Slag discharging apparatus and slag discharging method

Abstract

To provide a slag discharging apparatus capable of appropriately completing a slag removal operation.SOLUTION: A control unit (41) of a slag discharging apparatus (1) includes a first identifying section (410) that identifies a first region where molten pig iron is exposed, from a captured image in which a molten pig iron surface (70) in a container (11) is imaged, and a termination determining unit (412) that determines to terminate a process of removing slag by a slag removing unit (20) when an area of the first region satisfies a predetermined condition.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a slag draining apparatus and a slag draining method. [Background technology]

[0002] Patent Document 1 discloses an in-furnace slag amount estimation device that uses slag height data in a converter and an estimation model to calculate the slag bulk density and slag volume after slag discharge, and calculates the slag weight in the converter from the calculated slag bulk density and slag volume. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2023-074085 Summary of the Invention [Problem to be solved by the invention]

[0004] However, since it is difficult to measure the height of slag in a vessel such as a converter, the weight of the slag in the vessel cannot be calculated accurately, and there is a risk that the slag removal operation will not be completed properly.

[0005] The present disclosure has been made in consideration of the above problems, and aims to provide a slag discharge device and a slag discharge method that can properly complete the slag removal operation. [Means for solving the problem]

[0006] In order to solve the above problems, a slag removal device according to one embodiment of the present disclosure is a slag removal device that removes slag that forms on the surface of molten iron, and includes: a container that stores the molten iron; a slag removal unit that has a scraper and removes the slag from the container by driving the scraper; an imaging unit that generates an image by imaging the surface of the molten iron in the container; and a control unit, wherein the control unit includes a first identification unit that identifies a first area where the molten iron is exposed from the image; and an end determination unit that determines to end the process of removing the slag in the slag removal unit when the area of ​​the first area satisfies a predetermined condition.

[0007] The first identification unit may identify, from within the captured image, a region in which an average value of brightness is higher than a predetermined threshold and a standard deviation of brightness is lower than a predetermined threshold, as the first region.

[0008] Furthermore, the imaging unit may generate the captured image by capturing an image of the molten iron surface in the vessel frame by frame at a predetermined frame rate, the first identification unit may identify each of the first regions from the captured image generated frame by frame, and the termination determination unit may include in its conditions that the continuous identification time during which the first region continues to be identified is equal to or greater than a predetermined first threshold value.

[0009] Furthermore, the imaging unit may generate the captured image by capturing an image of the molten iron surface in the vessel for each frame at a predetermined frame rate, the first identification unit may identify each of the first regions from the captured image generated for each frame, and the termination determination unit may include in its conditions that the frequency at which the area of ​​the first region identified for each frame is determined to be larger than a predetermined second threshold value is equal to or greater than a predetermined third threshold value.

[0010] The termination determination unit may also include in the conditions that the number of times the slag remover has removed slag from the container is equal to or greater than a predetermined fourth threshold value.

[0011] In order to solve the above problems, a slag removal method according to another aspect of the present disclosure is a slag removal method for removing slag formed on the surface of molten iron, which uses a slag removal device including a vessel for accommodating the molten iron, a slag removal unit having a scraper plate and removing the slag from the vessel by driving the scraper plate, an imaging unit for generating an image by imaging the surface of the molten iron in the vessel, and a control unit, and includes a first identification step for using the control unit to identify a first region where the molten iron is exposed from the image, and an end determination step for determining to end the process of removing the slag in the slag removal unit if the area of ​​the first region satisfies a predetermined condition. [Effects of the Invention]

