Apparatus and method for controlling dross robot

Abstract

The present invention relates to an apparatus for controlling a dross robot, the apparatus comprising: a camera module for capturing a surface of a zinc bath to obtain a surface image; and a processor for processing the surface image to identify a dross distribution area on the surface of the zinc bath in real time, and controlling a dross robot on the basis of the dross distribution area.

Description

Dross robot control device and method

[0001] The present invention relates to a dross robot control device and method that enables the removal of dross preferentially in areas with a large dross distribution area in real time.

[0002]

[0003] In general, in the cold rolling process that uses a molten zinc bath for the production of zinc-plated products, there is a phenomenon where oxidized zinc lumps (dross) accumulate on the surface of the zinc bath exposed to air, and a system is used in which a robot (i.e., a dross robot) removes the dross from the molten zinc bath by scooping it up with a shovel.

[0004] In addition, due to the continuous process, dross in the zinc bath is constantly generated, and the distribution of dross in the zinc bath changes in real time due to various factors such as the type of product being produced, line speed (or production speed), and temperature.

[0005] However, once the dross robot starts operating regardless of the dross distribution in the zinc bath, it removes dross by simply repeating a predefined action, and the operator determines whether to operate the dross robot by directly visualizing the amount of zinc oxide (dross).

[0006] In addition, while work zones are predefined to allow the dross robot to perform dross removal in specific sections of the zinc bath (e.g., top, middle, bottom), continuous real-time observation and manual operation by a worker are required to operate the robot while changing work zones in real-time based on the dross distribution status.

[0007] Accordingly, if there is no observation of the dross distribution area by the user and no manual operation of the robot, the dross robot cannot know the dross distribution state of the zinc bath. Therefore, if the operator does not stop the operation of the dross robot, there is a problem in that it continues to perform work even when there is little dross, thereby removing normal zinc instead of dross.

[0008] In addition, if the user does not change the robot's work area, and the dross removal operation in an area with a large distribution of dross is delayed, the dross may solidify into large lumps and grow to a level where it cannot be removed by the robot, and in such cases, there is a problem in that the operator must manually melt the dross.

[0009] Therefore, there is a need for technology that allows the dross robot to identify the dross distribution status of the zinc bath in real time, automatically operate the robot only when dross removal is required, and prioritize the removal of dross in areas (regions) where the dross distribution area is large.

[0010] The background technology of the present invention is disclosed in Korean Published Patent No. 10-2024-0080743 (published June 7, 2024).

[0011]

[0012] According to one aspect of the present invention, the present invention provides a dross robot control device and method that identifies the dross distribution area through camera images capturing a zinc bath, automatically selects the operation and stop of a robot based on the dross distribution area, and enables the removal of dross in real time in a region with a large dross distribution area.

[0013]

[0014] A dross robot control device according to one aspect of the present invention is characterized by comprising: a camera module that captures the surface of a zinc bath to acquire a surface image; and a processor that processes the surface image to determine the dross distribution area on the surface of the zinc bath in real time and controls a dross robot based on the dross distribution area.

[0015] In the present invention, the processor is characterized by controlling the dross robot to a standby state if the ratio of the dross distribution area to the surface area of ​​the zinc bath is less than or equal to a specified minimum value.

[0016] In the present invention, the processor is characterized by activating the dross robot to initiate a dross removal operation when the ratio of the dross distribution area to the surface area of ​​the zinc bath exceeds a specified maximum value.

[0017] In the present invention, the processor is characterized by enabling the dross removal operation to be performed at a higher speed than the reference speed when the dross robot is in operation.

[0018] In the present invention, the processor is characterized by performing a dross removal operation from a predetermined area when the dross robot is operated.

[0019] In the present invention, the processor divides the zinc bath surface into a plurality of zones, calculates the dross distribution area for each zone by comparing the dross distribution ratio for each zone, and then performs a dross removal operation through the dross robot in order of the zones with the largest dross distribution areas.

[0020] In the present invention, the processor is characterized by performing a dross removal operation in the order of the zones with the largest dross distribution areas when the dross distribution area is greater than the minimum value and less than or equal to the maximum value and is not in a standby state.

[0021] In the present invention, the dross robot is characterized by being implemented such that a plurality of dross robots are installed in each zone on the surface of the zinc bath divided into a plurality of zones, or that a movable dross robot moves through the plurality of zones to remove dross.

