 output is ≥0.9. If it is below the threshold, output "Cannot be covered" and the alarm code is "E04 - Insufficient recognition confidence".

[0034] Step 5: After all the above conditions are met, output the "can be covered" judgment result.

[0035] Cap removal judgment process: Step 1: Check if the "Lid in Position Status" output by S1 is "In Position". If it is "Missing", immediately output "Lid Cannot Be Removed", alarm code "D01 - No Lid at Can Opening", and interrupt the judgment.

[0036] Step 2: Check if the "Can lid sealing status" is "intact" or "can lid removal allowed". If it is "damaged" or "loose", output "can lid cannot be removed", alarm code "D02 - Can lid status abnormal, lid removal may fail", and interrupt the judgment.

[0037] Step 3: Query the status database of the cap removal device to confirm whether the corresponding lifting lug is "unloaded". If it is "occupied", output "cap cannot be removed", alarm code "D03 - cap removal device lifting lug is occupied", and interrupt the judgment.

[0038] Step 4: Check the lid removal path sensor signal to confirm there are no obstacles. If an obstacle is detected, output "Lid cannot be removed", and the alarm code will be "D04 - Obstacle in lid removal path".

[0039] Step 5: Check if the overall confidence level of S1 output is ≥0.9. If it is below the threshold, output "Cannot remove cover", and the alarm code is "D05 - Insufficient recognition confidence".

[0040] Step 6: After all the above conditions are met, output the "Can be taken cover" judgment result.

[0041] (3) Output format of the judgment result: The output of the decision logic module is structured data, with the following example format: { "Judgment Time":"2025-01-15 14:32:05.123", "Operating Condition Type": "Covered" Judgment Result: "Can be covered". "Alarm code":null, Overall confidence level: 0.94 "Trigger Action": "Drive the lifting mechanism of the cap-adding / removing device to the target height" }

[0042] Example of an abnormal situation: { "Judgment Time":"2025-01-15 14:32:05.123", "Operating Condition Type": "Covered" Judgment Result: "Cannot be covered" Alarm code: "E01 - Can opening deformation", Overall confidence level: 0.92 "Trigger Action": "Issue an audible and visual alarm and terminate the automatic lid-closing process." }

[0043] (4) Configuration and updating of decision logic: The parameters of the judgment logic module (such as the tank opening deformation threshold, sealing gap threshold, confidence threshold, etc.) can be remotely configured and dynamically updated through a centralized operation and management platform. Maintenance personnel can adjust the judgment sensitivity according to actual on-site conditions (such as different steel plants or different tank types) without modifying the underlying code. All judgment records are automatically written to the log database for subsequent algorithm optimization and fault tracing.

[0044] S3. The torpedo can is installed or removed without stopping the machine by using the relative movement between the can mouth / can lid and the lid installation / removal device. S31. When installing a can lid; During travel, the mouth of the torpedo canister pushes the insulated cover away from the cover-adding / removing device, and the insulated cover covers the mouth of the torpedo canister.

[0045] During the torpedo can's movement, the capping device completes the capping process by following these steps: See Figure 3 : 1) Process 11: With the cover-attaching device 1 in a low position (approximately +200mm from the rail surface) and the cover-attaching device 2 in a high position (approximately +1500mm from the rail surface), the first torpedo canister travels past the cover-attaching device 2 at a speed of v≈3km / h, following the direction of travel for the cover attachment (as indicated by the arrow). At this point, the mouth of the first torpedo canister is located between the cover-attaching device 1 and the cover-attaching device 2, approximately 2-3 meters away from the cover-attaching device 2.

