CN114088157B - Molten steel liquid level detection method, equipment and medium - Google Patents
Molten steel liquid level detection method, equipment and medium Download PDFInfo
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 306
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- 239000002893 slag Substances 0.000 claims abstract description 306
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- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 claims description 14
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/0007—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm for discrete indicating and measuring
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30136—Metal
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Abstract
The invention provides a molten steel liquid level detection method, a system, equipment and a medium, wherein the method is characterized in that a to-be-detected image comprising steel slag and slag gaps is obtained, a classified steel slag area and a slag gap area are detected, a position with preset height right above a steel slag position is determined in the steel slag area as a first position, a plurality of first inscribed circles are detected in the slag gap area, if the diameter of each first inscribed circle is larger than a first preset threshold value, the diameter of each first inscribed circle is used as a to-be-selected diameter, a position with preset height right above a first center position of each first inscribed circle with the to-be-selected diameter is selected as a second position, and a distance detection device is controlled to be respectively moved to the first position and/or the second position so as to determine molten steel liquid level parameters, so that molten steel liquid level detection is realized.
Description
Technical Field
The invention relates to the technical field of metallurgy intellectualization, in particular to a molten steel liquid level detection method, a molten steel liquid level detection system, molten steel liquid level detection equipment and a molten steel liquid level detection medium.
Background
In order to reduce heat loss of molten steel, steel slag with a certain thickness is often covered on the liquid surface of the molten steel, but the steel slag floating on the liquid surface of the molten steel can be blown open due to the influence of a smelting process, such as a bottom argon blowing process, so that a plurality of slag gaps are formed, and the molten steel in the slag gap areas is directly exposed in the air.
The accurate measurement of the height of molten steel in a container and the thickness of steel slag is very important for the steel making operation process flow, the height of molten steel in the container and the thickness of steel slag in each furnace are different, the distribution of steel slag in the liquid level of molten steel is random, or the steel slag distance and the liquid level distance are measured manually in the related measurement technology respectively to obtain the height of molten steel and the thickness of steel slag, but the requirement on the operation proficiency of workers is high, the risk exists, and the execution efficiency is low. There is a need for an intelligent automated molten steel level detection scheme.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a method, a system, a device and a medium for detecting molten steel level, so as to solve the above-mentioned technical problems.
The invention provides a molten steel liquid level detection method, which comprises the following steps:
acquiring an image to be detected comprising steel slag and slag gaps, and detecting and classifying a steel slag area and a slag gap area in the image to be detected;
controlling the distance detecting device to move to the first position and/or the second position respectively so as to determine the molten steel liquid level parameter and realize molten steel liquid level detection, wherein,
The molten steel liquid level parameter comprises at least one of a steel slag distance and a liquid level distance;
the liquid level distance is the distance between the distance detection device and molten steel in the slag gap, and the steel slag distance is the distance between the distance detection device and the steel slag;
The first position determining mode includes that steel slag positions of the steel slag areas are obtained, and a position right above one steel slag position by a preset height is used as a first position;
The determining mode of the second position comprises the steps of detecting a plurality of first inscribed circles in the slag seam area, obtaining the first inscribed circle diameter of each first inscribed circle, taking the first inscribed circle diameter as a to-be-selected diameter if the first inscribed circle diameter is larger than a first preset threshold value, and taking a position, which is located right above the first circle center position of the first inscribed circle and is a preset height, of one to-be-selected diameter as the second position.
Optionally, the method further comprises any one of the following:
If the diameters of the first inscribed circles are smaller than the first preset threshold value, acquiring the steel slag distance and the largest first inscribed circle diameter in the diameters of the first inscribed circles, determining a first transfer distance and a first movable distance of the distance detection device according to the steel slag distance, the first preset threshold value and the largest first inscribed circle diameter, acquiring a preset safety distance, and if the first transfer distance is larger than or equal to the preset safety distance, taking a position which is right above a first center position of the first inscribed circle where the largest first inscribed circle diameter is located by a preset height as the second position, controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag as a target distance, so as to determine the liquid level distance, wherein the target distance is not smaller than the preset safety distance and not larger than the first transfer distance;
And if the diameter of the first inscribed circle is smaller than the first preset threshold value, acquiring a preset emission angle, determining the minimum measurable slag gap distance according to the preset emission angle and the preset safety distance, if the diameter of the first inscribed circle is larger than or equal to the minimum measurable slag gap distance, taking the diameter of the first inscribed circle as a diameter to be selected, acquiring the steel slag distance and the diameter to be selected, determining the second transfer distance and the second movable distance of the distance detection device according to the steel slag distance, the first preset distance and the diameter to be selected, acquiring the preset safety distance, and if the second transfer distance is larger than or equal to the preset safety distance, taking the position of the preset height right above the first circle center position of the diameter to be selected as the second position, controlling the distance detection device to move to the second position, controlling the distance between the distance detection device and the steel slag as a target distance, and determining the liquid level distance, wherein the target distance is not smaller than the preset transfer distance and is not larger than the second safety distance.
Alternatively to this, the method may comprise,
The first movable distance may be determined in a manner including,
Wherein D move1 is a first movable distance, D b is a steel slag distance, max d is a maximum first inscribed circle diameter, and W0 is a first preset threshold;
the minimum measurable slag seam distance is determined in a manner comprising,
Wherein W min is the minimum measurable slag gap distance, min safed is the preset safety distance, and alpha is the preset emission angle;
the second movable distance may be determined in a manner including,
Wherein D move2 is a second movable distance, D b is a steel slag distance, mchoosed is a diameter to be selected, and W0 is a first preset threshold;
The first preset threshold value is determined in a manner including,
Wherein W0 is a first preset threshold, D b is a steel slag distance, and alpha is a preset emission angle.
