JP7554620B2 - Control device, tailings removal system and control method - Google Patents

Description

This disclosure relates to a control device, a dross removal system, and a control method.

Patent Document 1 discloses an automatic slag removal system that includes a ladle tilting device that tilts the ladle, and an inching device that moves a slag removal container that receives slag and ingots below the tilting member according to the discharge status of slag and ingots discharged from the ladle tilted by the ladle tilting device.

Japanese Utility Model Application Publication No. 5-28553

This disclosure provides a control device, slag removal system, and control method that are effective in reducing the labor required for adjusting the position of a slag removal trolley.

A control device according to one aspect of the present disclosure includes a profile storage unit that stores a plurality of control profiles, each of which represents a relationship between the tilt angle of the molten steel ladle by the tilting device and the position of the slag scoop cart, including at least a first control profile and a second control profile in which the relationship between the tilt angle of the molten steel ladle and the position of the slag scoop cart differs from the first control profile; a profile selection unit that selects a first control profile from the plurality of control profiles when the tilt angle at which slag begins to come out of the molten steel ladle is a first angle, and selects a second control profile from the plurality of control profiles when the tilt angle at which slag begins to come out of the molten steel ladle is a second angle greater than the first angle; and a displacement control unit that displaces the slag scoop cart in accordance with the tilt of the molten steel ladle based on the control profile selected by the profile selection unit.

The position at which the slag falls from the molten steel ladle changes mainly depending on the tilt angle of the molten steel ladle. Therefore, by displacing the slag scoop cart in accordance with changes in the tilt angle of the molten steel ladle, the slag that has fallen from the molten steel ladle can be collected on the slag scoop cart.

Because metal accumulates on the edge of the ladle, the tilt angle of the ladle at which the slag begins to come out (hereafter referred to as the "start-of-flow angle") changes depending on the height of the accumulated metal. Depending on the start-of-flow angle, the relationship between the tilt angle of the ladle and the position at which the slag falls also changes.

In response to this, the present control device selects a first control profile when the discharge start angle is a first angle. When the discharge start angle is a second angle, it selects a second control profile in which the relationship between the tilt angle of the molten steel ladle and the position of the slag scoop cart differs from that of the first control profile. The slag scoop cart is then displaced according to the selected control profile. As a result, the relationship between the tilt angle of the molten steel ladle and the position of the slag scoop cart is adjusted in accordance with the change in the relationship between the tilt angle of the molten steel ladle and the position where the slag falls depending on the discharge start angle. This is therefore effective in reducing the number of people required to adjust the position of the slag scoop cart.

For example, when the discharge start angle is the second angle, the slag fall position for the same tilt angle may be farther from directly below the ladle than when the discharge start angle is the first angle. Therefore, in the second control profile, the position of the slag scoop cart corresponding to a third angle greater than the first and second angles may be farther from directly below the ladle than the position of the slag scoop cart corresponding to the third angle in the first control profile.

Regardless of whether or not there is accumulated ingot, after slag begins to come out, the position where the slag falls tends to move closer to directly below the molten steel ladle as the tilt angle of the molten steel ladle increases. Therefore, in each of the first control profile and the second control profile, the position of the slag removal cart may move closer to directly below the molten steel ladle as the angle of the molten steel ladle increases.

The control device may further include a start detection unit that detects when slag starts to come out of the molten steel ladle, and the profile selection unit may select one of a plurality of control profiles based on the tilt angle when the start detection unit detects when slag starts to come out of the molten steel ladle. In this case, the control profile is changed in real time based on the actual start angle of the slag, so that the position of the slag removal trolley can be adjusted more appropriately.

The start detection unit may detect when slag starts to come out of the molten steel ladle based on an image captured by a surveillance camera. In this case, the surveillance camera can be effectively used to detect the angle at which slag starts to come out, simplifying the system configuration.

The start detection unit may detect the beginning of slag production based on an increase in brightness of an image captured by a surveillance camera. In this case, simple image processing can be used to detect the beginning of slag production with high reliability.