[0012] According to the present disclosure, a slag discharge device and a slag discharge method can be obtained that can properly complete slag removal. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic diagram showing a configuration example of a slag discharge device according to a first embodiment of the present disclosure. FIG. [Figure 2] FIG. 10 is a schematic diagram used to explain the removal operation by the slag removal unit. [Figure 3] 1 is a diagram showing a configuration example of a control device provided in a slag discharge device according to a first embodiment of the present disclosure. FIG. [Figure 4] FIG. 10 is a diagram used to explain the processing of a first identification unit. [Figure 5] FIG. 10 is a diagram illustrating an example of a determination region. [Figure 6] 1 is a flowchart showing the flow of an end determination process in the slag discharge device according to the first embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0014] [Embodiment 1] (Configuration of slag removal equipment) An embodiment of the present disclosure will be described in detail below. Fig. 1 is a schematic diagram showing an example of the configuration of a slag discharge device according to a first embodiment of the present disclosure. The slag discharge device 1 shown in Fig. 1 includes a storage section 10, a slag removal section 20, a first imaging section 31, a second imaging section 32, and a control device 40.

[0015] The accommodation unit 10 has a vessel 11 and a support 12. The vessel 11 is a structure for accommodating molten iron, such as a hot metal ladle used in hot metal pretreatment. Slag floats on the surface of the molten iron accommodated in the vessel 11 depending on the progress of the slag formation reaction during the hot metal pretreatment. Slag is generated during each treatment in the hot metal pretreatment, such as desulfurization, dephosphorization, and desiliconization, and its properties vary depending on the composition of the molten iron and the type of pretreatment.

[0016] The support part 12 supports the container 11. The support part 12 has a tilting axis 120 and holds the container 11 so that it can tilt around the tilting axis 120. In the following, as shown in FIG. 1, the horizontal direction perpendicular to the direction from the container 11 toward the slag removal part 20 (the direction in which the scraper plate 21 moves when scraping out the slag) is defined as the X-axis direction, the horizontal direction from the container 11 toward the slag removal part 20 is defined as the Y-axis direction, and the vertical direction is defined as the Z-axis direction. The tilting axis 120 extends in the X-axis direction.

[0017] When the vessel 11 is tilted about the tilting axis 120 from the initial position (where the opening of the vessel 11 faces vertically upward) shown by the dashed line in Fig. 1, the molten pig iron surface 70 formed by the molten pig iron in the vessel 11 approaches a part of the downward-facing edge 110 of the vessel 11. Note that the molten pig iron surface 70 does not mean only the surface of the molten pig iron contained inside the vessel 11, but also means the surface of the slag if slag is floating on the surface of the molten pig iron.

[0018] When the vessel 11 is in the position shown by the solid line in Fig. 1, the portion of the edge 110 on the positive side of the Y axis direction is lower and closer to the molten iron surface 70 than when the vessel 11 is in the position shown by the dashed line in Fig. 1. Hereinafter, the portion of the edge 110 of the vessel 11 that approaches the molten iron surface 70 due to tilting of the vessel 11 will be referred to as the scraping opening 111.

[0019] The slag removal unit 20 has a scraper plate 21 and is a mechanism that removes slag from the container 11 by driving the scraper plate 21. More specifically, the slag removal unit 20 has the scraper plate 21 and a drive unit 22 that moves the scraper plate 21. The slag removal unit 20 removes slag from the container 11 by driving the scraper plate 21. The drive unit 22 moves the scraper plate 21 toward coordinates specified by the control device 40. The scraper plate 21 is movable at least in the Y-axis direction and the Z-axis direction.

[0020] The first imaging unit 31 is an imaging device such as a camera or CCD that captures an image of an area including the entire molten iron surface 70 of the vessel 11 and generates a first captured image. That is, the first imaging unit 31 captures images of the entire molten iron surface 70 from a position higher than the molten iron surface 70 at a predetermined frame rate, and generates a first captured image for each frame. Note that the first captured image obtained while scraping slag from the vessel 11 using the slag removal unit 20 may include an image of the scraper 21.

[0021] The second imaging unit 32 is an imaging device such as a camera or CCD that captures an image of the slag removed from the scraping opening 111. That is, the second imaging unit 32 captures an image of at least the external space located below the scraping opening 111 outside the container 11, and generates a second captured image. The second imaging unit 32 captures an image at the timing when the slag 50 is scraped out from the scraping opening 111.