[0022] In the present invention, the processor is characterized by receiving the surface image and performing perspective processing to convert it into a rectangular shape with four sides forming 90 degrees.

[0023] In the present invention, the processor is characterized by applying histogram flattening to the transformed surface image, then applying an Adaptive Threshold algorithm to detect a texture unique to the dross surface, applying a Gaussian blur for noise removal, and then separating the dross detection area and the dross non-detection area through binarization processing to obtain the dross distribution area.

[0024] In the present invention, the processor is characterized by maintaining the dross robot in a standby state when the dross distribution area relative to the surface area of ​​the zinc bath does not exceed a predetermined maximum value.

[0025] In the present invention, the processor divides the zinc bath surface into a plurality of zones, calculates the dross distribution area for each zone by comparing the dross distribution ratio for each zone, and then, when a dross removal operation is performed using the dross robot, if the difference in the dross distribution area for each zone does not exceed a predetermined standard, performs the dross removal operation for the predetermined zone through the dross robot.

[0026] In the present invention, the processor is characterized by performing a dross removal operation in the area with a wider dross distribution area through the dross robot when the difference in the dross distribution area by zone exceeds a predetermined standard.

[0027]

[0028] A dross robot control method according to another aspect of the present invention comprises: a step of acquiring a surface image of a zinc bath through a camera module; a step of a processor receiving the surface image from the camera module; a step of the processor processing the surface image to determine the dross distribution area on the surface of the zinc bath in real time; and a step of the processor controlling a dross robot based on the dross distribution area.

[0029] In the present invention, in the step of controlling the dross robot, the processor controls the dross robot to a standby state if the ratio of the dross distribution area to the surface area of ​​the zinc bath is less than or equal to a specified minimum value.

[0030] In the present invention, in the step of controlling the dross robot, the processor is characterized by activating the dross robot to initiate a dross removal operation when the ratio of the dross distribution area to the surface area of ​​the zinc bath exceeds a specified maximum value.

[0031] In the present invention, when the dross robot is operated, the processor is characterized by performing a dross removal operation at a higher speed than the reference speed.

[0032] In the present invention, in the step of controlling the dross robot, the processor divides the zinc bath into a plurality of zones, calculates the dross distribution area for each zone by comparing the dross distribution ratio for each zone, and then performs the dross removal operation in order of the zones with the largest dross distribution areas.

[0033] In the present invention, the processor is characterized by performing a dross removal operation in the order of the zones with the largest dross distribution areas when the dross distribution area is greater than the minimum value and less than or equal to the maximum value and is not in a standby state.

[0034] In the present invention, in the step of controlling the dross robot, the processor is characterized by maintaining the dross robot in a standby state when the dross robot is in a standby state while the dross distribution area relative to the surface area of ​​the zinc bath does not exceed a predetermined maximum value.

[0035] In the present invention, in the step of controlling the dross robot, the processor divides the zinc bath surface into a plurality of zones, calculates the dross distribution area for each zone by comparing the dross distribution ratio for each zone, and then, when a dross removal operation is performed using the dross robot, if the difference in the dross distribution area for each zone does not exceed a predetermined standard, the processor performs the dross removal operation for the predetermined zone through the dross robot.

[0036] In the present invention, when the difference in the dross distribution area by zone exceeds a predetermined dross distribution area difference standard, the processor is characterized by having the dross removal operation performed in the zone with the wider dross distribution area by zone through the dross robot.

[0037]

[0038] According to one aspect of the present invention, the present invention identifies the dross distribution area through camera images capturing a zinc bath, automatically selects the operation and stop of a robot based on the dross distribution area, and enables the removal of dross in real time, prioritizing it in areas with a large dross distribution area.

[0039] The present invention prevents normal zinc, rather than dross, from being removed by stopping the operation of the dross robot when there is little dross.

[0040] The present invention allows for the prevention of dross from solidifying into large lumps by preferentially removing dross in areas with a high distribution of dross.

[0041]

[0042] FIG. 1 is an exemplary diagram showing the schematic configuration of a dross robot control device according to one embodiment of the present invention.

[0043] FIG. 2 is an example diagram illustrating a method for a processor to process a surface image of a zinc bath and determine the dross distribution area by region in FIG. 1.

[0044] FIG. 3 is an example diagram for schematically explaining a method for automatically performing operation of a dross robot and dross removal work by zone based on the dross distribution area by zone determined by the processor in FIG. 2.