A slag removal system according to another aspect of the present disclosure includes the above-mentioned control device, a tilting device, and a slag removal trolley.

A slag removal method according to yet another aspect of the present disclosure includes storing a plurality of control profiles each representing a relationship between the tilt angle of the molten steel ladle and the position of the slag removal cart, the plurality of control profiles including at least a first control profile and a second control profile in which the relationship between the tilt angle of the molten steel ladle and the position of the slag removal cart differs from the first control profile; tilting the molten steel ladle containing the slag using a tilting device; selecting the first control profile from the plurality of control profiles if the tilt angle of the molten steel ladle when the slag begins to come out is a first angle, and selecting the second control profile from the plurality of control profiles if the tilt angle of the molten steel ladle when the slag begins to come out is a second angle greater than the first angle; and displacing the slag removal cart according to the control profile.

This disclosure provides a control device, slag removal system, and control method that are effective in reducing the labor required to adjust the position of a slag removal trolley.

FIG. 1 is a schematic diagram of a tailings removal system. 4 is a table illustrating an example of a tilt control profile. 1 is a table illustrating an example displacement control profile. 1 is a table illustrating selection criteria. FIG. 2 is a block diagram illustrating a hardware configuration of a control device. 1 is a flowchart illustrating a control procedure for discharging slag from a molten steel ladle to a slag cart. 1 is a flowchart illustrating a control procedure for discharging slag from a molten steel ladle to a slag cart. FIG. 13 is a schematic diagram showing the relationship between the tilt angle and the position of the slag removal cart. FIG. 13 is a schematic diagram showing the relationship between the tilt angle and the position of the slag removal cart. FIG. 13 is a schematic diagram showing the relationship between the tilt angle and the position of the slag removal cart.

The following describes the embodiments in detail with reference to the drawings. In the description, the same elements or elements having the same functions are given the same reference numerals, and duplicate descriptions are omitted.

〔Device〕
The slag removal system 1 shown in Fig. 1 is a system for recovering and discharging slag remaining in a molten steel ladle. For example, the slag removal system 1 includes a tilting device 2, a slag removal cart 3, a monitoring camera 4, and a control device 100. The tilting device 2 holds a molten steel ladle 9 transported by an overhead crane or the like, and tilts the molten steel ladle 9 about a horizontal tilting axis 11 by a driving source such as an electric or hydraulic type.

The slag removal trolley 3 is located below the molten steel ladle 9 held by the tilting device 2, collects slag discharged from the molten steel ladle 9 tilted by the tilting device 2, and transports the collected slag along a specified transport path 12. The transport path 12 intersects (e.g., perpendicular to) the tilting axis 11. The intersection here includes a state in which there is a twisted relationship, such as a so-called three-dimensional intersection. For example, the transport path 12 intersects with the tilting axis 11 when viewed from above, but is located below the tilting axis 11 when viewed horizontally, and does not intersect with the tilting axis 11. For example, the slag removal trolley 3 supports the receiving ladle 8 with the opening facing upward, collects slag into the receiving ladle 8, and transports the receiving ladle 8 along the transport path 12.

The surveillance camera 4 is, for example, an ITV (Industrial Television) camera, and captures an image of the molten steel ladle 9 held by the tilting device 2. The surveillance camera 4 is positioned so that it can capture an image of the edge where slag begins to come out when the tilting device 2 tilts the molten steel ladle 9.

The control device 100 controls the slag cart 3 to position the receiving ladle 8 at least at the falling position of the slag discharged from the molten steel ladle 9. The tilting device 2 gradually increases the tilting angle of the molten steel ladle 9 so as to gradually discharge the slag in the molten steel ladle 9. The falling position of the slag from the molten steel ladle 9 changes mainly depending on the tilting angle of the molten steel ladle 9. Therefore, by displacing the slag cart 3 in accordance with the change in the tilting angle of the molten steel ladle 9, the slag that has fallen from the molten steel ladle 9 can be continuously collected in the receiving ladle 8.