Optionally, the method further comprises:
And if the diameter of each first inscribed circle is smaller than the minimum measurable slag gap distance, adjusting the slag gap area of the slag gap through bottom argon blowing until at least one first inscribed circle diameter is larger than the first preset threshold value.
Optionally, the image to be detected is collected by an image collecting device, the image collecting device and the distance detecting device are installed at the tail end of the manipulator flange, and the method further comprises at least one of the following steps:
if the image to be detected comprises a plurality of steel slag areas, the determining mode of the first position comprises the steps of obtaining device position information of the distance detection device, determining the distance of the steel slag device according to the device position information and the steel slag positions, taking the position right above a first target position by a preset height as the first position, wherein the first target position is the steel slag position corresponding to the minimum steel slag device distance in the distance of the steel slag devices, the steel slag position comprises a second center position of a second inscribed circle of the steel slag area, and the diameter of the second inscribed circle is larger than or equal to a first preset threshold value;
The determining mode of the second position comprises the steps of obtaining device position information of the distance detection device, determining a slag gap device distance according to the device position information and each first circle center position, and taking a position which is right above a second target position and is a preset height as the second position, wherein the second target position is the first circle center position corresponding to the minimum slag gap device distance in the slag gap device distances;
And controlling the distance detection device to move to the first position and/or the second position by adjusting the tail end of the flange of the manipulator.
Optionally, the determining manner of the steel slag area and the slag seam area in the image to be detected includes:
acquiring a region of interest in the detection image, and generating a binarization image according to the image in the region of interest;
And carrying out connected domain processing on the binarized image to obtain a plurality of black areas and white areas, wherein the black areas are the steel slag areas, and the white areas are the slag seam areas.
Optionally, the method further comprises at least one of:
Determining the thickness of the steel slag according to the steel slag distance and the liquid level distance;
The image to be detected is acquired by image acquisition equipment, and the image acquisition equipment and the distance detection device are both provided with protection devices.
The invention also provides a molten steel liquid level detection system, which comprises:
The image acquisition module is used for acquiring an image to be detected comprising steel slag and slag gaps, and detecting and classifying a steel slag area and a slag gap area in the image to be detected;
a determining module for controlling the distance detecting device to move to the first position and/or the second position respectively so as to determine the molten steel liquid level parameter and realize the detection of the molten steel liquid level, wherein,
The molten steel liquid level parameter comprises at least one of a steel slag distance and a liquid level distance;
the liquid level distance is the distance between the distance detection device and molten steel in the slag gap, and the steel slag distance is the distance between the distance detection device and the steel slag;
The first position determining mode includes that steel slag positions of the steel slag areas are obtained, and a position right above one steel slag position by a preset height is used as a first position;
The determining mode of the second position comprises the steps of detecting a plurality of first inscribed circles in the slag seam area, obtaining the first inscribed circle diameter of each first inscribed circle, taking the first inscribed circle diameter as a to-be-selected diameter if the first inscribed circle diameter is larger than a first preset threshold value, and taking a position, which is located right above the first circle center position of the first inscribed circle and is a preset height, of one to-be-selected diameter as the second position.
The invention also provides an electronic device, which comprises a processor, a memory and a communication bus;
the communication bus is used for connecting the processor and the memory;
the processor is configured to execute a computer program stored in the memory to implement the method according to any one of the embodiments described above.
The present invention also provides a computer-readable storage medium, having stored thereon a computer program,
The computer program is configured to cause the computer to perform the method according to any one of the embodiments described above.
The invention has the beneficial effects that: the invention provides a molten steel liquid level detection method, a system, equipment and a medium, wherein the method is characterized in that a to-be-detected image comprising steel slag and slag gaps is obtained, a classified steel slag area and a slag gap area are detected, a position with preset height right above a steel slag position is determined in the steel slag area as a first position, a plurality of first inscribed circles are detected in the slag gap area, if the diameter of each first inscribed circle is larger than a first preset threshold value, the diameter of each first inscribed circle is used as a to-be-selected diameter, a position with preset height right above a first center position of each first inscribed circle with the to-be-selected diameter is selected as a second position, and a distance detection device is controlled to be respectively moved to the first position and/or the second position so as to determine molten steel liquid level parameters, so that molten steel liquid level detection is realized.
Drawings
FIG. 1 is a schematic flow chart of a method for detecting a liquid level of molten steel according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of an image to be detected according to a first embodiment of the present invention;
FIG. 3-1 is a schematic diagram showing a calculation relationship between a mounting distance between a distance detecting device and an object to be measured and a range of a measuring beam emitted to a surface of the object to be measured according to a first embodiment of the present invention;
FIG. 3-2 is a schematic diagram illustrating a downward movement of a distance detecting device according to an embodiment of the present invention;
fig. 3-3 are schematic diagrams illustrating a downward movement of a distance detection device according to an embodiment of the present invention;
FIG. 4 is a schematic view of a first position and a second position provided in a first embodiment of the invention;
FIG. 5 is a schematic diagram showing a structure of a molten steel level detecting system according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a molten steel level detection method, which includes:
Step S101: and acquiring an image to be detected comprising steel slag and slag gaps, and detecting and classifying a steel slag area and a slag gap area in the image to be detected.
The image to be detected can be acquired through an image acquisition device, and the image acquisition device can be a video camera, a still camera and the like. The liquid level of molten steel can be shot through the image acquisition equipment, and as gaps exist in the steel slag, the to-be-detected image always comprises the steel slag and the gaps. Referring to fig. 2, fig. 2 is a schematic diagram of an image to be detected.