[0022] The control device 40 is, for example, a computer installed in an operation room of a steel mill, and controls each part of the slag removal device 1. The control device 40 receives a first captured image from the first imaging unit 31 and a second captured image from the second imaging unit 32. The control device 40 also specifies the Y-axis coordinate and Z-axis coordinate of the scraper 21 to the driving unit 22, and drives the scraper 21 to the specified position.

[0023] (Removal operation) 2 is a schematic diagram used to explain the removal operation by the slag removal unit. Under the control of the control device 40, the slag removal unit 20 repeats the following operations to remove slag 71 formed on the surface of the molten iron 72 contained in the vessel 11.

[0024] (1) The height Z1 of the tip of the scraper 21 is maintained higher than the set value Z0 of the height of the tip of the scraper 21, which corresponds to the height of the molten iron surface 70, and the scraper 21 is moved to the insertion position P1 set above the molten iron surface 70. The set value Z0 of the height of the scraper 21 is set in advance based on, for example, the amount of molten iron contained in the vessel 11. (2) The scraper 21 is lowered by a predetermined distance. The predetermined distance is longer than Z1-Z0. (3) The scraper 21 is moved in the positive direction of the Y axis to the lifted position P2. (4) The scraper 21 is moved upward and in the positive Y-axis direction until the tip thereof comes out of the container 11.

[0025] If the set value Z0 of the height of the scraper 21 and the amount of descent of the scraper 21 in operation (2) are set appropriately, the tip of the scraper 21 will be inserted into the molten iron surface 70 by operation (2). Operations (3) and (4) are an example of an operation to pull the scraper 21 back out of the vessel. When the tip of the scraper 21 is inserted into the molten iron surface 70, operations (3) and (4) will cause the slag 71 in the range between the scraper 21 and the scraping opening 111 to be scraped out of the vessel 11 beyond the scraping opening 111. By repeating operations (1) to (4), the slag 71 in the vessel 11 will decrease, and the molten iron 72 will be exposed at the molten iron surface 70.

[0026] (Control device configuration) 3 is a diagram showing an example of the configuration of a control device provided in the slag discharge device according to the first embodiment of the present disclosure. The control device 40 shown in FIG. 3 includes a control unit 41, a storage unit 42, a display unit 43, and an input interface 44.

[0027] The control unit 41 is configured with, for example, a CPU (Central Processing Unit), RAM (Random Access Memory), etc. The storage unit 42 is, for example, an information recording medium such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores programs executed by the control unit 41.

[0028] The display unit 43 is, for example, a display, and can display the first captured image, the second captured image, an operation screen of the slag discharge device 1, and the like.

[0029] The input interface 44 includes, for example, a USB (Universal Serial Bus) terminal, a LAN (Local Area Network) terminal, etc. The control unit 41 acquires the first captured image and the second captured image from the first imaging unit 31 and the second imaging unit 32 via the input interface 44.

[0030] (Function of slag removal equipment) The control unit 41 executes the program stored in the storage unit 42 to function as a first identification unit 410, a timing detection unit 411, and an end determination unit 412.

[0031] The first identification unit 410 is a functional unit that identifies a first region where the molten iron 72 is exposed from the first captured image. That is, the first identification unit 410 identifies the first region, which is a region where the molten iron 72 is exposed between the slag on the molten iron surface 70, from the first captured image. FIG. 4 is a diagram used to explain the processing of the first identification unit 410. FIG. 4 shows an example of the first captured image. The first captured image shown in FIG. 4 includes images of the molten iron surface 70 located near the scraping opening 111 of the vessel 11, the scraper 21, and the slag 50 discharged from the scraping opening 111.