[0045] FIG. 4 is a flowchart illustrating a dross robot control method according to an embodiment of the present invention.

[0046]

[0047] Hereinafter, an embodiment of the dross robot control device and method according to the present invention will be described with reference to the attached drawings.

[0048] In this process, the thickness of lines or the size of components depicted in the drawings may be exaggerated for the sake of clarity and convenience of explanation. Furthermore, the terms described below are defined considering their functions in the present invention, and these may vary depending on the intent or convention of the user or operator. Therefore, the definitions of these terms should be based on the content throughout this specification.

[0049] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0050] Throughout the specification, when a part is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0051] Terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0052] Accordingly, the embodiments described in this specification and the configurations illustrated in the drawings are merely some of the most preferred embodiments of the invention and do not represent all of the technical spirit of the invention; therefore, it should be understood that various equivalents and modifications capable of replacing them may exist at the time of filing this application. Furthermore, as used herein, "comprise" or "include" and / or "comprising" or "including" specify the presence of the mentioned features, numbers, steps, actions, parts, elements, and / or groups thereof, and do not exclude the presence or addition of one or more other features, numbers, actions, parts, elements, and / or groups. Additionally, when describing embodiments of the invention, "may" or "may be" may include "one or more embodiments of the invention."

[0053] Additionally, to aid in understanding the invention, the attached drawings are not drawn to actual scale, and the dimensions of some components may be exaggerated. Furthermore, the same reference numerals may be assigned to identical components in different embodiments.

[0054] The statement that two subjects of comparison are 'identical' means that they are 'substantially identical.' Therefore, substantial identity may include deviations considered low in the industry, for example, deviations within 5%. Additionally, the statement that a parameter is uniform in a given area may mean that it is uniform from an average perspective.

[0055] Although terms such as "first," "second," etc., are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are used merely to distinguish one component from another, and unless specifically stated otherwise, the first component may also be the second component.

[0056] Throughout the specification, unless specifically stated otherwise, each component may be singular or plural.

[0057] The fact that any configuration is placed on the “upper (or lower)” of a component or on the “upper (or lower)” of a component may mean not only that the any configuration is placed in contact with the upper (or lower) surface of said component, but also that another configuration may be interposed between said component and any configuration placed on (or below) said component.

[0058] Furthermore, where it is stated that one component is “connected,” “coupled,” or “joined” to another component, it should be understood that while said components may be directly connected or joined to one another, another component may be “interposed” between each component, or that each component may be “connected,” “coupled,” or “joined” through another component. Additionally, when it is stated that a part is electrically coupled to another part, this includes not only cases where they are directly connected but also cases where they are connected with an intermediate element in between.

[0059] Throughout the specification, “A and / or B” means A, B, or A and B unless specifically stated otherwise. That is, “and / or” includes any combination or any combination of the enumerated items. “C to D” means C or more and D or less, unless specifically stated otherwise.

[0060]

[0061] FIG. 1 is an exemplary diagram showing the schematic configuration of a dross robot control device according to one embodiment of the present invention.

[0062] As illustrated in FIG. 1, the dross robot control device according to the present embodiment includes a camera module (110), a processor (120), a dross robot (130), and a storage module (140).

[0063] The camera module (110) photographs the surface of the zinc bath (10).

[0064] The processor (120) processes the surface image of the zinc bath (10) captured through the camera module (110) to determine the dross distribution area of ​​the zinc bath in real time.

[0065] The processor (120) automatically controls the operation (operation) and stop of the robot based on the dross distribution area of ​​each zone of the zinc bath (10).

[0066] The processor (120) controls the dross robot (130) based on the dross distribution area of ​​the zinc bath (10) to remove dross preferentially in the area where the dross distribution area is large.

[0067] The surface of the zinc bath (10) is virtually divided into multiple zones (e.g., top (1st zone), middle (2nd zone), bottom (3rd zone)), and the storage module (140) can store coordinate information for each zone.

[0068] The storage module (140) can store an algorithm for controlling the dross robot (130). The storage module (140) can store an algorithm for determining the dross distribution area (or region) by processing the surface image of the zinc bath (10) captured through the camera module (110).

[0069] The dross robot (130) removes dross by zone (e.g., top (1st zone), middle (2nd zone), bottom (3rd zone)) according to the control of the processor (120). At this time, the size and number of zones of the zinc bath (10) may be changed.

[0070] In order to remove dross in each zone, multiple dross robots (130) may be installed in each zone, or a movable dross robot (130) may move between zones to remove dross.