Optionally, before acquiring the image to be detected, the method further includes:
The image acquisition equipment acquires a plurality of initial images, detects the initial images through a preset slag gap detection model, and takes the initial images as images to be detected if the initial images comprise steel slag and slag gaps.
The preset slag gap detection model can be obtained by obtaining a plurality of sample images comprising slag gaps to form a training set and training a basic model. The specific training mode of the preset slag gap detection model can be selected by a person skilled in the art.
Optionally, before acquiring the image to be detected, the method further includes:
The image acquisition equipment acquires a plurality of initial images, displays the initial images on a preset display screen, acquires an image selection signal, and selects one initial image as an image to be detected according to an initial image identifier included in the image selection signal.
In one embodiment, the detection classification mode of the steel slag area and the slag seam area in the image to be detected comprises the following steps:
Acquiring a region of interest in a detection image, and generating a binarized image according to the image in the region of interest;
And carrying out connected domain processing on the binarized image to obtain a plurality of black areas and white areas, wherein the black areas are steel slag areas, and the white areas are slag seam areas.
Alternatively, the manner of generating the binarized image from the image in the region of interest may be: and carrying out gray histogram statistical analysis on the image in the region of interest, and carrying out binarization operation in a dynamic threshold or adaptive percentage threshold mode and the like to obtain a binarized image.
Alternatively, the manner of performing the connected domain processing on the binarized image may be implemented in a manner known to those skilled in the art, which is not limited herein. After the connected domain processing is completed, the binarized image is converted into an image including a plurality of black areas and a plurality of white areas. Since the molten steel in the slag gap is exposed to air, the brightness is high, and a white region appears in the image. Since the steel slag-constituting material itself does not emit light and its light transmittance is poor, the region where the steel slag is located appears black in the image. Therefore, the black area is a steel slag area, and the white area is a slag gap area.
By the method, the region where the steel slag is located in the image to be detected and the region where the slag seam is located, namely the region of the molten steel liquid level, can be determined, so that the distance detection can be carried out in a targeted manner later.
Step S102: and controlling the distance detection device to move to the first position and/or the second position respectively so as to determine the molten steel liquid level parameter and realize molten steel liquid level detection.
The molten steel liquid level parameter comprises at least one of a liquid level distance and a steel slag distance, wherein the liquid level distance is the distance between the distance detection device and molten steel in a slag gap, and the steel slag distance is the distance between the distance detection device and steel slag.
The distance detection device is controlled to move to a first position for detection, so that the steel slag distance can be obtained; and controlling the distance detection device to move to the second position for detection, so as to obtain the liquid level distance.
Since the distance detecting means is located above the molten steel, a person skilled in the art can determine the means position of the distance detecting means in various ways, and a person skilled in the art can also obtain the bottom position of the vessel containing the molten steel, based on the means position, the steel slag distance, the liquid level distance and the bottom position, a person skilled in the art can obtain the steel slag thickness, the liquid level height of the molten steel.
In one embodiment, the method further comprises at least one of:
determining the thickness of the steel slag according to the steel slag distance and the liquid level distance;
The image to be detected is acquired by an image acquisition device, and the image acquisition device and the distance detection device are both provided with a protection device.
The protection device is used for preventing the equipment from being directly damaged by molten steel heat radiation.
Alternatively, the image capturing device and the distance detecting device may be formed into a sensor module, and the sensor module is mounted at the end of the flange of the six-axis manipulator, and the distance detecting device is controlled to move to the first position and/or the second position by adjusting the flange of the six-axis manipulator.
Optionally, the image acquisition device is a camera or the like, and the distance detection device is a radar level gauge or the like.
In one embodiment, an exemplary way to control the movement of the distance detection device to the first position and/or the second position, respectively, may be:
calibrating a first relative position relation between an image coordinate system of the image acquisition equipment and a robot coordinate system where the robot is positioned in a checkerboard mode and the like;
Calibrating a second relative positional relationship between the device coordinate system of the distance detection device and the robot coordinate system;
And obtaining a third relative position relation between the distance coordinate system and the image coordinate system according to the first relative position relation and the second relative position relation, so that the first position and the second position determined based on the image coordinate system can be converted into a device coordinate system, and the distance detection device is moved to the first position and/or the second position through a manipulator of the robot.
In one embodiment, the distance detection device comprises a radar level gauge, if the radar level gauge is used for detection, part of beams are emitted to steel slag by the radar, and part of beams are emitted to molten steel in a white area, so that data are unstable or inaccurate, and a certain distance around the detection position (a first position and a second position) of the distance detection device needs to be ensured to be equal to the steel slag area or be equal to the slag gap area.
In one embodiment, the determining the first location includes:
and acquiring the steel slag position of the steel slag region, and taking a projection point of the steel slag position on the working surface of the distance detection device as a first position.
In one embodiment, the determining the first location includes:
and obtaining the steel slag position of the steel slag region, and taking the position right above one steel slag position by a preset height as a first position.
Wherein the steel slag position is one or more positions inside each steel slag region. Alternatively, the steel slag position may be determined by detecting a plurality of inscribed circles (second inscribed circles) in each steel slag region, the second inscribed circles being directly greater than or equal to the first preset threshold value, and taking the center of each second inscribed circle as the steel slag position. Alternatively, an inscribed circle with the largest diameter can be detected in each steel slag area to be used as a second inscribed circle, and if the diameter of the second inscribed circle is larger than or equal to a first preset threshold value, the circle center of each second inscribed circle is used as the steel slag position.
In one embodiment, if the image to be detected includes a plurality of steel slag areas, the determining manner of the first position includes:
Acquiring device position information of a distance detection device, determining the distance of the steel slag device according to the device position information and the steel slag positions, and taking the position of a preset height right above a first target position as a first position, wherein the first target position is a steel slag position corresponding to the minimum steel slag device distance in the distance of the steel slag devices, the steel slag position comprises a second circle center position of a second inscribed circle of a steel slag region, and the diameter of the second inscribed circle is larger than or equal to a first preset threshold value.