[0046] 2) Process 12: When the positioning camera detects that the first torpedo can has completely passed the cap-removing device 2 (i.e., the can's stern has crossed the centerline of the cap-removing device 2 by approximately 0.5 meters), the centralized transport platform issues a command to drive the lifting mechanism of the cap-removing device 2, causing its lifting lugs to descend from a high position (+1500mm) to a low position (+200mm), with a descent time of approximately 2 seconds. The purpose of lowering the cap-removing device 2 (i.e., the second device in the direction of travel) from a high position to a low position is to allow the insulated cap to wait at the lowest point for the can's opening, for the following reasons: a. Lower the threshold for pushing the can opening to ensure smooth disengagement; The insulation lid is suspended from the lifting lugs by hooks. If the lifting lugs are too high, the can opening needs to be "lifted" upwards to push the insulation lid, which can easily cause jamming. After being lowered to the lowest position, the lower edge of the insulation cover is almost flush with the upper edge of the can opening. The can opening only needs to be pushed forward horizontally to push the insulation cover. The unhooking force is small and the action is smooth, avoiding the failure to push the cover due to slag accumulation or deformation at the can opening.

[0047] b. Obtain sufficient coverage displacement stroke; After pushing the insulated lid into the can opening, the lid needs to slide a certain distance (about 200-300mm) on the upper surface of the can opening to fully cover it. In the low position state, the initial contact point between the insulation cover and the can opening is closer to the leading edge of the can opening, providing sufficient space for subsequent cover displacement and ensuring that the sway is ≤10mm after the cover is in place.

[0048] c. Reduce the adaptability requirements for tank opening height; There is a manufacturing deviation of ±50mm in the opening height of different torpedo tank cars, and the opening may be slightly lowered during use due to wear of the refractory material; The low position (+200mm) is a more lenient tolerance range. Even if the height of the can opening fluctuates within the range of 150-250mm, the insulation cover can still reliably contact and be pushed. If the middle or high position is used, the requirements for the consistency of the can opening height are more stringent, and the adaptability decreases.

[0049] 3) Process 13; The torpedo canister continues to move forward. The mouth of the first torpedo canister first contacts the insulated cover 1 suspended on the cover-adding and removing device 1, pushing the insulated cover 1 so that its hook disengages from the lifting lug of the cover-adding and removing device 1. Subsequently, the mouth of the second torpedo canister contacts the insulated cover 2 suspended on the cover-adding and removing device 2, pushing the insulated cover 2 away from the cover-adding and removing device 2. Under the pushing action of the canister mouth, the two insulated covers naturally cover the upper surface of their respective canister mouths, with a coverage deviation of ≤10mm.

[0050] 4) Process 14; The first and second torpedo ladle sections continue forward for approximately 1-2 meters, completely exiting the lid-adding / removing station. The insulated lids are now securely covering the ladle openings. The lidded torpedo ladle then enters the transport process for insulation and dust suppression. Actual measurements show that after adding the lid, the rate of temperature drop in the molten iron decreased from 3-5℃ / h to 0.5-1℃ / h, and smoke and dust leakage was reduced.

[0051] S32. When removing the can lid; During travel, the lid of the torpedo canister interacts with the lifting lugs of the lid-attaching device, causing the lid to detach from the canister opening and suspend from the lifting lugs.

[0052] During the torpedo can's movement, the cap removal device completes the cap removal process by following these steps: See... Figure 4 : 1) Process 21: With cap-attaching device 1 in the high position (+1500mm) and cap-attaching device 2 in the middle position (+800mm), the first torpedo canister travels past cap-attaching device 1 at a speed of v≈3km / h in the direction of cap-attaching (opposite to cap-attaching). At this time, the canister cap of the first torpedo canister is located between cap-attaching device 1 and cap-attaching device 2, approximately 2-3 meters away from cap-attaching device 1.

[0053] 2) Process 22: When the positioning camera detects that the first torpedo canister has completely passed the capping and unloading device 1 (i.e. the canister cap has passed the center line of device 1 by about 0.5 meters), the centralized operation and management platform issues a command to drive the lifting mechanism of the capping and unloading device 1, so that its lifting lugs are lowered from the high position (+1500mm) to the middle position (+800mm), and the descent time is about 1.5 seconds.