[0032] 4, since the vessel 11 has a cylindrical shape, the boundary between the molten iron surface 70 and the edge 110 on the front side of the vessel 11 and the inner wall 112 on the back side of the vessel 11 has a shape close to an ellipse. The first identification unit 410 performs ellipse fitting on the boundary between the molten iron surface 70 and the vessel 11 in the first captured image to detect the molten iron surface region 60. The first identification unit 410 sets a determination region 61 in the lower center of the molten iron surface region 60 in the first captured image, around the scraping opening 111.

[0033] 5 is a diagram showing an example of the determination region 61. As shown in FIG. 5, the determination region 61 can be divided into a plurality of blocks 610. The first identification unit 410 calculates the average value and standard deviation of the brightness for the pixels inside the block 610. The block 610 in which the molten iron 72 is exposed at the molten iron surface 70 tends to have a higher average value of brightness and a smaller standard deviation of brightness than the block 610 in which the molten iron 72 is not exposed.

[0034] The first identification unit 410 detects blocks 610 whose average brightness value is higher than a predetermined threshold and whose standard deviation of brightness is lower than a predetermined threshold from among the blocks 610 included in the judgment region 61. Hereinafter, the blocks 610 whose average brightness value is higher than the predetermined threshold and whose standard deviation of brightness is lower than the predetermined threshold will be referred to as exposed hot metal blocks. When the number of exposed hot metal blocks exceeds a predetermined number, the first identification unit 410 identifies the first region based on the exposed hot metal blocks. Here, the predetermined number is, for example, three adjacent exposed hot metal blocks.

[0035] For example, the first identification unit 410 determines whether the brightness of each pixel inside and around the exposed hot metal block exceeds a predetermined threshold, and identifies a group of pixels whose brightness exceeds the predetermined threshold as the first region. det is the number of exposed molten iron blocks or the number of pixels located inside and around the exposed molten iron blocks and having brightness exceeding a predetermined threshold. The first identification unit 410 does not identify the first region when the number of exposed molten iron blocks does not exceed the predetermined number.

[0036] Within the determination region 61, a region 611 around the scraping opening 111 tends to be brighter than other regions. From the viewpoint of preventing overdetection of exposed molten iron blocks, the first identification unit 410 may exclude the region 611 around the scraping opening 111 from the exposed molten iron blocks. Furthermore, the number of detected exposed molten iron blocks may be adjusted by adjusting the shape and size of the blocks 610. For example, when the size of the blocks 610 is reduced, the number of blocks 610 detected as exposed molten iron blocks tends to increase.

[0037] Furthermore, when the scraper 21 is located on the periphery of the judgment area 61, the block 610 corresponding to the position of the scraper 21 may not be included in the exposed molten iron block. The position of the scraper 21 may be identified, for example, by using a technique such as pattern recognition on the first captured image.

[0038] The timing detection unit 411 detects the timing at which the slag 50 is removed from the vessel 11. Hereinafter, the timing at which the slag 50 is removed from the vessel 11 will be referred to as the "fall timing." The timing detection unit 411 provides a detection area 62 at a position offset downward from the molten iron surface area 60 and detects the passage of the slag 50 that has fallen from the vessel 11. The timing detection unit 411 detects, for example, the timing at which the brightness of the detection area 62 becomes higher than a predetermined threshold value as the fall timing. The timing detection unit 411 detects the brightness of the detection area 62 based on at least one of the first captured image and the second captured image, for example, and detects the fall timing.

[0039] The termination determination unit 412 is a functional unit that determines whether to terminate the process of removing the slag in the slag removal unit when the area of ​​the first region satisfies a predetermined condition. det Whether or not to terminate the removal operation by the slag removal unit 20 is determined based on the result. Immediately after the drop timing, the slag is removed by the scraper 21 on the molten iron surface 70 of the vessel 11, so that a portion of the molten iron 72 is likely to be exposed. This exposed portion of the molten iron 72 is then covered by slag 71 that flows in from the surrounding area, and becomes smaller as time passes from the drop timing. In other words, the area of ​​the first region identified from the first captured images generated at a predetermined frame rate within a predetermined period from the drop timing becomes smaller as time passes.