[0071] FIG. 2 is an example diagram illustrating a method for a processor to process a surface image of a zinc bath and determine the dross distribution area by region in FIG. 1.

[0072] Referring to FIG. 2(a), the processor (120) receives a surface image of the zinc bath (10) (i.e., the original camera image) captured through the camera module (110).

[0073] Referring to FIG. 2(b), the processor (120) performs perspective processing on the surface image of the zinc bath (10) to convert it into a rectangular shape with four sides forming 90 degrees. That is, since the camera module (110) captures the surface image of the zinc bath (10) at an angle tilted from the upper side, it is captured in a trapezoidal shape, so it is converted into a rectangular (or square) shape with four sides forming 90 degrees. This conversion into a rectangular shape is intended to accurately determine the dross distribution area by zone of the zinc bath (10).

[0074] Referring to Fig. 2(c), the processor (120) applies histogram flattening to the surface image of the zinc bath (10) converted into a rectangular shape. That is, in order to minimize the influence of shadows and lighting, histogram flattening is applied to the surface image of the zinc bath (10) converted into a rectangular shape.

[0075] Referring to FIG. 2 (d), the processor (120) applies an Adaptive Threshold algorithm to the surface image of the zinc bath (10) to which histogram flattening has been applied. When acquiring an image in a normal environment, the brightness of the image may vary depending on the position of the light source, such as lighting. Accordingly, the Adaptive Threshold algorithm is a method of comparing each pixel of the image with the average value of neighboring pixels and considering images that exceed a threshold value as outliers or normal values. When applying this algorithm, different Threshold values ​​are applied to different regions of the image with different brightness levels, thereby allowing the object and background within the target image to be distinguished. That is, by applying the Adaptive Threshold algorithm to the surface image of the zinc bath (10), the surface of the zinc bath (10), which is the background, and the dross, which is the object, can be distinguished, and through this, the texture unique to the accumulated dross surface is detected.

[0076] Referring to FIG. 2(e), the processor (120) applies a Gaussian blur for noise removal to the surface image of the zinc bath (10) to which an adaptive threshold algorithm has been applied to detect the unique texture of the dross surface.

[0077] Referring to (f) of FIG. 2, the processor (120) separates the dross detection area and the dross non-detection area by binarizing the surface image of the zinc bath (10) with noise removed by applying a Gaussian blur (black: dross present, white: dross absent).

[0078] In this way, through processing steps such as (a) to (f) of FIG. 2, the processor (120) can distinguish between areas (zones) with dross and areas (zones) without dross in the surface image of the zinc bath (10), and determine the dross distribution area for each zone.

[0079] FIG. 3 is an example diagram for schematically explaining a method for automatically performing operation of a dross robot and dross removal work by zone based on the dross distribution area by zone determined by the processor in FIG. 2.

[0080] Referring to FIG. 3, the processor (120) determines the dross distribution area from the surface image of the zinc bath (10) in which the dross detection area and the dross non-detection area are separated through binarization processing.

[0081] The processor (120) determines whether the dross distribution area relative to the total area of ​​the zinc bath (10) exceeds a predetermined minimum value (e.g., 35%), is less than or equal to a maximum value (e.g., 90%), and exceeds a maximum value (e.g., 90%) (S101).

[0082] In order to prevent normal zinc, not dross, from being removed, the processor (120) activates a standby dross robot (130) when the dross distribution area relative to the total surface area of ​​the zinc bath (10) exceeds a maximum value (e.g., 90%) (S102).

[0083] At this time, the dross robot (130) that is operated performs the dross removal operation at a high speed (e.g., 1.2 times the standard speed) compared to the standard speed (e.g., 1 times the standard speed) (S102).

[0084] For reference, if the dross distribution area relative to the total surface area of ​​the zinc bath (10) exceeds the maximum value (e.g., 90%), the dross may be generated and solidified faster than the dross removal speed, so the dross removal operation is performed at a high speed (e.g., 1.2 times the standard speed) compared to the standard speed (e.g., 1 time the speed).

[0085] In this way, when the dross robot (130) starts operation from a standby state, it performs dross removal work from a pre-designated second zone (e.g., suspension) (S102).

[0086] For example, if a dros removal operation is performed starting from the second zone (e.g., middle), the dros in the first zone (e.g., top) and the third zone (e.g., bottom) may also be affected (i.e., moving along with the dros in the second zone) and removed.