Because metal accumulates on the edge of the ladle 9, the tilt angle of the ladle 9 at which the slag begins to come out (hereinafter referred to as the "start-of-draining angle") changes depending on the height of the accumulated metal. The relationship between the tilt angle of the ladle 9 and the position at which the slag falls also changes depending on the start-of-draining angle.

In response to this, the control device 100 is configured to: store a plurality of control profiles each representing the relationship between the tilt angle of the molten steel ladle 9 by the tilting device 2 and the position of the slag scooping cart 3, including at least a first control profile and a second control profile in which the relationship between the tilt angle of the molten steel ladle 9 and the position of the slag scooping cart 3 is different from the first control profile; select the first control profile from the plurality of control profiles when the tilt angle at which slag starts to come out of the molten steel ladle 9 is a first angle; select the second control profile from the plurality of control profiles when the tilt angle at which slag starts to come out of the molten steel ladle 9 is a second angle larger than the first angle; and displace the slag scooping cart 3 in response to the change in the tilt angle of the molten steel ladle 9 based on the selected control profile. Therefore, the relationship between the tilt angle of the molten steel ladle 9 and the position of the slag scooping cart 3 is adjusted in accordance with the change in the relationship between the tilt angle of the molten steel ladle 9 and the slag drop position depending on the start of the spilling angle.

For example, the control device 100 has, as its functional configuration (hereinafter referred to as "functional blocks"), a profile memory unit 111, a tilt control unit 112, a start detection unit 113, a profile selection unit 114, and a displacement control unit 115.

The profile memory unit 111 stores at least one tilt control profile and multiple displacement control profiles (the multiple control profiles described above). The tilt control profile determines the time change in the tilt angle of the molten steel ladle 9. For example, the tilt control profile determines the time change in the tilt angle so that the tilt angle of the molten steel ladle 9 is gradually increased in one direction around the tilt axis 11.

As an example, as shown in FIG. 2, the tilt control profile includes multiple target tilt angles arranged in a time series. Each target tilt angle is expressed, for example, as an angle from a state in which the molten steel ladle 9 faces vertically upward. The tilt control profile may include multiple stop times corresponding to each of the multiple target tilt angles. The first target tilt angle in the tilt control profile is set to an angle larger than the angle at which slag is expected to start coming out of the molten steel ladle 9.

Each of the multiple displacement control profiles determines the change in the position of the slag scoop cart 3 in response to the change over time in the tilt angle of the molten steel ladle 9. For example, each displacement control profile is determined so that the position of the slag scoop cart 3 approaches directly below the molten steel ladle 9 (e.g., directly below the tilt axis 11) as the tilt angle of the molten steel ladle 9 increases.

As an example, as shown in FIG. 3, each displacement control profile includes multiple target positions that correspond to multiple target tilt angles of the tilt control profile. Each target position is expressed, for example, as a distance from a predetermined reference position that is away from directly below the tilt axis 11.

The multiple displacement control profiles differ from each other in the relationship between the tilt angle of the molten steel ladle 9 and the position of the slag removal cart 3, and include at least a first control profile and a second control profile.

The profile storage unit 111 further stores a selection criterion for the displacement control profile used to control the slag scooping trolley 3 from among the multiple displacement control profiles. The selection criterion is set so that the displacement control profile selected changes depending on the tilt angle of the molten steel ladle 9 at which the slag starts to come out (the above-mentioned discharge start angle). In discharging the slag, as the discharge start angle increases, the slag fall position corresponding to the same tilt angle may become farther from directly below the molten steel ladle 9. For example, the larger the discharge start angle, the higher the metal is thought to accumulate on the edge of the molten steel ladle 9, so the slag fall position may become farther from directly below the molten steel ladle 9 by at least the height of the metal. In contrast, the selection criterion may be set so that as the discharge start angle increases, the position of the slag scooping trolley 3 corresponding to the same tilt angle becomes farther from directly below the molten steel ladle 9. For example, the selection criteria are set so that when the exit angle is a first angle, a first control profile is selected from the multiple displacement control profiles, and when the exit angle is a second angle larger than the first angle, a second control profile is selected from the multiple displacement control profiles. In the second control profile, the position of the slag scoop cart 3 corresponding to a third angle larger than the first and second angles is farther from directly below the molten steel ladle 9 than the position of the slag scoop cart 3 corresponding to the third angle in the first control profile.