Wherein the preset height may be a steel slag distance from the detection device (i.e., may be a height that remains the same while moving the distance detection device to the first position, translating to the first position). The predetermined height may be a height range, and the distance detecting device may be moved to the first position while being kept at a certain height range.
Because the steel slag areas are often not symmetrical areas and the areas of the steel slag areas are often larger, when a plurality of steel slag areas exist, a plurality of second inscribed circles may exist in each steel slag area, so in order to reduce the occupation of computing resources and save computing power, before determining the steel slag position, the device position information of the current distance detection device can be obtained in advance, the steel slag area located within a certain preset range of the distance detection device is taken as a preferable steel slag area, a plurality of second inscribed circles are detected in the preferable steel slag area, each second inscribed circle can be tangent or overlapped within a certain range, and then the projection point of the second center position (the second center closest to the distance detection device) of one second inscribed circle on the working surface of the distance detection device is selected as the first position according to a rule set by a person skilled in the art if a plurality of second center distances are equal.
In one embodiment, in order to reduce the occupation of the computing resources, in the detection process, the first inscribed circle and the second inscribed circle may be detected by using only the first preset threshold value as the diameter, or using a certain value larger than the first preset threshold value as the diameter, or directly detecting the inscribed circle with the maximum diameter in each steel slag area and each slag seam area, and the like.
It should be noted that, in the process of determining whether the diameter of the second inscribed circle meets the requirement, a second preset threshold value different from the first preset threshold value may be selected, where the second preset threshold value needs to be greater than the first preset threshold value.
Optionally, the preset range may be a circular area formed by taking the position of the distance detection device as a center and taking a preset multiple of the first preset threshold value as a diameter. The preset multiple is greater than 1. The circular area is still located within the image area of the image to be detected.
In another embodiment, if there are a plurality of steel slag regions, the determining the first position includes:
Respectively obtaining a first width of each steel slag region, if the first width is larger than a first preset threshold value, obtaining a second width of the steel slag region along the vertical direction of the first width, if the second width is also larger than the first preset threshold value, drawing a circle by taking an intersection point of a line segment where the second width and the first width are positioned as a circle center and taking the first preset threshold value (or a length larger than the first preset threshold value) as a radius, and if the region where the circle is positioned in the same steel slag region, taking the circle center as a steel slag position;
And acquiring the steel slag position closest to the detection device as a first position.
Optionally, when determining the first width, selecting a steel slag region with a preset range around the distance detection device, and expanding the steel slag region to other steel slag regions if each steel slag region does not meet the requirement.
In one embodiment, the determining of the second location includes:
Detecting a plurality of first inscribed circles in the slag seam area, acquiring the first inscribed circle diameter of each first inscribed circle, if the first inscribed circle diameter is larger than a first preset threshold value, taking the first inscribed circle diameter as a diameter to be selected, and taking the position of a preset height right above the first circle center position of the first inscribed circle with one diameter to be selected as a second position.
Wherein, the right upper part in the embodiment is the opposite direction of the gravity direction. The preset height may be the same as the height of the distance detecting device, or may be a height of the distance detecting device within a certain range, and may be specifically selected by those skilled in the art according to needs.
In one embodiment, the determining of the second location includes:
Acquiring device position information of a distance detection device;
determining the slag gap device distance according to the device position information and the positions of the first circle centers;
And taking the position right above the second target position by a preset height as a second position, wherein the second target position is a first circle center position corresponding to the minimum slag gap device distance in the slag gap device distances.
Because each white area (slag seam area) is a closed polygonal irregular area, each white area is provided with a plurality of first inscribed circles, and the first inscribed circles with the largest diameter of each white area are detected, so that the number of inscribed circles can be effectively reduced, and the calculation force is saved. When the diameter of the first inscribed circle is larger than a first preset threshold value, the radar beam can penetrate the area to reach the surface of molten steel, so that the distance to the molten steel is measured, the first inscribed circle is directly used as a diameter to be selected, and if only one diameter of the first inscribed circle is the diameter to be selected, the first circle center of the first inscribed circle where the diameter of the first inscribed circle is located is directly used as a second position.
When the maximum inscribed circle diameter of the white areas is larger than a first preset threshold value, calculating the Euclidean distance from the center of the first inscribed circle meeting the conditions to the position where the distance detection device is located, selecting the first center of the first inscribed circle where the Euclidean distance is minimum as a second position, converting the second position into a coordinate under the robot coordinate system according to the first relative relation between the image coordinate system and the robot coordinate system, moving the distance detection device to the second position through the manipulator, and driving the distance detection device to move to the position by the manipulator so as to measure the liquid level distance of molten steel.
The first preset threshold may be a value set by a person skilled in the art.
Referring to fig. 3-1, fig. 3-1 is a schematic diagram of a calculation relationship between a mounting distance between a distance detecting device and a measured object and a range of a measuring beam emitted to a surface of the measured object, where the first preset threshold may be a diameter value of a beam plane of the beam emitted by the distance detecting device, which is determined based on a position where the current distance detecting device is located and a preset emission angle of the beam emitted by the distance detecting device, and the diameter value is used as the first preset threshold.
Optionally, a method for determining the first preset threshold includes:
Wherein W0 is a first preset threshold, D b is a steel slag distance, and alpha is a preset emission angle.