[0087] However, when starting the dross removal operation, it is not mandatory to perform the operation starting from Zone 2; depending on the shape of the zinc bath and the surrounding conditions during the operation, the dross removal operation may be performed starting from Zone 1 or Zone 3.

[0088] The processor (120) keeps the dross robot (130) in a standby state if the dross distribution area relative to the total area of ​​the zinc bath (10) is less than or equal to a predetermined minimum value (e.g., 35%), or if it becomes less than or equal to a specified minimum value (e.g., 35%) due to the dross removal operation of the dross robot (130), or if the dross distribution area relative to the total area is less than or equal to a specified minimum value (e.g., 35%) and the previous state is a standby state (S103).

[0089] The processor (120) calculates the difference between the dross distribution area of ​​the first zone (e.g., top) and the third zone (e.g., bottom) when the dross distribution area relative to the total area of ​​the zinc bath (10) exceeds a predetermined minimum value (e.g., 35%) and is less than or equal to a maximum value (e.g., 90%), and also when the previous state is not a standby state (i.e., when a dross removal operation is being performed), that is, when a dross removal operation has already started, and the dross distribution area according to this dross removal operation is a value between the predetermined minimum value (e.g., 35%) and the maximum value (e.g., 90%) (S104).

[0090] If the difference in the dross distribution area between the first zone (e.g., top) and the third zone (e.g., bottom) does not exceed a predetermined dross distribution area difference standard (e.g., 5%) (i.e., 5% or less), the processor (120) controls the dross robot (130) to perform a dross removal operation in the second zone (e.g., middle) (S105).

[0091] If the difference in the dross distribution area between the first zone (e.g., top) and the third zone (e.g., bottom) exceeds a predetermined dross distribution area difference standard (e.g., 5%), the processor (120) compares the dross distribution area between the first zone (e.g., top) and the third zone (e.g., bottom) (S106).

[0092] When comparing the dross distribution area of ​​the first zone (e.g., top) and the third zone (e.g., bottom), if the dross distribution area of ​​the third zone (e.g., bottom) is greater than the dross distribution area of ​​the first zone (e.g., top), the processor (120) controls the dross robot (130) to perform a dross removal operation in the third zone (e.g., bottom) (S107).

[0093] When comparing the dross distribution area of ​​the first zone (e.g., top) and the third zone (e.g., bottom), if the dross distribution area of ​​the first zone (e.g., top) is larger than the dross distribution area of ​​the third zone (e.g., bottom), the processor (120) controls the dross robot (130) to perform the dross removal operation in the first zone (e.g., top) (S108).

[0094] While performing dros removal work in the area with a larger dros distribution area through steps S107 and S108, if the dros distribution area of ​​the first area (e.g., top) and the third area (e.g., bottom) become close (e.g., within 5%), the processor (120) controls the dros robot (130) to perform dros removal work in the second area (e.g., middle) again.

[0095] In this way, when the dross distribution area relative to the total surface area of ​​the zinc bath (10) becomes less than or equal to a predetermined minimum value (e.g., 35%) through the dross removal operation in the first, second, and third zones, the processor (120) switches the dross robot (130) back to a standby state (S103).

[0096] In this way, the present embodiment allows for the dross to be removed preferentially in areas with a high dross distribution, thereby preventing the dross from solidifying into large lumps.

[0097] At this time, the minimum value (e.g., 35%), maximum value (e.g., 90%), dross distribution area difference standard (e.g., 5%), and dross removal operation speed (e.g., 1x speed, 1.2x speed) are set illustratively for the purpose of explaining according to the present embodiment and are not intended to be limiting.

[0098] The processor (120) periodically (e.g., at 1-second intervals) determines the dross distribution area relative to the total surface area of ​​the zinc bath (10) and automatically performs the operation of the dross robot (130) and the dross removal work by zone.

[0099] Accordingly, this embodiment has the effect of preventing normal zinc from being removed and allowing only accumulated dross to be removed by keeping the dross robot (130) in a standby state when the dross is low and then operating the dross robot (130) when the dross exceeds a maximum value (e.g., 90%). Additionally, the dross removal operation is not concentrated in any one area, and the present invention has the effect of preventing the dross from solidifying into large lumps by preferentially removing dross in areas with a high dross distribution.

[0100] FIG. 4 is a flowchart illustrating a dross robot control method according to an embodiment of the present invention.