[0040] By repeating the removal operation by the slag removal unit 20, the amount of slag remaining in the container 11 gradually decreases, so that the area A of the first region immediately after the dropping timing det Then, the continuous specific time T during which the first region continues to be identified from the falling timing is det Here, the continuous specific time T during which the first region continues to be identified from the time of falling tends to be longer. det This is the time or number of frames from the time of dropping until the number of exposed molten iron blocks becomes less than a predetermined number.

[0041] In the first embodiment, the end determination unit 412 determines whether or not (i) the number of times m that the slag removal unit 20 has repeated the removal operation is greater than or equal to a predetermined threshold value N m and (ii) the area A of the first region det The number of times that is equal to or greater than the predetermined threshold is a predetermined threshold N A (iii) the first region has been identified for a continuous specific time T det is a predetermined threshold N T When the threshold N is reached, it is determined that the removal operation is to be terminated. m is calculated based on the amount of desulfurization agent used in the molten iron in the vessel 11, for example.

[0042] To stabilize the processing, the termination determination unit 412 stores the pixel position at the center of the first region identified by the first identification unit 410 as tracking data in the storage unit 42. When the termination determination unit 412 has not detected a predetermined number of exposed hot metal blocks or more, and tracking data is stored in the storage unit 42, the termination determination unit 412 may track the first region based on the tracking data.

[0043] (Slag removal equipment operation) 6 is a flowchart showing the flow of the end determination process in the slag removal device according to the first embodiment of the present disclosure. In S100, the control unit 41 of the control device 40 acquires a first captured image and a second captured image from the first imaging unit 31 and the second imaging unit 32. The control unit 41 acquires the first captured image and the second captured image, for example, when the Y coordinate of the scraper 21 designated by the driving unit 22 is within a predetermined range. Here, the predetermined range is, for example, the range between the insertion position P1 and the scraping opening 111.

[0044] In S200, the control unit 41 functions as a first identification unit 410, performs ellipse fitting on the boundary between the molten iron surface 70 and the vessel 11, and detects the molten iron surface region 60 from the first captured image acquired in S100.

[0045] In S300, the control unit 41 functions as a timing detection unit 411 and determines whether or not the drop timing has been detected. If the drop timing has been detected (S300: YES), the control unit 41 sets a determination area 61 in the molten iron surface area 60 (S400). For each block 610 included in the determination area 61, the control unit 41 calculates the average value and standard deviation of the brightness of the pixels inside the block 610, and calculates the brightness distribution in the determination area 61 (S500). The control unit 41 identifies the exposed molten iron block based on the average value and standard deviation of the brightness for each block 610 calculated in S500 (S600).

[0046] If the timing of a fall is not detected in S300 (S300: NO), the process proceeds to S100, where the first captured image and the second captured image of the next frame are acquired.

[0047] When exposed hot metal blocks are identified in S600, the control unit 41 determines whether the number of identified exposed hot metal blocks is equal to or greater than a threshold (S700). If the number of exposed hot metal blocks is equal to or greater than the threshold (S700: YES), the control unit 41 proceeds to processing of S800, and if the number of exposed hot metal blocks is less than the threshold (S700: NO), the control unit 41 proceeds to processing of S1200.

[0048] In S800, the control unit 41 removes outliers from the exposed hot metal blocks. Here, the outliers include, for example, the block 610 corresponding to the position of the scraper 21.

[0049] In the next step S900, the control unit 41 determines whether the brightness of each pixel inside and around the non-outlier block 610 of the exposed hot metal blocks exceeds a predetermined threshold, and identifies a group of pixels whose brightness exceeds the predetermined threshold as a first region. Then, the control unit 41 updates the tracking data stored in the storage unit 42 for the first region identified in S900 (S1000).