As an example, as shown in FIG. 4, the selection criteria determine the displacement control profile to be selected for each of multiple stages of the start of discharge angle range. Each start of discharge angle range is associated with a displacement control profile that can keep the slag fall position within the receiving ladle 8 even if the tilt angle of the molten steel ladle 9 changes when the slag starts to come out at a tilt angle that belongs to that start of discharge angle range. For example, in each displacement control profile, the position of the slag removal trolley 3 corresponding to the same tilt angle becomes farther from directly below the molten steel ladle 9 as the median value of the corresponding start of discharge angle range increases.

The tilt control unit 112 tilts the molten steel ladle 9 using the tilting device 2 based on the tilting control profile. As described above, when the tilting control profile includes multiple target tilting angles, the tilting control unit 112 tilts the molten steel ladle 9 at a predetermined angular velocity using the tilting device 2 so that the molten steel ladle 9 is tilted sequentially to the multiple target tilting angles. When the tilting control profile includes multiple stop times, the tilting control unit 112 tilts the molten steel ladle 9 using the tilting device 2 while temporarily pausing the tilting of the molten steel ladle 9 at each target tilting angle.

The start detection unit 113 detects the start of slag coming out from the molten steel ladle 9 after the tilt control unit 112 starts tilting the molten steel ladle 9. For example, the start detection unit 113 detects the start of slag coming out from the molten steel ladle 9 based on an image captured by the surveillance camera 4. As an example, the start detection unit 113 detects the start of slag coming out based on an increase in brightness of the image captured by the surveillance camera 4. More specifically, the start detection unit 113 detects the start of slag coming out when the brightness of the image captured by the surveillance camera 4 exceeds a predetermined threshold.

The profile selection unit 114 selects a first control profile from among the multiple tilt control profiles when the tilt angle at which slag begins to come out of the molten steel ladle 9 is a first angle, and selects a second control profile from among the multiple tilt control profiles when the tilt angle at which slag begins to come out of the molten steel ladle 9 is a second angle that is greater than the first angle.

For example, the profile selection unit 114 selects one of the multiple displacement control profiles based on the tilt angle (hereinafter referred to as the "detected outflow start angle value") when the start detection unit 113 detects the start of slag outflow from the molten steel ladle 9. As an example, the profile selection unit 114 selects one of the multiple displacement control profiles based on the above selection criteria stored in the profile storage unit 111 and the detected outflow start angle value. More specifically, the profile selection unit 114 selects a displacement control profile associated with the range of outflow start angles to which the detected outflow start angle value belongs in the above selection criteria.

In this example, the second angle belongs to a higher exit start angle range (larger exit start angle) than the exit start angle range to which the first angle belongs. Therefore, the second control profile selected by the profile selection unit 114 when the exit start angle detection value is the second angle has a position of the slag scoop cart 3 that corresponds to the same tilt angle farther from directly below the molten steel ladle 9 than the first control profile selected by the profile selection unit 114 when the exit start angle detection value is the first angle.

The displacement control unit 115 displaces the slag scoop cart 3 in response to the tilting of the molten steel ladle 9 based on the displacement control profile selected by the profile selection unit 114. As described above, when the displacement control profile includes multiple target positions corresponding to multiple target tilting angles, the displacement control unit 115 displaces the slag scoop cart 3 at a predetermined speed to a target position corresponding to the target tilting angle in synchronization with the tilting control unit 112 tilting the molten steel ladle 9 to the target tilting angle. When the tilting control profile includes multiple stop times, the displacement control unit 115 displaces the slag scoop cart 3 while temporarily pausing it at each target position.