[0101] Referring to FIG. 4, the processor (120) processes a surface image of the zinc bath (10) to detect a dross region (S201).

[0102] At this time, the surface image processing method of the zinc bath (10) for detecting the dross region is as described with reference to FIG. 2. However, the image processing method described with reference to FIG. 2 is not intended to be limited.

[0103] The processor (120) checks whether the dross distribution area relative to the total area of ​​the zinc bath (10) is less than or equal to a predetermined minimum value (e.g., 35%) (S202).

[0104] When the dross distribution area relative to the total area of ​​the zinc bath (10) is less than or equal to a predetermined minimum value (e.g., 35%) (less than or equal to the minimum value of S202), the processor (120) controls the dross robot (130) to standby (S203).

[0105] If the dross distribution area relative to the total area of ​​the zinc bath (10) exceeds a predetermined minimum value (e.g., 35%) (exceeding the minimum value of S202), check whether the dross distribution area relative to the total area of ​​the zinc bath (10) exceeds a predetermined maximum value (e.g., 90%) (S204).

[0106] If the dross distribution area relative to the total area of ​​the zinc bath (10) exceeds a predetermined maximum value (e.g., 90%) (exceeding the maximum value of S204), the processor (120) activates the dross robot (130) in standby state (S205).

[0107] At this time, the dross robot (130) that operates performs the dross removal operation at a high speed (e.g., 1.2 times the standard speed) compared to the standard speed (e.g., 1 time the standard speed) (e.g., 1 time the standard speed) (e.g., 1.2 times the standard speed) because if the dross distribution area relative to the total area of ​​the zinc bath (10) exceeds the maximum value (e.g., 90%), dross may be generated and solidified faster than the dross removal speed.

[0108] In addition, the processor (120) causes the dross removal operation to be performed starting from a pre-designated second zone (e.g., middle) when the dross robot (130) starts operation from a standby state. This is because if the dross removal operation is performed starting from the second zone (e.g., middle), the dross in the first zone (e.g., top) and the third zone (e.g., bottom) may also be affected (i.e., moving along with the dross in the second zone) and removed. However, when starting the dross removal operation, it is not necessary to perform the dross removal operation starting from the second zone, and depending on the shape of the zinc bath and the surrounding conditions during the operation, the dross removal operation may be performed starting from the first zone or the third zone.

[0109] Meanwhile, if the dross distribution area relative to the total area of ​​the zinc bath (10) does not exceed a predetermined maximum value (e.g., 90%) (less than or equal to the maximum value of S204), the processor (120) checks whether the previous state of the dross robot (130) is a standby state (S206).

[0110] Accordingly, when the dross distribution area relative to the total area of ​​the zinc bath (10) does not exceed a predetermined maximum value (e.g., 90%) (less than or equal to the maximum value of S204) and the previous state is a standby state (the previous state of S206 is a standby state), the processor (120) continues to keep the dross robot (130) in a standby state.

[0111] On the other hand, if the dross distribution area relative to the total area of ​​the zinc bath (10) does not exceed a predetermined maximum value (e.g., 90%) (less than or equal to the maximum value of S204) and the previous state is not a waiting state (the previous state of S206 is not a waiting state), the processor (120) determines that the dross removal operation is being performed using the dross robot (130) and checks whether the difference in the dross distribution area between the first zone (e.g., top) and the third zone (e.g., bottom) exceeds a predetermined dross distribution area difference standard (e.g., 5%) (S207).

[0112] If the difference in the dross distribution area between the first zone (e.g., top) and the third zone (e.g., bottom) does not exceed a predetermined dross distribution area difference standard (e.g., 5%) (5% or less of S207), the processor (120) controls the dross robot (130) to perform a dross removal operation in the second zone (e.g., middle) (S208).

[0113] And if the difference in the dross distribution area between the first zone (e.g., top) and the third zone (e.g., bottom) exceeds a predetermined dross distribution area difference standard (e.g., 5%) (exceeding 5% of S207), the processor (120) compares the dross distribution area between the first zone (e.g., top) and the third zone (e.g., bottom) (S209).

[0114] When comparing the dross distribution area of ​​the first zone (e.g., top) and the third zone (e.g., bottom) (S209), if the dross distribution area of ​​the third zone (e.g., bottom) is greater than or equal to the dross distribution area of ​​the first zone (e.g., top), the processor (120) controls the dross robot (130) to perform a dross removal operation in the third zone (e.g., bottom) (S210).