[0050] In the following S1100, the control unit 41 functions as the termination determination unit 412 and determines whether or not to terminate the removal operation by the slag removal unit 20. If the termination determination unit 412 determines that the removal operation by the slag removal unit 20 should be terminated (S1100: YES), the control unit 41 terminates the processing of Fig. 6. When terminating the processing of Fig. 6, the control unit 41 may repeat the removal operation a predetermined number of times (fourth threshold value).

[0051] When the termination determination unit 412 determines that the removal operation by the slag remover 20 is not to be terminated (S1100: NO), the control unit 41 proceeds to S100 and acquires the first captured image and the second captured image of the next frame.

[0052] In S1200, the control unit 41 determines whether tracking data is stored in the storage unit 42. If tracking data is stored in the storage unit 42 (S1200: YES), the control unit 41 identifies the first region based on the tracking data (S900). If tracking data is stored in the storage unit 42 (S1200: NO), the control unit 41 proceeds to S100, and acquires the first captured image and the second captured image of the next frame.

[0053] [Embodiment 2] A second embodiment of the present disclosure will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the first embodiment, and the description thereof will not be repeated.

[0054] The slag discharge device 1 according to the second embodiment of the present disclosure is different from the first embodiment in the condition for terminating the removal operation by the slag removal unit 20. In the second embodiment, the termination determination unit 412 determines the area A of the first region each time the first imaging unit 31 generates a first captured image within a predetermined period from the falling timing. det Then, the end determination unit 412 calculates the following score S1 based on the above. th When this is the case, the removal operation by the slag removal unit 20 is terminated. S1=Limit×(A det / A th )×(Freq det / Freq th ) where Limit is the upper limit of the score S1, A th is the area of ​​the first region A det Threshold (second threshold), Freq det is the area of ​​the first region A det is threshold A th (Second threshold) or higher frequency, Freq th is the frequency det is the threshold (third threshold).

[0055] Frequency detis, for example, the area A of the first region within a predetermined period from the falling timing. det is threshold A th The area A of the first region is calculated by dividing the number of frames of the first captured image that are determined to be equal to or greater than the area A of the first region by the total number of frames of the first captured image during that period. det is threshold A th If it exceeds the area of ​​the first area, A det is threshold A th The score S1 may be calculated assuming that the frequency Freq det is the threshold Freq th If it exceeds the frequency Freq det is the threshold Freq th The score S1 may be calculated assuming that the

[0056] [Modification] The conditions under which the termination determination unit 412 terminates the removal operation by the slag removal unit 20 are not limited to those described in the first and second embodiments. For example, in the second embodiment, the termination determination unit 412 may further calculate a score S2 that evaluates the change in brightness of the molten iron surface region 60 or the determination region 61, and use the score S2 in combination to determine whether to terminate the removal operation by the slag removal unit 20. The score S1 does not change until the first region is identified by the first identification unit 410, but the score S2 changes even if the first region is not identified. As the removal operation is repeated and the amount of slag 71 in the vessel 11 decreases, the average brightness of the molten iron surface region 60 and the determination region 61 increases, and the amount of slag removed per removal operation decreases. The score S2 can evaluate the increase or decrease in the amount of slag removed per removal operation by evaluating the increase or decrease in the average brightness of the molten iron surface region 60 and the determination region 61.

[0057] Alternatively, the termination determination unit 412 may estimate the amount of slag removed for each removal operation, and determine to terminate the removal operation by the slag removal unit 20 when the estimated amount exceeds a target amount determined based on the amount of desulfurization agent used in the molten iron in the vessel 11. The amount of slag removed may be determined, for example, by calculating the area A of the first region in successive removal operations. detAlternatively, the estimation may be performed based on the amount of change in the

[0058] Furthermore, the termination determination unit 412 may include in the conditions for determining that the removal operation by the slag removal unit 20 should be terminated that the number of times that the slag removal unit 20 has removed slag from the container 11 is equal to or greater than a predetermined fourth threshold value.