Figure 5 is a block diagram illustrating an example of the hardware configuration of the control device 100. As shown in Figure 5, the control device 100 is composed of one or more control computers. For example, the control device 100 has a circuit 190. The circuit 190 has one or more processors 191, a memory 192, a storage 193, and an input/output port 194. The storage 193 has a storage medium readable by a computer, such as a hard disk. The storage medium may be a removable medium such as a non-volatile semiconductor memory, a magnetic disk, or an optical disk. The storage 193 stores a program for causing the control device 100 to execute the following: storing a plurality of control profiles each representing the relationship between the tilt angle of the molten steel ladle 9 by the tilting device 2 and the position of the slag cart 3, the plurality of control profiles including at least a first control profile and a second control profile in which the relationship between the tilt angle of the molten steel ladle 9 and the position of the slag cart 3 is different from the first control profile; selecting the first control profile from the plurality of control profiles when the tilt angle at which slag begins to come out of the molten steel ladle 9 is a first angle; selecting the second control profile from the plurality of control profiles when the tilt angle at which slag begins to come out of the molten steel ladle 9 is a second angle larger than the first angle; and displacing the slag cart 3 in response to the change in the tilt angle of the molten steel ladle 9 based on the selected control profile. For example, the storage 193 stores a program for causing the control device 100 to configure each of the above-mentioned functional blocks.

The memory 192 temporarily stores the programs loaded from the storage 193 and the results of calculations performed by the processor 191. The processor 191 configures each functional block of the control device 100 by executing the above programs in cooperation with the memory 192. The input/output port 194 inputs and outputs electrical signals between the tilting device 2, the slag removal trolley 3, and the monitoring camera 4 in accordance with instructions from the processor 191. Note that the control device 100 is not necessarily limited to one in which each functional block is configured by a program. For example, each functional block of the control device 100 may be configured by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) that integrates the logic circuit.

[Control Procedure]
Next, as an example of a control method, a control procedure executed by the control device 100 will be illustrated. This procedure includes storing a plurality of control profiles each representing a relationship between the tilt angle of the ladle 9 by the tilting device 2 and the position of the slag cart 3, the plurality of control profiles including at least a first control profile and a second control profile having a relationship between the tilt angle of the molten steel ladle 9 and the position of the slag cart 3 different from the first control profile, selecting the first control profile from the plurality of control profiles when the tilt angle at which slag starts to come out of the molten steel ladle 9 is a first angle, and selecting the second control profile from the plurality of control profiles when the tilt angle at which slag starts to come out of the molten steel ladle 9 is a second angle larger than the first angle, and displacing the slag cart 3 in response to a change in the tilt angle of the molten steel ladle 9 based on the selected control profile.

As shown in FIG. 6, the control device 100 first executes steps S01, S02, S03, S04, and S05. In step S01, the displacement control unit 115 places the slag removal cart 3 in an initial position. The initial position is determined in advance so that the fall position of the slag that starts to come out of the molten steel ladle 9 falls within the receiving ladle 8, regardless of the value of the above-mentioned discharge start angle. In step S02, the tilting control unit 112 starts tilting the molten steel ladle 9 by the tilting device 2 based on the tilting control profile.

In step S03, the start detection unit 113 acquires information on the tilt angle of the molten steel ladle 9 by the tilting device 2 from the tilting control unit 112. In step S04, the start detection unit 113 acquires an image captured by the monitoring camera 4. In step S05, the start detection unit 113 checks whether slag has started to come out of the molten steel ladle 9 based on the image captured by the monitoring camera 4.

If it is determined in step S05 that slag has not started to come out of the molten steel ladle 9, the control device 100 returns the process to step S03. After that, until slag starts to come out of the molten steel ladle 9, the control device 100 repeatedly acquires information on the tilt angle and images captured by the monitoring camera 4, and checks whether slag has started to come out of the molten steel ladle 9.