[0054] The cap-adding / removing device 1 (i.e., the first device in the direction of travel) is lowered from the high position to the middle position, instead of the low position. This is to strike a balance between "reliable engagement" and "safe passage," for the following reasons: a. The center position ensures accurate engagement between the lifting lug and the hook; When removing the lid, the lifting lug needs to be inserted into the opening of the lid hook and lock in place. If the lifting lug is too low (e.g., in a low position), the lifting lug will be lower than the hook and cannot engage; if the lifting lug is too high, the lifting lug may hit the lid body instead of the hook.

[0055] The center position (+800mm) is designed based on the center height of the standard can lid hook (approximately 750-850mm) to ensure that the lifting lug and hook are on the same horizontal plane, thereby improving the engagement efficiency.

[0056] b. Avoid collisions between the lifting lugs and the tank body; If the can is lowered to a low position, the lifting lug position (+200mm) will be lower than the upper edge of the can opening (approximately +300mm). After the can lid is detached, the lifting lug may be directly exposed in the can's travel path and collide with the side wall of the can or the edge of the can opening. In the neutral position, the lifting lug is located above the tank opening (tank opening + 300mm, lifting lug + 800mm), and the tank body can pass safely under the lifting lug without any risk of interference.

[0057] c. Retain a certain vertical tolerance margin; During the process of removing the lid, the lid may jump slightly upward (about 20-50mm) the moment it leaves the can opening. The mid-position design provides a buffer zone of 200-300mm upward to prevent the lid from hitting the crossbeam or other structures above the lifting lug. If a high position (+1500mm) is used, the lifting lugs are too far from the lid, and the lid cannot be reliably suspended after it detaches, and may fall. If a low position is used, there is no buffer zone, and the lid is prone to impact when it jumps up.

[0058] When the lid is put on, device 2 is lowered to allow the can opening to "push" the insulated lid; when the lid is removed, device 1 is lowered to the middle position to allow the lifting lug to "hold" the lid. Each device has its own function, positioned at different heights.

[0059] 3) Process 23: The torpedo canister continues to move forward. The first section of the canister lid contacts the lifting lug of the lid-attaching device 1. The self-aligning structure of the lifting lug guides the lid's hook to engage with the lifting lug, causing the lid to gradually detach from the canister opening as the torpedo canister moves. Subsequently, the second section of the torpedo canister lid contacts the lifting lug of the lid-attaching device 2, completing the detachment process in the same way. During the detachment process, the locking structure of the lifting lug automatically locks the lid's hook to prevent accidental detachment.

[0060] 4) Process 24: The first and second torpedo canisters continue forward for approximately 1-2 meters, completely exiting the capping station. Both caps are now fully detached from the canister openings and stably suspended from the corresponding capping lugs, with a suspension posture deviation from the initial posture ≤15mm. The open-top torpedo canisters then enter the steelmaking refractory or iron receiving area for open-top iron receiving or refractory operations.

[0061] Integrating visual recognition, positioning detection, a centralized operation and management platform, and judgment logic, the system can automatically identify the status of the tank opening / lid, automatically determine whether the lid addition / removal operation can be performed, automatically execute the operation or trigger an alarm, and automatically verify the effect after the operation is completed. Simultaneously, the system has a fault self-diagnosis and hierarchical response mechanism, which can detect equipment status in real time and perform redundancy switching or early warning prompts. It supports remote operation and maintenance and data report generation, significantly improving the intelligence and informatization level of the molten iron transportation process in steel plants.