[0115] Meanwhile, when comparing the dross distribution area of ​​the first zone (e.g., top) and the third zone (e.g., bottom) (S209), if the dross distribution area of ​​the first zone (e.g., top) is larger than the dross distribution area of ​​the third zone (e.g., bottom), the processor (120) controls the dross robot (130) to perform the dross removal operation in the first zone (e.g., top) (S211).

[0116] While performing dros removal work in a zone with a larger dros distribution area through steps S210 to S211, if the dros distribution area of ​​the first zone (e.g., top) and the third zone (e.g., bottom) become close (e.g., within 5%), the processor (120) controls the dros robot (130) to perform dros removal work in the second zone (e.g., middle) again.

[0117] In this way, through the dross removal operation in the first, second, and third zones, when the dross distribution area relative to the total surface area of ​​the zinc bath (10) becomes less than or equal to a predetermined minimum value (e.g., 35%) (less than or equal to the minimum value of S202), the processor (120) switches the dross robot (130) back to a standby state (S203).

[0118] Here, the minimum value (e.g., 35%), maximum value (e.g., 90%), dross distribution area difference standard (e.g., 5%), and dross removal operation speed (e.g., 1x speed, 1.2x speed) are set illustratively for the purpose of explaining the present embodiment and are not intended to be limiting.

[0119] The processor (120) periodically (e.g., at 1-second intervals) determines the dross distribution area relative to the total area of ​​the zinc bath (10) and automatically performs the operation of the dross robot (130) and the dross removal work by zone.

[0120] As previously described, the existing dross robot (130) had a problem in that when it started operating regardless of the dross distribution of the zinc bath (10), it simply repeated a predefined action to remove not only the dross but also normal zinc that had not yet been drosed.

[0121] However, this embodiment has the effect of preventing unnecessary dross robot (130) operations and improving the efficiency and fatigue of the worker by detecting the area where dross is distributed in real time, driving or waiting the dross robot according to the dross distribution area, and also performing dross removal work in the area (region) where there is a lot of dross distribution according to the dross distribution area.

[0122] In addition, this embodiment has the effect of identifying the dross distribution area through camera images capturing the zinc bath, automatically selecting the operation and stop of the robot based on the dross distribution area, and removing the dross preferentially in areas with a large dross distribution area in real time, thereby preventing normal zinc instead of dross from being removed and preventing the dross from solidifying into large lumps in advance.

[0123] Although the present invention has been described above with reference to the embodiments illustrated in the drawings, this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the technical scope of protection of the present invention should be determined by the claims below. Furthermore, the implementations described herein may be implemented, for example, as methods or processes, devices, software programs, data streams, or signals. Even if discussed only in the context of a single form of implementation (e.g., discussed only as a method), the implementation of the discussed features may also be implemented in other forms (e.g., devices or programs). Devices may be implemented in appropriate hardware, software, and firmware, etc. Methods may be implemented in devices such as processors, which generally refer to processing devices including, for example, computers, microprocessors, integrated circuits, or programmable logic devices. Processors also include communication devices such as computers, cell phones, portable / personal digital assistants ("PDAs"), and other devices that facilitate the communication of information between end-users.

Claims

1. A camera module that captures the surface of a zinc bath to acquire a surface image; and A dross robot control device characterized by including a processor that processes the surface image to determine the dross distribution area on the zinc bath surface in real time and controls the dross robot based on the dross distribution area.

2. In Paragraph 1, The above processor is, A dross robot control device characterized by controlling the dross robot to a standby state when the ratio of the dross distribution area to the surface area of ​​the zinc bath is less than or equal to a specified minimum value.

3. In Paragraph 1, The above processor is, A dross robot control device characterized by activating the dross robot to initiate a dross removal operation when the ratio of the dross distribution area to the surface area of ​​the zinc bath exceeds a specified maximum value.

4. In Paragraph 3, The above processor is, When operating the above dross robot, make it perform dross removal work at a higher speed than the standard speed, or A dross robot control device characterized by enabling the dross removal operation to be performed from a pre-designated area when the above-mentioned dross robot is operated.

5. In Paragraph 1, The above processor is, The surface of the zinc bath is divided into multiple zones, and A dross robot control device characterized by calculating the dross distribution area for each zone by comparing the dross distribution ratio for each zone, and then performing dross removal operations through the dross robot in order of the zones with the largest dross distribution areas.