In one embodiment, the method further comprises:
If the diameters of the first inscribed circles are smaller than a first preset threshold value, acquiring the steel slag distance and the maximum first inscribed circle diameter in the diameters of the first inscribed circles, determining a first transfer distance and a first movable distance of a distance detection device according to the steel slag distance, the first preset threshold value and the maximum first inscribed circle diameter, acquiring a preset safety distance, if the first transfer distance is larger than or equal to the preset safety distance, taking the position of the first inscribed circle with the maximum first inscribed circle diameter at a preset height right above the first center position of the first inscribed circle as a second position, controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag as a target distance, so as to determine the liquid level distance, wherein the target distance is not smaller than the preset safety distance and not larger than the first transfer distance.
With continued reference to fig. 3-1, it is possible that the first inscribed circle diameter of each slag slit is smaller than the first preset threshold, that is, if the distance detection device is directly used for distance detection in the current state, a part of beams may be emitted to the steel slag, and a part of beams are emitted to the molten steel in the white area, so that data is unstable or inaccurate, and therefore, the distance detection device may be attempted to be moved downwards to adapt to the current slag slit width as much as possible. However, considering the influence of the heat radiation of molten steel on the distance detection device and other sensors, the minimum safety distance between the distance detection device and the steel slag needs to be preset as the preset safety distance Min safed, so that the first transfer distance needs to be limited to be larger than or equal to the preset safety distance, and the target distance is not smaller than the preset safety distance so as to ensure the normal operation of the distance detection device and other devices.
In one embodiment, referring to fig. 3-2, the first movable distance is determined in a manner that includes:
Wherein, D move1 is the first movable distance, D b is the steel slag distance, max d is the maximum first inscribed circle diameter, and W0 is the first preset threshold.
In one embodiment, if the first transfer distance is smaller than the preset safety distance, the slag seam area is adjusted by means of bottom argon blowing or the like until the first inscribed circle diameter of the first inscribed circle of the at least one slag seam area is larger than a first preset threshold value.
The distance detection device can be controlled to move downwards by a height not exceeding the first movable distance so as to realize accurate distance detection.
In one embodiment, with continued reference to fig. 3-2, the manner in which the first transition distance is determined includes:
Wherein, D Z1 is the first transfer distance, D b is the steel slag distance, max d is the maximum first inscribed circle diameter, and W0 is the first preset threshold.
The distance detection can be realized by controlling the distance detection device to move downwards, and the final position to which the distance detection device moves is lower than or equal to the first transfer distance.
In another embodiment, sometimes, the distances of the slag slits are small, and it is possible to find that the first transfer distances are smaller than the preset safe distance through a series of operations, and at this time, the bottom argon blowing operation is needed again, so that the calculation resources are wasted. One possible way is as follows:
And if the diameter of each first inscribed circle is smaller than a first preset threshold value, acquiring a preset emission angle, determining the minimum measurable slag gap distance according to the preset emission angle and the preset safety distance, taking the diameter of the first inscribed circle as a to-be-selected diameter, acquiring the steel slag distance and each to-be-selected diameter, determining the second transfer distance and the second movable distance of the distance detection device according to the steel slag distance, the first preset distance and each to-be-selected diameter, acquiring the preset safety distance, and if the second transfer distance is larger than or equal to the preset safety distance, taking the position of the preset height right above the first circle center position of the to-be-selected diameter as the second position, controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag as the target distance, so as to determine the liquid level distance, wherein the target distance is not smaller than the preset safety distance and not larger than the second transfer distance.
In one embodiment, the minimum measurable seam distance is determined by,
Wherein W min is the minimum measurable slag gap distance, min safed is the preset safety distance, and alpha is the preset emission angle.
In one embodiment, referring to fig. 3-3, the second movable distance is determined by a method comprising,
Wherein D move2 is a second movable distance, D b is a steel slag distance, mchoosed is a diameter to be selected, and W0 is a first preset threshold.
In one embodiment, with continued reference to fig. 3-3, the manner in which the second transition distance is determined includes:
Wherein D Z2 is the second transfer distance, D b is the steel slag distance, mchoosed is the diameter to be selected, and W0 is the first preset threshold.
In one embodiment, the method further comprises:
And if the diameters of the first inscribed circles are smaller than the minimum measurable slag seam distance, adjusting the slag seam area of the slag seam by means of bottom argon blowing and the like until at least one first inscribed circle diameter is larger than a first preset threshold value.
It should be appreciated that one skilled in the art can also implement the increase in the slag gap area in other known ways.
The working surface of the distance detection device can be a plane where the distance detection device is in translation, a manipulator moving surface where the distance detection device is assembled on a manipulator, and a working surface or a working space set by a person skilled in the art.
The first position may be a projection point of the steel slag position on the working surface of the distance detection device, and the second position may be a projection point of the first center position on the working surface of the distance detection device. The first and second positions are both above the liquid level, and the first and second positions may be on a movable horizontal plane from the detection means.
The projection point of the first circle center position on the working surface of the distance detection device and the projection point of the steel slag position information on the working surface of the distance detection device can be orthographic projection or other projection modes set by a person skilled in the art. The two kinds of projection points can also realize the determination of the first position and the second position by means of relative position relation transformation (matrix transformation) and the like.
The distance detecting device may include one distance detecting device, or may include two or more distance detecting devices, and when the distance detecting device includes a plurality of distance detecting devices, the distance detecting devices may be the same or different, for example, the distance detecting device a detects the distance between the liquid surfaces, and the distance detecting device B detects the distance between the steel slag.
In one embodiment, a plurality of first positions and/or second positions (to-be-detected images of other positions of molten steel liquid level in the same container are shot, or other first positions and second positions are selected from the current to-be-detected images) may be respectively determined, a plurality of steel slag distances and/or a plurality of liquid level distances may be obtained, an average value of the steel slag distances is taken as a final steel slag distance, and an average value of the slag gap distances is taken as a final slag gap distance, so as to further improve accuracy of an output result of the method provided in the embodiment.