[0062] A non-stop torpedo canister lid loading and unloading system includes a lid loading and unloading device, an insulated lid, and a detection device. The lid loading and unloading device comprises two devices, 1 and 2, arranged sequentially along the torpedo canister's travel direction. The center distance between the two devices is 8-12 meters, matching the distance between the canister openings of the two torpedo canisters. Each device includes a lateral movement mechanism, a lifting mechanism, and a lifting lug. The lateral movement mechanism drives the device to switch between a maintenance position (approximately 1.5 meters off the track centerline) and a working position (above the track centerline). The lifting mechanism drives the lifting lug to move up and down between different height positions. The insulated lid and the lifting lug can be detachably engaged. The detection device includes a positioning camera and an identification camera. The positioning camera continuously detects the relative position between the canister opening and the lid loading and unloading device, while the identification camera photographs and identifies the canister opening or lid status. The lid loading and unloading device employs a two-degree-of-freedom mechanism of lateral movement and lifting, and the insulated lid uses a self-aligning hook-and-loop structure, enabling automatic loading and unloading without complex centering adjustments. The device is compatible with torpedo tank cars of different models and manufacturers, requiring no modification to existing torpedo tank cars, and has good versatility and promotional value. At the same time, the cap-adding and removing device can be moved laterally to the maintenance position, facilitating daily maintenance and spare parts replacement without occupying the main transportation line.

[0063] Example 2:

[0064] In this embodiment, the non-stop torpedo canister cap loading and unloading control system and method are the same as in Embodiment 1, but with the addition of a fault self-diagnosis and redundancy switching process. When a cap loading / unloading device or detection device malfunctions, the system automatically performs fault diagnosis, alarm prompts, and redundancy switching operations to ensure the continuity and reliability of the non-stop cap loading / unloading process.

[0065] I. Non-stop cap removal process, see Figure 1 ; Iron receiving area: Production area 1, the lidded torpedo cans complete the lid removal operation before entering this area, and then the empty cans receive iron.

[0066] Steelmaking and Iron Folding Area: Production Area 2. Before entering this area, the lidded torpedo cans are removed, and then the cans are folded into iron.

[0067] Capping and uncapping area: One set of torpedo can capping and uncapping device is set up at a suitable location in front of production area 1 and 2. The capping and uncapping of torpedo cans is completed before they enter the factory building and after they leave the factory building.

[0068] Judgment Equipment: One industrial camera for vision recognition and vision positioning is installed in each can lid loading and unloading area and on each transport line. The camera is equipped with a 180-degree pan-tilt unit. The vision recognition camera is responsible for continuously taking pictures and judging the can opening status and can lid status, while the positioning camera is responsible for continuously detecting and outputting the position of the torpedo can truck (can opening).

[0069] Centralized Operation and Management Platform: The application layer includes ironworks, steel mills, transportation plants, and maintenance plants; the control layer has data pools, production reports, and results display; and the decision-making layer has data emergence information and strategy generation information.

[0070] II. Non-stop lid removal device; 1. Dust-suppressing and heat-insulating cover; 1) Body: Features a unique automatic cap-adding drive structure; 2) Dust suppression and heat insulation layer: Flexible material to improve sealing; 3) Hook and loop: self-aligning and self-resetting structure.

[0071] 2. Add a cap removal device; 1) Lateral movement mechanism: switching between maintenance position and working position; 2) Lifting mechanism: drives the lifting lugs to continuously lift and lower; 3) Lifting lugs: self-aligning, self-locking, safety lock, and other structures.

[0072] 3. Equipment; 1) Industrial camera for positioning torpedo tank cars (tank openings); 2) Industrial camera for identifying torpedo can openings / lids; 3) Local area network equipment, centralized control platform and algorithm model.

[0073] III. Principle of non-stop lid removal; 1. Automatic capping process, see Figure 3 : 1) Process 1: The cap-adding device 1 is in a low position and the cap-adding device 2 is in a high position. According to the direction of travel, the first torpedo tank passes the cap-adding device 2.

[0074] 2) Process 2: The cap removal device 2 is lowered to a low position.

[0075] 3) Process 3: After the mouths of the two torpedo canisters come into contact with the insulation cover 1 and insulation cover 2 respectively, the insulation cover moves with the torpedo canister and detaches from the cover adding and removing device.

