Method for detecting slag line in real time in automatic tapping process of converter

Abstract

The invention relates to a method for detecting a slag line in real time in the automatic tapping process of a converter. The method comprises the following steps: step 1, preparation work; 2, judging whether the position of the second camera is changed or not; judging the coordinate and the position of the point under the condition of 0 DEG C of the converter; (3) judging whether the angle of the converter reaches an observable angle; (4) positioning the position of an inner furnace mouth which needs to be combined with a model of the converter and manually calibrating and Line1; (5) dynamically detecting the position Line2 of an outer furnace mouth; (6) positioning the position Line3 of a slag line and dynamically detecting the position of the slag line; and step 8, determining the tilting angle of the converter according to the position P in combination with the tilting model: Qangle = G (P, Angle). According to the technical scheme, the tilting information of the converter is provided by feeding back the position of the slag liquid level in real time, so that rapid and efficient tapping is achieved.

Description

Technical Field

[0001] The invention relates to a detection method, in particular to a method for real-time detection of a slag line in a converter automatic steel tapping process, and belongs to the technical field of automatic steel tapping control. Background Art

[0002] The automatic steel-tapping system calculates the initial and end angles of steel-tapping based on the converter loading amount, the amount of auxiliary materials added, and other information combined with the converter lining conditions, and then obtains the steel-tapping planning curve based on historical steel-tapping data. Before steel-tapping, the amount and timing of alloy addition are calculated according to the requirements of different steel grades.

[0003] In the actual steel-making process, in order to reduce the steel-making time and improve the steel-making efficiency, it is necessary to ensure the best molten steel level, that is, the slag liquid level needs to be kept at the best position to maximize the static pressure during the steel-making process. The traditional method is to manually observe and control the furnace by the shaking worker, but manual control is easily affected by the on-site conditions and the operator's level, thus affecting the final molten steel quality and steel-making efficiency. Therefore, a new solution is urgently needed to solve the above technical problems. Summary of the invention

[0004] The present invention aims at the problems existing in the prior art and provides a method for real-time detection of slag line during automatic steel tapping of a converter. The technical solution provides the tilting information of the converter by real-time feedback of the position of the slag liquid level, thereby achieving fast and efficient steel tapping.

[0005] In order to achieve the above object, the technical solution of the present invention is as follows: a method for real-time detection of slag line during automatic steel tapping of a converter, the method comprising the following steps:

[0006] Step 1: Preparation;

[0007] Step 2: Determine whether the position of the second camera has changed; that is, determine the coordinates and position of the point when the converter is 0 degrees;

[0008] Step 3: Determine whether the converter angle has reached an observable angle:

[0009] StartAngle: = [Angle1 ~ Angle2] Formula 1

[0010] In formula 1:

[0011] Angle1: Enter the starting area with a lower slope of the tilt curve; Angle1: = -82°

[0012] Angle2: The end angle of steel tapping (the currently observable angle is -103°)

[0013] Step 4: Locate the inner furnace mouth position. It is necessary to combine the converter model and manually calibrate Line 1.

[0014] The position of Line 1 is calibrated after the first furnace repair, and then adjusted according to the furnace age F (Angle);

[0015] Assume: the first furnace repair position L0, the maximum furnace age Amax, the current furnace age A0, the offset distance D_L, the current converter angle Angle,

[0016] Maximum offset distance Lmax:

[0017] D_L=A0 / Amax*Lmax*F(Angle); Formula 2

[0018] In formula 2:

[0019] D_L:

[0020] A0: Current furnace age

[0021] Amax: Maximum furnace age

[0022] Lmax: Maximum offset distance

[0023] Angle: Current converter angle

[0024] Step 5: Dynamically detect the outer furnace mouth position Line 2, as follows:

[0025] 51) Each furnace is based on the outer contour of the furnace opening of camera 1 at -80°;

[0026] 52) Find the outer furnace mouth line near the furnace mouth platform camera 1 -80°; map the corresponding furnace mouth line line2 to the side camera 2 through affine transformation;

[0027] Step 6: Locate the slag line position Line3 and dynamically detect the position of the slag line.