6. In Paragraph 5, The above processor is, A dross robot control device characterized by performing dross removal operations in order of the zones with the largest dross distribution areas for each zone when the dross distribution area is greater than the minimum value and less than or equal to the maximum value and is not in a standby state.

7. In Paragraph 1, The above-mentioned Dross robot is, A dross robot control device characterized by being implemented such that a plurality of dross robots are each installed in each zone on the surface of the zinc bath divided into a plurality of zones, or that a movable dross robot moves through the plurality of zones to remove dross.

8. In Paragraph 1, The above processor is, When the above surface image is received as input, it is transformed into a rectangular shape with four sides forming 90 degrees through perspective processing, and The above processor is, A dross robot control device characterized by applying histogram flattening to the transformed surface image, then applying an Adaptive Threshold algorithm to detect the texture unique to the dross surface, applying a Gaussian blur for noise removal, and then separating the dross detection area and the dross non-detection area through binarization processing to obtain the dross distribution area.

9. In Paragraph 1, The above processor is, A dross robot control device characterized by maintaining the dross robot in a standby state when the dross distribution area relative to the surface area of ​​the zinc bath does not exceed a predetermined maximum value.

10. In Paragraph 1, The above processor is, The surface of the zinc bath is divided into multiple zones, and After calculating the dross distribution area for each zone by comparing the dross distribution ratio for each zone, When the dros removal operation is performed using the above-mentioned dros robot, A dross robot control device characterized by performing a dross removal operation in a predetermined zone through the dross robot when the difference in the dross distribution area by zone does not exceed a predetermined standard.

11. In Paragraph 10, The above processor is, If the difference in the dross distribution area by the above zones exceeds a predetermined standard, A dross robot control device characterized by enabling the dross removal operation to be performed in the zone where the dross distribution area is wider through the above-mentioned dross robot.

12. A step of acquiring a surface image of the zinc bath through a camera module; A step in which a processor receives the surface image from the camera module; The step of the processor processing the surface image to determine the dross distribution area on the zinc bath surface in real time; and A step in which the processor controls a dross robot based on the dross distribution area; A dross robot control method characterized by including 13. In Paragraph 12, In the step of controlling the above-mentioned Dross robot, The above processor is, A dross robot control method characterized by controlling the dross robot to a standby state when the ratio of the dross distribution area to the surface area of ​​the zinc bath is less than or equal to a specified minimum value.

14. In Paragraph 12, In the step of controlling the above-mentioned Dross robot, The above processor is, A dross robot control method characterized by activating the dross robot to start a dross removal operation when the ratio of the dross distribution area to the surface area of ​​the zinc bath exceeds a specified maximum value.

15. In Paragraph 14, When the above Dross robot is activated, The above processor is, A dross robot control method characterized by enabling dross removal operations to be performed at a higher speed than the standard speed.

16. In Paragraph 12, In the step of controlling the above-mentioned Dross robot, The above processor is, The above zinc bath is divided into multiple zones, and A dross robot control method characterized by calculating the dross distribution area for each zone by comparing the dross distribution ratio for each zone, and then performing dross removal operations in order of the zones with the largest dross distribution areas.

17. In Paragraph 16, The above processor is, A dross robot control method characterized by performing dross removal operations in order of the zones with the largest dross distribution areas when the dross distribution area is greater than the minimum value and less than or equal to the maximum value and is not in a standby state.

18. In Paragraph 12, In the step of controlling the above-mentioned Dross robot, The above processor is, When the dross distribution area relative to the surface area of ​​the zinc bath does not exceed a predetermined maximum value and the dross robot is in a standby state, A dros robot control method characterized by continuously maintaining the above-mentioned dros robot in a standby state.

19. In Paragraph 12, In the step of controlling the above-mentioned Dross robot, The above processor is, The surface of the zinc bath is divided into multiple zones, and After calculating the dross distribution area for each zone by comparing the dross distribution ratio for each zone, When the dros removal operation is performed using the above-mentioned dros robot, If the difference in the dross distribution area by the above zones does not exceed a predetermined standard, A dross robot control method characterized by performing a dross removal operation in a pre-designated area through the above-mentioned dross robot.

20. In Paragraph 19, If the difference in dross distribution area by the above zones exceeds the pre-specified dross distribution area difference standard, The above processor is, A dross robot control method characterized by performing dross removal work in a zone with a wider dross distribution area through the above-mentioned dross robot.

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