[0076] 4) Process 4: After the two torpedo canisters pass the corresponding capping and uncapping device, the heat-insulating cap is placed over the mouth of the torpedo canister and enters the transportation process with the torpedo canister to achieve heat preservation and dust suppression during transportation.

[0077] 2. Automatic cap removal process, see Figure 4 : 1) Process 1: The capping device 1 is in the high position and the capping device 2 is in the middle position. According to the direction of travel, the first torpedo tank passes the capping device 1.

[0078] 2) Process 2: The cap-adding device 1 is lowered to the middle position.

[0079] 3) Process 3: After the mouths of the two torpedo canisters come into contact with the cap-adding and cap-removing device 1 and the cap-adding and cap-removing device 2 respectively, the heat-insulating cap moves with the torpedo canister and detaches from the mouth of the torpedo canister.

[0080] 4) Process 4: After the two torpedo canisters pass the corresponding cap loading and unloading device, the heat-insulating cap detaches from the canister opening and remains on the corresponding cap loading and unloading device, thus enabling the canister to be opened to receive iron or to be bent.

[0081] IV. Fault self-diagnosis and redundancy switching process; 1. Fault detection and diagnosis: The system continuously performs self-diagnostics during operation, and the detection scope includes: 2. Fault classification and response strategy: Based on the degree of impact of the fault on the capping and uncapping process, the system classifies faults into three levels and executes differentiated responses: 3. Redundancy switching mechanism: To improve system availability, this embodiment sets up the following redundancy switching scheme: (1) Dual-camera redundancy: When the primary positioning camera or identification camera experiences a Level 1 failure, the system automatically switches to the backup camera (located on the opposite side or adjacent to the camera). The switching process is completed within 100ms and does not affect the continuous movement of the torpedo canister. The backup camera uses the same calibration parameters and algorithm model as the primary camera to ensure no loss of identification accuracy after switching.

[0082] (2) Redundancy in the cap removal device: When an unrecoverable failure occurs in a cap-adding or removing device (such as cap-adding or removing device 1), the system automatically performs the following redundant operations: If the malfunction occurs before the lid is put on: the lid-adding and removing device 2 will independently complete the lid-adding operation for both tank sections (two insulated lids need to be hung on the lid-adding and removing device 2 in advance). If the malfunction occurs before the lid is removed: the lid removal operation of the two tank sections is completed independently by the lid removal device 2, and the lid is temporarily stored on the spare lifting lug of the lid removal device 2; At the same time, an alarm message is sent to the centralized operation and management platform, and dispatchers can repair the faulty device at the subsequent maintenance window.

[0083] (3) Manual / Automatic Mode Switching: When the automatic cap-adding and dispensing system experiences a malfunction that cannot be automatically resolved, the operator can switch to manual mode with one click through the centralized operation and management platform. In manual mode: The horizontal movement and lifting motion of the cap-adding and removing device can be controlled independently via a remote operation interface; Real-time video feed assists operators in judging the status of the can opening / can lid; All actions are protected by safety interlocks to prevent equipment damage caused by misoperation.

[0084] 4. Self-recovery and fault logging: For level 3 faults and some level 2 faults, the system can automatically resume operation after the fault is cleared. After the communication failure is resolved, the connection will be automatically re-established and the status data will be synchronized. Once the confidence level is restored, the system automatically re-enters the automatic judgment process. After the gimbal malfunction is resolved, a zero-calibration will be automatically performed.

[0085] All fault information (fault type, occurrence time, recovery time, and response action) is automatically recorded in the fault database of the centralized operation and management platform for generating operation and maintenance reports and predictive maintenance analysis.