[0059] The various threshold values ​​in the above-described first and second embodiments and their modifications may be changed based on the target amount of slag to be removed from the container 11 or the remaining amount of slag that is allowed to remain in the container 11. For example, the threshold value N m , N A , and N T , and the threshold A in embodiment 2 th , Freq th , and S th may be set based on the remaining amount of slag that is allowed to remain in the vessel 11.

[0060] In the above embodiment, after the timing of the fall is detected, the end determination unit 412 det Whether or not to terminate the removal operation by the slag removal unit 20 is determined based on the timing of the detection of the falling timing. However, the timing at which the termination determination unit 412 determines whether or not to terminate the removal operation by the slag removal unit 20 is not limited to only after the falling timing is detected.

[0061] The control unit 41 may adjust the imaging conditions for the first imaging unit 31 and the second imaging unit 32. For example, the control unit 41 may adjust the gain of the first imaging unit 31 based on the temperature of the molten iron 72 contained in the vessel 11 to prevent the first captured image from being blown out.

[0062] 〔summary〕 The slag removal device in aspect 1 of the present disclosure is a slag removal device that removes slag that forms on the surface of molten iron, and includes a container that stores the molten iron, a slag removal unit that has a scraper and removes the slag from the container by driving the scraper, an imaging unit that generates an image by imaging the surface of the molten iron in the container, and a control unit, wherein the control unit includes a first identification unit that identifies a first area where the molten iron is exposed from the image, and an end determination unit that determines to end the process of removing the slag in the slag removal unit when the area of ​​the first area satisfies a predetermined condition.

[0063] The first region where the molten iron is exposed can be identified with high accuracy from the captured image of the molten iron surface in the vessel by comparing it with the weight of slag in the vessel, etc. Therefore, with the above configuration, the slag removal device can properly end the slag removal operation.

[0064] In the slag removal device of aspect 2 of the present disclosure, in aspect 1, the first identification unit may identify as the first area an area from the captured image where the average brightness value is higher than a predetermined threshold and the standard deviation of brightness is lower than a predetermined threshold.

[0065] According to the above configuration, the slag removal device can accurately identify the first region where the molten iron is exposed from the captured image of the molten iron surface in the vessel.

[0066] In the slag removal device of aspect 3 of the present disclosure, in aspect 1 or 2, the imaging unit generates the captured image by capturing an image of the molten iron surface in the vessel frame by frame at a predetermined frame rate, the first identification unit identifies each of the first regions from the captured image generated frame by frame, and the termination determination unit may include in its conditions that the continuous identification time during which the first region continues to be identified is equal to or greater than a predetermined first threshold value.

[0067] When a large amount of slag remains in the vessel 11, even if the molten iron is exposed by the removal operation, it will be covered with slag that flows in from the surrounding area. The time until the molten iron exposed by the removal operation is covered with slag tends to be shorter as the amount of slag remaining in the vessel 11 increases. With the above configuration, the slag removal device can more accurately determine the end of the slag removal operation.

[0068] In the slag removal device of aspect 4 of the present disclosure, in aspects 1 to 3, the imaging unit generates the captured image by capturing an image of the molten iron surface in the vessel for each frame at a predetermined frame rate, the first identification unit identifies each of the first regions from the captured image generated for each frame, and the termination determination unit may include in its conditions that the frequency at which the area of ​​the first region identified for each frame is determined to be larger than a predetermined second threshold is equal to or greater than a predetermined third threshold.

[0069] According to the above configuration, the slag removal device can more accurately determine the end of the slag removal operation.

[0070] In the slag removal device of aspect 5 of the present disclosure, in aspects 1 to 4, the termination determination unit may be configured to include in the conditions that the number of times the slag removal unit has removed slag from the container is equal to or greater than a predetermined fourth threshold value.