According to the molten steel liquid level detection method provided by the embodiment, the to-be-detected image comprising steel slag and slag gaps is obtained through detection and classification, the steel slag area and the slag gap area are obtained through detection and classification, the position right above a steel slag position in the steel slag area is determined as a first position, a plurality of first inscribed circles are detected in the slag gap area, if the diameter of each first inscribed circle is larger than a first preset threshold value, the diameter of each first inscribed circle is used as a diameter to be selected, the position right above the first circle center position of each first inscribed circle with the diameter to be selected is selected as a second position, the distance detection device is controlled to be respectively moved to the first position and/or the second position, so that molten steel liquid level parameters are determined, molten steel liquid level detection is achieved.
The above method will be exemplarily described below taking a distance detection device as a radar level gauge and taking an example in which an image to be detected is collected by a camera.
The sensor module consisting of the camera and the radar level gauge is arranged at the tail end of the flange plate of the six-axis manipulator, and the sensor module is provided with a protection device so as to prevent the sensor module from being directly damaged by molten steel heat radiation.
The camera is used for acquiring an image to be detected of the surface of the molten steel liquid level comprising steel slag and slag gaps, detecting and classifying the image to be detected, and distinguishing the positions of the steel slag and the slag gaps to obtain a steel slag region and a slag gap region.
The camera should be calibrated in advance through the first relative relation between the image coordinate system and the robot coordinate system of checkerboard calibration board.
The radar level gauge can select the type with smaller radar emission angle, the farther the radar is from the measured object, the larger the beam range is when the radar reaches the surface of the measured object, when the beam range of the radar reaching the slag gap area is smaller than the width of the slag gap area, the radar beam can completely and directly pass through the slag gap and directly reach the surface of molten steel, and the liquid level distance between the radar and the molten steel is measured.
The camera tool coordinate system (image coordinate system) and the radar level gauge tool coordinate system (device coordinate system) are respectively calibrated, and the camera tool coordinate system and the radar level gauge tool coordinate system are used for accurately guiding the radar level gauge at the tail end of the manipulator to move to the position right above the steel slag area and the slag seam area after the steel slag area and the slag seam area are detected. Specifically, after the first position and the second position are determined, the radar level gauge at the tail end of the manipulator is guided to move to the first position and the second position, so that detection of the steel slag distance and the liquid level distance is realized.
Referring to fig. 4, when the manipulator moves to a position above the molten steel liquid level, the detection command is sent, and after the camera collects an image of the molten steel liquid level (image to be detected), the detection classification is performed.
The method comprises the steps of setting an interested region in an image to be detected, carrying out gray histogram statistical analysis on the image in the interested region, and carrying out binarization operation in a dynamic threshold or self-adaptive percentage threshold mode to obtain a binarized image.
And carrying out connected domain analysis on the binarized image to obtain a plurality of black areas and white areas, wherein the black areas are steel slag areas, the white areas are slag seam areas, the molten steel in the slag seams is exposed in the air, so that the brightness is high, the images are white areas, the black areas represent the areas of the steel slag, and the white areas represent the molten steel areas in the slag seams.
Calculating a second target position (first position) of the manipulator movement, and detecting the steel slag distance:
The steel slag positions of the black areas are calculated respectively, the steel slag position coordinates of each black area are converted into the robot coordinate system according to the first relative relation between the image coordinate system and the robot coordinate system, the steel slag position with the shortest Euclidean distance with the position 1 of the current manipulator is calculated as the second target position (the first position) to be moved by the manipulator, the second target position is marked as the position 2, after the manipulator moves to the position, the distance to the black area is measured through a radar, and the distance is marked as the steel slag distance D b. If the steel slag region is a symmetrical pattern, the steel slag position can be the geometric center of the steel slag region, and if the steel slag region is an asymmetrical pattern, the steel slag position can be a position in the steel slag region, wherein the distance between the steel slag region and each edge of the steel slag region is greater than a first preset threshold value.
After the manipulator is moved to the target position 2, the distance of the steel slag surface is detected by the radar level gauge, and the method comprises the following steps:
the measured steel slag distance can be used as the absolute distance between a radar and a steel slag surface, and the distance between the radar and the steel slag surface in a robot coordinate system can be obtained through conversion of a radar tool coordinate system.
Calculating a third target position (second position) of the manipulator movement, and detecting a liquid level distance:
As shown in fig. 3-1, one way of calculating the width of the radar beam to the object under test (first preset threshold) based on the radar level gauge measuring its steel slag distance D b to steel slag and the preset emission angle α of the radar includes:
Wherein W0 is a first preset threshold, D b is the current steel slag distance, and alpha is a preset emission angle.
Since each white area is a closed polygonal irregular area, each white area is provided with a plurality of first inscribed circles, the largest inscribed circle of the area is calculated for each white area, and when the diameter of the first inscribed circle is larger than W0, the radar beam can penetrate through the area to reach the surface of molten steel, so that the liquid level distance to the molten steel is measured.
When the maximum inscribed circle diameter of the plurality of white areas is larger than W0, calculating the Euclidean distance from the center of the first inscribed circle meeting the condition to the position of the current radar level gauge, selecting the white area of the first inscribed circle with the smallest Euclidean distance as a target position, converting the center of the first inscribed circle at the target position into a coordinate under the robot coordinate system according to the first relative relation between the image coordinate system and the robot coordinate system, serving as a third target position (a second position) to be moved by the manipulator, marking as a position 3, and moving the manipulator to the position to measure the liquid level distance of molten steel.