If it is determined in step S05 that slag has started to come out of the molten steel ladle 9, the control device 100 executes step S06. In step S06, the profile selection unit 114 selects one of the multiple displacement control profiles based on the above selection criteria and the above-mentioned outflow start angle detection value. For example, the profile selection unit 114 selects one of the multiple displacement control profiles based on the latest tilt angle acquired by the start detection unit 113 and the above-mentioned selection criteria stored in the profile memory unit 111. Hereinafter, the selected displacement control profile will be simply referred to as the "displacement control profile."

Next, the control device 100 executes steps S11, S12, S13, S14, and S15 as shown in FIG. 7. In step S11, the displacement control unit 115 starts the displacement of the slag scoop cart 3 according to the displacement control profile. In step S12, the tilt control unit 112 waits for the tilt angle of the molten steel ladle 9 to reach the first target tilt angle of the tilt control profile, and the displacement control unit 115 waits for the position of the slag scoop cart 3 to reach the first target position of the displacement control profile.

In step S13, the tilt control unit 112 stops the tilting of the molten steel ladle 9 by the tilting device 2, and the displacement control unit 115 stops the displacement of the slag removal cart 3. In step S14, the tilt control unit 112 and the displacement control unit 115 wait for the elapse of a stop time corresponding to the target tilt angle. In step S15, it is confirmed whether the tilt angle of the molten steel ladle 9 has reached the final target tilt angle in the tilt control profile.

If it is determined in step S15 that the tilt angle of the molten steel ladle 9 has not reached the final target tilt angle, the control device 100 executes step S16. In step S16, the tilt control unit 112 tilts the molten steel ladle 9 at a predetermined angular velocity by the tilting device 2 to the next target tilt angle, and the displacement control unit 115 displaces the slag scoop cart 3 at a predetermined velocity to the next target position. The control device 100 then returns the process to step S14. Thereafter, the tilt control unit 112 tilts the molten steel ladle 9 by the tilting device 2 while temporarily suspending the tilt of the molten steel ladle 9 at each target tilt angle until the tilt angle of the molten steel ladle 9 reaches the final target tilt angle, and the displacement control unit 115 displaces the slag scoop cart 3 while temporarily suspending it at each target position.

If it is determined in step S15 that the tilt angle of the molten steel ladle 9 has reached the final target tilt angle, the control procedure for the tilt device 2 and the slag removal trolley 3 is completed.

[Effects of this embodiment]
As described above, the control device 100 includes a profile memory unit 111 that stores a plurality of control profiles, each of which represents the relationship between the tilting angle of the molten steel ladle 9 by the tilting device 2 and the position of the slag cart 3, including at least a first control profile and a second control profile in which the relationship between the tilting angle of the molten steel ladle 9 and the position of the slag cart 3 is different from the first control profile; a profile selection unit 114 that selects a first control profile from the plurality of control profiles when the tilting angle at which slag begins to come out of the molten steel ladle 9 is a first angle, and selects a second control profile from the plurality of control profiles when the tilting angle at which slag begins to come out of the molten steel ladle 9 is a second angle greater than the first angle; and a displacement control unit 115 that displaces the slag cart 3 in accordance with the tilting of the molten steel ladle based on the control profile selected by the profile selection unit 114.

The tilting device 2 gradually increases the tilting angle of the molten steel ladle 9 so as to gradually discharge the slag in the molten steel ladle 9. The position at which the slag falls from the molten steel ladle 9 changes mainly depending on the tilting angle of the molten steel ladle 9. Therefore, by displacing the slag removal cart 3 in accordance with the change in the tilting angle of the molten steel ladle 9, the slag that has fallen from the molten steel ladle 9 can be continuously collected in the receiving ladle 8.