[0086] Figure 1 The overall layout of the iron receiving area, the steelmaking iron folding area, and the capping station is shown. Figure 2 The arrangement of the lid-adding and removing device 1 and lid-adding and removing device 2, as well as the cooperative structure of the lifting lugs and the heat-insulating lid, are shown. Figure 3 The process of the capping device height changing and the insulation cap covering the tank opening is shown in processes 1 to 4. Figure 4 The process of the lid-adding and removing device changing height and the insulated lid detaching from the tank opening and being suspended by the lifting lugs is shown in processes 1 to 4.

[0087] Example 3:

[0088] In this embodiment, the non-stop torpedo canister cap loading and unloading control system and method are the same as in Embodiment 1, but a complete full-process closed-loop control process is added on the basis of Embodiment 1 and / or Embodiment 2.

[0089] I. System Preparation Phase; 1. Preparation of dust suppression and heat preservation cover: During non-production (transportation) periods, use mobile lifting equipment to suspend the new can cover in the self-locking position of the lifting lug of the cover addition and removal device, and the can cover is in the "ready 1" state.

[0090] 2. Camera Startup Recognition: Recognizes the status of the torpedo canister openings and can distinguish whether it is suitable to cover them. The recognition system is in the "Ready 2" state.

[0091] 3. Positioning camera starts: The system uses decision logic to give the accurate distance from the torpedo tank car (tank opening) to the capping position. The repeatability of positioning is reliable and the positioning system is in the "ready 3" state.

[0092] 4. Powering on the cap-adding and removing equipment: The system performs a self-test, and the status and operation are normal. The cap-adding and removing equipment is in the "Ready 4" state.

[0093] 5. Platform scheduling system startup: The system performs a self-check, and the sub-modules are in normal status, information communication is supported, and output reports are normal. The platform is in the "Ready 5" state.

[0094] 6. One-click start of "automatic lid addition and removal": The torpedo canister lid addition and removal plan will pop up, and an alarm will be automatically triggered if there are any abnormalities in the related lid addition and removal equipment, dust suppression and heat preservation lid, detection equipment and judgment logic.

[0095] II. Ironmaking process of covering after receiving iron (covering before leaving the factory). 1. After the empty torpedo ladle has received iron in the blast furnace, the torpedo ladle car drives out of the iron tapping position (each process setting starts from "covering", and emergency cover removal is set separately, including remote and machine side).

[0096] 2. Before the open torpedo can enters the ironmaking and cover-removing station, its positioning camera continuously detects the relative position of the can car, which first triggers the recognition camera to work.

[0097] 3. The camera takes a picture of the can opening and uploads it. The can opening determination logic determines whether it can be capped: if it is "no", the capping plan will not be executed and an alarm message will be given; if it is "yes", the capping plan will continue to be executed.

[0098] 4. After the first tank section of the tank truck passes the high-positioned cap-adding / removing device, cap-adding / removing device 2 descends to the low position and enters the automatic cap-adding state. See [link / reference]. Figure 3 .

[0099] 5. When the first and second tank openings of the tanker pass through the capping and dispensing devices 1 and 2 respectively, the insulation caps automatically detach from the capping and dispensing devices and cover the tank openings under the pushing action of the tank openings, and the capped torpedo tanker enters the "green transportation" state.

[0100] 6. The camera automatically rotates its gimbal to take pictures of the can lid's status at the can opening and upload them. The can lid determination logic then passes the can lid status to the next stage.

[0101] III. Steelmaking process for removing the cover before iron smelting (removing the cover upon entering the plant). 1. Before the covered torpedo can enters the steelmaking and capping station, its positioning camera continuously detects the relative position of the can car, which first triggers the recognition camera to work.

[0102] 2. The camera takes a picture of the can lid and uploads it. The can lid determination logic determines whether the lid can be removed: if "no", the automatic lid removal plan will not be executed and manual intervention will be required; if "yes", the automatic lid removal plan will continue to be executed.

[0103] 3. After the first section of the tanker truck (in the opposite direction of travel to the capping direction) passes the high-position capping device, capping device 2 descends to the middle position and enters the automatic capping state. See [link / reference]. Figure 4 .