When the diameters of the maximum inscribed circles of the calculated white region calculation regions are smaller than the beam width W0 of the radar, the radar is guided to move vertically downwards by the manipulator to realize the detection of the liquid level distance, and the realization mode comprises the following steps:
If radar is used for detection, then the radar has a part of the beam emitted onto the steel slag and a part of the beam emitted onto the steel in the white area, resulting in unstable or inaccurate data, in which case it can be calculated as follows:
Step one: calculating the maximum inscribed circle of each white area as a first inscribed circle of the slag joint area, finding out the maximum value of the diameters of the maximum inscribed circles of the white areas (maximum first inscribed circle diameter Max d), and taking the white area corresponding to the first inscribed circle with the maximum first inscribed circle diameter as a candidate target position 3, wherein the diameter of the first inscribed circle still does not meet the condition of being larger than the beam width W0 of the radar, so that the distance between the radar and the white area is required to be reduced by the movement of a manipulator, and the beam width W0 of the radar is required to be reduced;
Step two: the radar level gauge at the tail end of the manipulator is moved to a candidate target position 3, the minimum safety distance (preset safety distance Min safed) between the radar level gauge and steel slag is preset in consideration of the influence of molten steel heat radiation on the sensor, and in order to ensure the safety of a sensor module, the maximum distance that the manipulator can vertically move downwards is D b-Minsafed;
Step three: after the radar level gauge moves downwards, the width of the radar beam projected to the measured object is Max d, and the distance of the manipulator guiding the radar to move vertically downwards is calculated When D move<Minsafed is carried out, the condition that the radar beam is emitted to a white area and the beam width is equal to the maximum first inscribed circle diameter Max d of the inscribed circle is judged to be met by the fact that the manipulator drives the radar level gauge to vertically move downwards, and the manipulator is guided to vertically move downwards D move and serves as a position 3;
Step four: and when D move<Minsafed is carried out, judging that the test condition cannot be met through the movement of the manipulator, considering bottom argon blowing or other modes to increase the size of the steel slag gap, and sending a detection command to detect the liquid level of the molten steel again until the test condition is met. The test condition is that there is at least one first inscribed circle diameter greater than a first preset threshold, or recalculated D move＞Minsafed.
Optionally, after the manipulator drives the radar level gauge to move to the position 3, the radar level gauge detects the liquid level distance of the molten steel, and the method comprises the following steps:
The measured liquid level distance can be used as the absolute distance between the radar level gauge and the steel slag surface, and the distance between the radar level gauge and the steel slag surface in the robot coordinate system can be obtained through conversion of a radar tool coordinate system.
After the positions of the radar from the slag surface and the molten steel are detected by the radar level gauge, the steel slag distance and the liquid level distance are obtained, and the difference value of the two is calculated to obtain the accurate steel slag thickness. I.e. steel slag thickness = level distance-steel slag distance.
According to the molten steel level detection method provided by the embodiment, the combined sensor module of the multiple sensors (the radar level gauge, the camera and the sensors for controlling the movement of the manipulator) is driven by the manipulator to detect the molten steel level, the radar level gauge at the tail end of the flange plate of the manipulator is accurately guided to conduct classified measurement on classified steel slag and molten steel through classified detection to be acquired by the camera, the purpose of accurately measuring the distance of the molten steel and the thickness of the steel slag is achieved, and support is provided for intelligent steelmaking.
Example two
Referring to fig. 5, the present embodiment provides a molten steel level detection system including:
The image acquisition module 501 is used for acquiring an image to be detected comprising steel slag and slag gaps, and detecting and classifying a steel slag area and a slag gap area in the image to be detected;
A determining module 502 for controlling the distance detecting device to move to the first position and/or the second position respectively to determine the molten steel liquid level parameter and realize molten steel liquid level detection, wherein,
The molten steel liquid level parameter comprises at least one of a steel slag distance and a liquid level distance;
The liquid level distance is the distance between the distance detection device and molten steel in the slag seam, and the steel slag distance is the distance between the distance detection device and steel slag;
the method for determining the first position comprises the steps of obtaining steel slag position information of a steel slag area, and taking the position right above one steel slag position information by a preset height as the first position;
The method for determining the second position comprises the steps of detecting a plurality of first inscribed circles in the slag seam area, obtaining the first inscribed circle diameter of each first inscribed circle, taking the first inscribed circle diameter as a to-be-selected diameter if the first inscribed circle diameter is larger than a first preset threshold value, and taking the position of a preset height right above the first circle center position of the first inscribed circle where one to-be-selected diameter is located as the second position.
In this embodiment, the system is essentially provided with a plurality of modules for executing the method in the above embodiment, and specific functions and technical effects are only needed with reference to the above embodiment, and are not repeated herein.
Referring to fig. 6, an embodiment of the present invention also provides an electronic device 600 comprising a processor 601, a memory 602, and a communication bus 603;
A communication bus 603 for connecting the processor 601 and the memory 602;
the processor 601 is configured to execute a computer program stored in the memory 602 to implement the method as described in one or more of the above embodiments.
The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored,
The computer program is for causing a computer to execute the method according to any one of the above embodiments.