Because metal accumulates on the edge of the ladle 9, the tilt angle of the ladle 9 at which the slag begins to come out (hereinafter referred to as the "start-of-draining angle") changes depending on the height of the accumulated metal. The relationship between the tilt angle of the ladle 9 and the position at which the slag falls also changes depending on the start-of-draining angle.

In response to this, the control device 100 selects a first control profile when the discharge start angle is a first angle. When the discharge start angle is a second angle, it selects a second control profile in which the relationship between the tilt angle of the molten steel ladle 9 and the position of the slag scoop cart 3 is different from the first control profile. Then, it displaces the slag scoop cart 3 according to the selected control profile. Therefore, the relationship between the tilt of the molten steel ladle 9 and the displacement of the slag scoop cart 3 is adjusted in accordance with the change in the relationship between the tilt angle of the molten steel ladle 9 and the slag fall position depending on the discharge start angle. This is therefore effective in reducing the number of people required to adjust the position of the slag scoop cart 3.

For example, when the discharge start angle is the second angle, the slag fall position for the same tilt angle may be farther from directly below the molten steel ladle 9 than when the discharge start angle is the first angle. Therefore, in the second control profile, the position of the slag scoop cart 3 corresponding to a third angle greater than the first and second angles may be farther from directly below the molten steel ladle 9 than the position of the slag scoop cart 3 corresponding to the third angle in the first control profile.

Regardless of whether or not there is accumulated ingot, after slag begins to appear, the position where the slag falls tends to approach directly below the molten steel ladle 9 as the tilt angle of the molten steel ladle 9 increases. Therefore, in each of the first control profile and the second control profile, the position of the slag removal trolley 3 may approach directly below the molten steel ladle 9 as the angle of the molten steel ladle 9 increases.

For example, in FIG. 8(a), when the tilt angle of the molten steel ladle 9 reaches angle θ1 (first angle), slag 91 begins to come out of the molten steel ladle 9 and falls to drop position P1. The initial position of the slag removal cart 3 is arranged so that the receiving ladle 8 is located close to directly below drop position P1, so drop position P1 is within the receiving ladle 8.

In (b) of FIG. 8, the tilt angle of the molten steel ladle 9 increases from angle θ1 to angle θ2, and the falling position of the slag 91 shifts from falling position P1 to falling position P2 in a direction approaching directly below the tilt axis 11 (hereinafter referred to as the "reference position") P0. In this case, the control device 100 displaces the slag removal cart 3 based on the first control profile as the tilt angle of the molten steel ladle 9 increases from angle θ1 to angle θ2. As a result, the falling position P2 falls within the receiving ladle 8.

In FIG. 9A, the slag 91 is held back by the metal M1 accumulated on the edge of the ladle 9, and does not begin to come out even when the tilt angle of the ladle 9 reaches angle θ1. As shown in FIG. 9B, the slag 91 held back by the metal M1 begins to come out of the ladle 9 when the ladle 9 is further tilted to angle θ11 (second angle), and falls to drop position P11. Although a difference occurs between drop position P11 and drop position P1 due to the influence of the metal M1, this difference is relatively small, so that drop position P11 is within the receiving ladle 8 even if the slag removal cart 3 is positioned in the same initial position as in FIG. 8A.

In FIG. 10(a), the tilt angle of the molten steel ladle 9 increases from angle θ11 to angle θ2, and the falling position of the slag 91 shifts from falling position P11 to falling position P21 in a direction approaching directly below the tilt axis 11 (hereinafter referred to as the "reference position") P0. Fall position P21 is farther from the reference position P0 than fall position P2. For this reason, if the control device 100 displaces the slag removal cart 3 based on the first control profile, as shown in FIG. 10(a), the falling position P21 may be significantly deviated from the center of the receiving ladle 8 and may not fit within the receiving ladle 8.

In response to this, the control device 100 displaces the slag cart 3 as the tilt angle of the molten steel ladle 9 increases from angle θ11 to angle θ2 based on the second control profile in which the position of the slag cart 3 corresponding to the same tilt angle is farther from directly below the molten steel ladle 9 than in the first control profile. As a result, the drop position P21 falls within the receiving ladle 8, as shown in FIG. 10(b).