[0104] 4. When the first and second tank covers of the tank car pass through the cover-adding and removing devices 1 and 2 respectively, the tank covers automatically detach from the tank opening under the action of the lifting lugs and are suspended in the automatic locking area of ​​the lifting lugs, and the open torpedo tank enters the steelmaking and iron-breaking area.

[0105] 5. The camera automatically rotates its gimbal to capture and upload images of the can opening's status. The can opening determination logic then transmits the can opening status to the "intelligent iron-folding platform".

[0106] IV. Steelmaking process of covering iron after folding (covering before leaving the factory). 1. After the heavy torpedo can is folded, the open torpedo can is driven out of the folding station.

[0107] 2. Before the open torpedo can enters the steelmaking and cover-removing station, its positioning camera continuously detects the relative position of the can and first triggers the recognition camera to work.

[0108] 3. The camera takes a picture of the can opening and uploads it. The can opening determination logic determines whether it can be capped: if it is "no", the capping plan will not be executed and an alarm message will be given; if it is "yes", the capping plan will continue to be executed.

[0109] 4. After the first tank section of the tank truck passes the high-positioned cap-adding / removing device, cap-adding / removing device 2 descends to the low position and enters the automatic cap-adding state. See [link / reference]. Figure 3 .

[0110] 5. When the first and second tank openings of the tanker pass through the capping and dispensing devices 1 and 2 respectively, the insulation caps automatically detach from the capping and dispensing devices and cover the tank openings under the pushing action of the tank openings, and the capped torpedo tanker enters the "green transportation" state.

[0111] 6. The camera automatically rotates its gimbal to take pictures of the can lid's status at the can opening and upload them. The can lid determination logic then passes the can lid status to the next stage.

[0112] V. Ironmaking process for removing the cover before receiving iron (removing the cover upon entering the plant). 1. Before the covered torpedo can enters the ironmaking and lid-removing station, its positioning camera continuously detects the relative position of the can car, which first triggers the recognition camera to work.

[0113] 2. The camera takes a picture of the can lid and uploads it. The can lid determination logic determines whether the lid can be removed: if "no", the automatic lid removal plan will not be executed and manual intervention will be required; if "yes", the automatic lid removal plan will continue to be executed.

[0114] 3. After the first section of the tanker truck (in the opposite direction of travel to the capping direction) passes the high-position capping device, capping device 2 descends to the middle position and enters the automatic capping state (see...). Figure 4 ).

[0115] 4. When the first and second tank covers of the tank car pass through the cover-adding and removing devices 1 and 2 respectively, the tank covers automatically detach from the tank opening under the action of the lifting lugs and are suspended in the automatic locking area of ​​the lifting lugs, and the open torpedo tank enters the iron-receiving area.

[0116] VI. Cyclic Control Steps two through five above are executed repeatedly, forming a complete closed-loop control process: identifying the status before capping → determining whether execution is possible → executing or issuing a warning → identifying the effect after capping → determining whether execution is possible → issuing a warning or executing → cap removal follows the same logic. The system intelligently completes the entire process of automatically capping and removing each torpedo ladle between ironmaking and steelmaking without stopping.

[0117] The system provides a closed-loop control solution covering the entire process from preparation, capping, transportation, cap removal, iron bending, return trip, recapping, and recap removal. This ensures that the capping and capping operations at each stage of the torpedo ladle's transport between ironmaking and steelmaking are completed automatically and are traceable. The system uses dual verification via identification and positioning cameras to confirm the status before and after capping, and before and after cap removal, eliminating errors and omissions and ensuring the safety and continuity of production operations.