[0071] The area of ​​the molten iron 72 exposed by one removal operation by the slag removal unit 20 is greatly affected by the amount of slag removed by that removal operation. Therefore, if the end of the slag removal operation is determined based solely on the area of ​​the molten iron 72 exposed by one removal operation, there is a risk that the removal operation will end before sufficient slag has been removed. With the above configuration, the slag removal device can prevent the removal operation from ending too early.

[0072] A slag removal method in aspect 6 of the present disclosure is a slag removal method for removing slag generated on the surface of molten iron, and uses a slag removal device including a vessel for accommodating the molten iron, a slag removal unit having a scraper plate and removing the slag from the vessel by driving the scraper plate, an imaging unit for generating an image by imaging the surface of the molten iron in the vessel, and a control unit, and includes a first identification step for using the control unit to identify a first region where the molten iron is exposed from the image, and an end determination step for determining to end the process of removing the slag in the slag removal unit if the area of ​​the first region satisfies a predetermined condition.

[0073] The first region where the molten iron is exposed can be identified with high accuracy from the captured image of the molten iron surface in the vessel by comparing it with the weight of slag in the vessel, etc. Therefore, according to the above configuration, the slag removal method can properly terminate the slag removal operation.

[0074] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present disclosure. [Explanation of symbols]

[0075] 1 Slag removal equipment 11 Container 20 Slag removal section 31 First imaging unit 32 Second imaging unit 41 Control Unit 50, 71 Slag 70 Hot metal surface 72 Molten Iron 410 1st Specific Part 412 End Determination Unit A det Area of ​​the first region N T Threshold (first threshold) A th Threshold (second threshold) Freq th Threshold (third threshold) N A , N B , N m , S th Threshold Freq det frequency T det Continuous specific time

Claims

1. A slag removal device for removing slag formed on the surface of molten iron, a vessel for accommodating the molten iron; a slag removal unit having a scraper plate and removing the slag from the container by driving the scraper plate; an imaging unit that captures an image of the molten iron surface in the vessel to generate a captured image; A control unit; Equipped with The control unit a first identification unit that identifies a first region in which the molten iron is exposed from the captured image; an end determination unit that determines whether to end the process of removing the slag by the slag remover when the area of ​​the first region satisfies a predetermined condition; A slag removal device having:

2. The slag removal device according to claim 1, wherein the first identification unit identifies, from the captured image, an area in which the average brightness value is higher than a predetermined threshold value and the standard deviation of brightness is lower than a predetermined threshold value as the first area.

3. the imaging unit generates the captured image by capturing an image of the molten iron surface in the vessel for each frame at a predetermined frame rate; the first identification unit identifies the first region from the captured image generated for each frame; The slag removal device according to claim 1 or 2, wherein the termination determination unit determines that the condition includes a condition in which the continuous identification time during which the first region continues to be identified is equal to or greater than a predetermined first threshold value.

4. the imaging unit generates the captured image by capturing an image of the molten iron surface in the vessel for each frame at a predetermined frame rate; the first identification unit identifies the first region from the captured image generated for each frame; The slag removal device according to claim 1 or 2, wherein the termination determination unit includes in the conditions that the frequency at which the area of ​​the first region identified for each frame is determined to be greater than a predetermined second threshold is equal to or greater than a predetermined third threshold.

5. The slag removal device according to claim 1 or 2, wherein the termination determination unit includes in the conditions that the number of times the slag removal unit has removed slag from the container is equal to or greater than a predetermined fourth threshold value.

6. A slag removal method for removing slag formed on the surface of molten iron, comprising the steps of: a vessel for accommodating the molten iron; a slag removal unit having a scraper plate and removing the slag from the container by driving the scraper plate; an imaging unit that captures an image of the molten iron surface in the vessel to generate a captured image; A control unit; A slag removal device equipped with Using the control unit, a first identifying step of identifying a first region in which the molten iron is exposed from the captured image; an end determination step of determining whether to end the process of removing the slag in the slag removal unit when the area of ​​the first region satisfies a predetermined condition; A slag removal method comprising:

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