The control device 100 further includes a start detection unit 113 that detects when slag starts to come out from the molten steel ladle 9, and the profile selection unit 114 may select one of a plurality of control profiles based on the tilt angle when the start detection unit 113 detects when slag starts to come out from the molten steel ladle 9. In this case, the control profile is changed in real time based on the actual start angle of the slag, so that the position of the slag removal trolley 3 can be adjusted more appropriately.

The start detection unit 113 may detect when slag starts to come out of the molten steel ladle 9 based on an image captured by the monitoring camera 4. In this case, the monitoring camera 4 can be effectively used to detect the angle at which slag starts to come out, simplifying the system configuration.

The start detection unit 113 may detect the beginning of slag production based on an increase in brightness of the image captured by the surveillance camera 4. In this case, the beginning of slag production can be detected with high reliability by simple image processing.

Although the embodiments have been described above, the present disclosure is not necessarily limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present disclosure.

1...slag removal system, 2...tilting device, 3...slag removal trolley, 4...surveillance camera, 9...molten steel ladle, 100...control device, 111...profile storage unit, 113...start detection unit, 114...profile selection unit, 115...displacement control unit.

Claims (7)

a profile storage unit that stores a plurality of control profiles each representing a relationship between a tilt angle of the molten steel ladle by the tilting device and a position of a slag cart, the plurality of control profiles including at least a first control profile and a second control profile in which the relationship between the tilt angle of the molten steel ladle and the position of the slag cart is different from that of the first control profile;
a profile selection unit that selects the first control profile from the plurality of control profiles when a tilt angle at which slag starts to come out of the molten steel ladle is a first angle, and selects the second control profile from the plurality of control profiles when a tilt angle at which slag starts to come out of the molten steel ladle is a second angle larger than the first angle;
a displacement control unit that displaces the slag removal cart in response to the tilting of the molten steel ladle based on the control profile selected by the profile selection unit ,
A control device, in the second control profile, a position of the slag scoop cart corresponding to a third angle greater than the first angle and the second angle is farther from directly below the molten steel ladle than a position of the slag scoop cart corresponding to the third angle in the first control profile . The control device according to claim 1, wherein in each of the first control profile and the second control profile, as the angle of the ladle increases, the position of the slag scavengers approaches directly below the ladle. The method further includes a start detection unit that detects the start of slag discharge from the molten steel ladle,
3. The control device according to claim 1, wherein the profile selection unit selects one of the plurality of control profiles based on a tilt angle at which the start detection unit detects the start of slag discharge from the molten steel ladle. 4. The control device according to claim 3 , wherein the start detection unit detects the start of slag discharge from the molten steel ladle based on an image captured by a monitoring camera. The control device according to claim 4 , wherein the start detection unit detects the start of dregs production based on an increase in brightness of the image captured by the monitoring camera. A control device according to any one of claims 1 to 5 ;
The tilt device;
A slag disposal system comprising the slag disposal cart. storing a plurality of control profiles each representing a relationship between a tilt angle of the molten steel ladle and a position of a slag cart, the plurality of control profiles including at least a first control profile and a second control profile having a relationship between the tilt angle of the molten steel ladle and the position of the slag cart different from that of the first control profile;
tilting the molten steel ladle containing the slag by a tilting device;
selecting a first control profile from the plurality of control profiles when the tilt angle of the molten steel ladle when slag begins to be discharged is a first angle, and selecting the second control profile from the plurality of control profiles when the tilt angle of the molten steel ladle when slag begins to be discharged is a second angle larger than the first angle;
and displacing the tailings cart according to a control profile ;
a position of the slag scoop cart corresponding to a third angle greater than the first angle and the second angle in the second control profile is farther from directly below the molten steel ladle than a position of the slag scoop cart corresponding to the third angle in the first control profile .

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