The embodiment of the application also provides a non-volatile readable storage medium, where one or more modules (programs) are stored, where the one or more modules are applied to a device, and the instructions (instructions) may cause the device to execute the steps included in the embodiment one of the embodiment of the application.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. A molten steel level detection method, characterized in that the method comprises:
acquiring an image to be detected comprising steel slag and slag gaps, and detecting and classifying a steel slag area and a slag gap area in the image to be detected;
controlling the distance detecting device to move to the first position and/or the second position respectively so as to determine the molten steel liquid level parameter and realize molten steel liquid level detection, wherein,
The molten steel liquid level parameter comprises at least one of a steel slag distance and a liquid level distance;
the liquid level distance is the distance between the distance detection device and molten steel in the slag gap, and the steel slag distance is the distance between the distance detection device and the steel slag;
The first position determining mode includes that steel slag positions of the steel slag areas are obtained, and a position right above one steel slag position by a preset height is used as a first position;
The determining mode of the second position comprises the steps of detecting a plurality of first inscribed circles in the slag seam area, obtaining the first inscribed circle diameter of each first inscribed circle, taking the first inscribed circle diameter as a diameter to be selected if the first inscribed circle diameter is larger than a first preset threshold value, and taking a position, which is right above a first circle center position of the first inscribed circle and is located by one diameter to be selected, of a preset height as a second position;
the method further comprises any one of the following:
If the diameters of the first inscribed circles are smaller than the first preset threshold value, acquiring the steel slag distance and the largest first inscribed circle diameter in the diameters of the first inscribed circles, determining a first transfer distance and a first movable distance of the distance detection device according to the steel slag distance, the first preset threshold value and the largest first inscribed circle diameter, acquiring a preset safety distance, and if the first transfer distance is larger than or equal to the preset safety distance, taking a position which is right above a first center position of the first inscribed circle where the largest first inscribed circle diameter is located by a preset height as the second position, controlling the distance detection device to move to the second position, and controlling the distance between the distance detection device and the steel slag as a target distance, so as to determine the liquid level distance, wherein the target distance is not smaller than the preset safety distance and not larger than the first transfer distance;
And if the diameter of the first inscribed circle is smaller than the first preset threshold value, acquiring a preset emission angle, determining the minimum measurable slag gap distance according to the preset emission angle and the preset safety distance, if the diameter of the first inscribed circle is larger than or equal to the minimum measurable slag gap distance, taking the diameter of the first inscribed circle as a diameter to be selected, acquiring the steel slag distance and the diameter to be selected, determining the second transfer distance and the second movable distance of the distance detection device according to the steel slag distance, the first preset distance and the diameter to be selected, acquiring the preset safety distance, and if the second transfer distance is larger than or equal to the preset safety distance, taking the position of the preset height right above the first circle center position of the diameter to be selected as the second position, controlling the distance detection device to move to the second position, controlling the distance between the distance detection device and the steel slag as a target distance, and determining the liquid level distance, wherein the target distance is not smaller than the preset transfer distance and is not larger than the second safety distance.
2. The method for detecting a molten steel level according to claim 1, wherein,
The first movable distance may be determined in a manner including,
Wherein D move1 is a first movable distance, D b is a steel slag distance, max d is a maximum first inscribed circle diameter, and W0 is a first preset threshold;
the minimum measurable slag seam distance is determined in a manner comprising,
Wherein W min is the minimum measurable slag gap distance, min safed is the preset safety distance, and alpha is the preset emission angle;
the second movable distance may be determined in a manner including,
Wherein D move2 is a second movable distance, D b is a steel slag distance, mchoosed is a diameter to be selected, and W0 is a first preset threshold;
The first preset threshold value is determined in a manner including,
Wherein W0 is a first preset threshold, D b is a steel slag distance, and alpha is a preset emission angle.
3. The molten steel level detection method of claim 1, further comprising:
And if the diameter of each first inscribed circle is smaller than the minimum measurable slag gap distance, adjusting the slag gap area of the slag gap through bottom argon blowing until at least one first inscribed circle diameter is larger than the first preset threshold value.
4. A molten steel level detecting method according to any one of claims 1 to 3, wherein the image to be detected is acquired by an image acquisition apparatus, the image acquisition apparatus and the distance detecting device are mounted at the end of a manipulator flange, and the method further comprises:
If the image to be detected comprises a plurality of steel slag areas, the determining mode of the first position comprises the steps of obtaining device position information of the distance detection device, determining the distance of the steel slag device according to the device position information and the steel slag positions, taking the position right above a first target position by a preset height as the first position, wherein the first target position is the steel slag position corresponding to the minimum steel slag device distance in the steel slag device distances, the steel slag position comprises the second center position of a second inscribed circle of the steel slag area, and the diameter of the second inscribed circle is larger than or equal to the first preset threshold value.
5. A molten steel level detecting method according to any one of claims 1 to 3, wherein the image to be detected is acquired by an image acquisition apparatus, the image acquisition apparatus and the distance detecting device are mounted at the end of a manipulator flange, and the method further comprises:
And controlling the distance detection device to move to the first position and/or the second position by adjusting the tail end of the flange of the manipulator.
6. The molten steel level detecting method of any one of claims 1 to 3, wherein the determining means of the steel slag region and the slag gap region in the image to be detected includes:
acquiring a region of interest in the detection image, and generating a binarization image according to the image in the region of interest;
And carrying out connected domain processing on the binarized image to obtain a plurality of black areas and white areas, wherein the black areas are the steel slag areas, and the white areas are the slag seam areas.
7. The molten steel level detection method according to any one of claims 1 to 3, further comprising:
And determining the thickness of the steel slag according to the steel slag distance and the liquid level distance.
8. The molten steel level detection method according to any one of claims 1 to 3, further comprising:
The image to be detected is acquired by image acquisition equipment, and the image acquisition equipment and the distance detection device are both provided with protection devices.
9. An electronic device comprising a processor, a memory, and a communication bus;
the communication bus is used for connecting the processor and the memory;
the processor is configured to execute a computer program stored in the memory to implement the method of any one of claims 1-8.
10. A computer-readable storage medium, having a computer program stored thereon,
The computer program for causing the computer to perform the method of any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111368360.3A CN114088157B (en) | 2021-11-18 | 2021-11-18 | Molten steel liquid level detection method, equipment and medium |
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