Claims

1. A non-stop torpedo canister cap loading and unloading control system, characterized in that, It includes a cover-adding and removing device and an insulated cover. The cover-adding and removing device includes a cover-adding and removing device one and a cover-adding and removing device two arranged sequentially along the travel direction of the torpedo tank. Each cover-adding and removing device includes a traversing mechanism, a lifting mechanism and a lifting lug. The traversing mechanism is used to drive the cover-adding and removing device to switch between the maintenance position and the working position. The lifting mechanism is used to drive the lifting lug to rise and fall between different height positions. The insulated cover and the lifting lug can be detachably fitted together.

2. The non-stop torpedo canister cap loading and unloading system according to claim 1, characterized in that, It also includes a detection device, which includes a positioning camera and an identification camera. The positioning camera is used to continuously detect the relative position between the mouth of the torpedo can and the lid-adding / removing device, and the identification camera is used to take pictures and identify the state of the mouth or lid of the torpedo can.

3. A non-stop torpedo canister lid loading / unloading control method using the system described in any one of claims 1-2, characterized in that, include: S1. During the continuous movement of the torpedo canister, the position of the torpedo canister and the status of the canister mouth / canister cover are identified by the detection device; S2. Based on the recognition result, control the cap-adding / removing device to switch between predetermined height positions; S3. The torpedo can is installed or removed without stopping the machine by using the relative movement between the can mouth / can lid and the lid installation / removal device. When the canister lid is installed, the mouth of the torpedo can push the insulated lid away from the lid installation and removal device during the journey, and the insulated lid covers the mouth of the torpedo can. When the canister lid is removed, the canister lid interacts with the lifting lugs of the canister lid removal device during the movement of the canister, causing the canister lid to detach from the canister opening and hang on the lifting lugs.

4. The non-stop torpedo canister cap loading and unloading control method according to claim 3, characterized in that, The aforementioned cap-adding and removing device completes the cap-adding process during the torpedo canister's movement by following these steps: 1) Process 11: With cap-adding device one in a low position and cap-adding device two in a high position, the first torpedo tank passes cap-adding device two in the direction of cap-adding travel. 2) Process 12; The cap removal device 2 is lowered to the low position; 3) Process 13; After the mouth of the first torpedo canister and the mouth of the adjacent second torpedo canister in the direction of travel of the capping contact the heat insulation cap 1 and heat insulation cap 2 respectively, the heat insulation cap detaches from the capping device as the torpedo canister moves. 4) Process 14; After the first and second torpedo canisters pass the corresponding capping and unloading devices, the insulated caps are placed over the openings of the corresponding torpedo canisters and enter the transportation process with them to keep them warm and suppress dust during transportation.

5. The non-stop torpedo canister cap loading and unloading control method according to claim 3, characterized in that, The aforementioned cap-adding and removing device removes the cap during the torpedo canister's movement by following these steps: 1) Process 21: With the cap-adding / removing device one in a high position and the cap-adding / removing device two in a middle position, the first torpedo canister passes the cap-adding / removing device one in the direction of cap removal. 2) Process 22: The cap removal device has been lowered to the middle position; 3) Process 23: After the mouth of the first torpedo canister and the mouth of the adjacent second torpedo canister in the direction of travel for removing the cover come into contact with the first and second cover-removing devices respectively, the heat-insulating cover moves with the torpedo canister and detaches from the cover-removing devices. 4) Process 24: After the first and second torpedo canisters pass the corresponding capping and uncapping devices, the insulated caps detach from the canister opening and remain on the corresponding capping and uncapping devices for use in opening the canister to receive or break iron.

6. The non-stop torpedo canister cap loading and unloading control method according to claim 3, characterized in that, In S2, the control of the cap-adding / removing device switching between predetermined height positions includes: If the can opening is in normal condition and there is no can lid at present, it is determined that a lid can be added; If the can lid is in place and the lifting lug is unloaded, then the lid is deemed ready to be removed. If the determination result is that the cover can be added or removed, a control command is sent to the corresponding cover-adding or removing device, and the hoisting lug switches from the current height to the predetermined height.

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