[0028] Step 7: Calculate the relative position P between the slag line and the inner furnace mouth, 5 scales, including outer Line 1 and Line 3;

[0029] Step 8: Through this position P, combined with our tilting model, determine the tilting angle of the converter:

[0030] Qangle=G(P,Angle). Formula 3

[0031] In formula three:

[0032] Qangle: converter tilting angle

[0033] P: The relative position of the slag line and the inner furnace mouth

[0034] Angle: Current converter angle

[0035] G: Function

[0036] Beneficial effects of this method:

[0037] Compared with the prior art, the present invention has the following advantages: the technical solution provides the tilting information of the converter by real-time feedback of the position of the slag liquid level, improves the efficiency of the converter automatic steel tapping, improves the safety of automatic steel tapping, avoids the unstable control of the slag line during the automatic steel tapping process, causes serious slag in the converter, and high oxidation of the molten steel, and provides a strong technical guarantee for subsequent process treatment. The present invention reduces the abnormal slag caused by the unstable control of the slag line of the converter automatic steel tapping to 1.1% during the test period, saves production materials for deoxidation in the next process, and reduces the automatic steel tapping time from the original 6.6 minutes to 6.0 minutes, thereby improving the steel tapping speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall process of the present invention. DETAILED DESCRIPTION

[0039] In order to deepen the understanding of the present invention, the present embodiment is described in detail below with reference to the accompanying drawings.

[0040] Example 1: See Figure 1 , a method for real-time detection of slag line during automatic steel tapping of a converter, the method comprising the following steps:

[0041] Step 1: Preparation;

[0042] Specific implementation: After receiving the "steel tapping start" signal from converter L1, the system detects whether the system is in the "preparation work" state. "Preparation work" includes image detection and furnace mouth contour calibration.

[0043] Step 2: Determine whether the position of the second camera has changed; that is, determine the coordinates and position of the point when the converter is 0 degrees;

[0044] Specific implementation: Camera 2 is installed on the side of the fire wall to ensure that the position of Camera 2 cannot change, and to ensure the coordinates and position of this point when the converter is at 0 degrees.

[0045] Step 3: Determine whether the converter angle has reached the observable angle: StartAngle: = [Angle1 ~ Angle2]

[0046] Angle1: Enter the starting area with a lower slope of the tilt curve; Angle1: = -82°

[0047] Angle2: The end angle of steel tapping (the currently observable angle is -103°)

[0048] Specific implementation: The converter observable angle StartAngle is calculated according to the starting area Angle1 where the slope of the tilting curve is relatively low in the historical steel-making planning curve and the steel-making end angle Angle2.

[0049] Step 4: Locate the inner furnace mouth position, which needs to be manually calibrated in combination with the converter model, Line 1.

[0050] Specific implementation: The position of Line 1 is calibrated after the first furnace repair, and then adjusted according to the furnace age F (Angle); suppose: the first furnace repair position L0, the maximum furnace age Amax, the current furnace age A0, the offset distance D_L, the current

[0051] Converter angle Angle, maximum offset distance Lmax:

[0052] D_L=A0 / Amax*Lmax*F(Angle);

[0053] Step 5: Dynamic detection of the outer furnace mouth position Line 2

[0054] Specific implementation:

[0055] 1) Each furnace is based on the outer contour of the furnace opening of camera 1 at -80°;

[0056] 2) Find the outer furnace mouth line near the furnace mouth platform camera 1 -80°; transform the corresponding furnace mouth line line2 through affine transformation.

[0057] Camera 2 mapped to the side;

[0058] Step 6: Locate the slag line position Line3 and dynamically detect the position of the slag line;

[0059] Specific implementation: Locate the slag line position Line3 according to step 3, step 4, and step 5, and perform dynamic real-time detection at the slag line position Line3.

[0060] Step 7: Calculate the relative position P between the slag line and the inner furnace mouth, 5 scales, including outer Line 1 and Line 3;

[0061] Specific implementation: According to the inner furnace mouth position Line1 obtained in step 4 and the slag line position Line3 obtained in step 6, the relative position P between the slag line and the inner furnace mouth is calculated.

[0062] Step 8: Through this position P, combined with our tilting model, determine the tilting angle of the converter:

[0063] Qangle=G(P,Angle).

[0064] It should be noted that the above embodiments are not intended to limit the protection scope of the present invention, and equivalent changes or substitutions made on the basis of the above technical solutions all fall within the protection scope of the claims of the present invention.

Claims

1. A method for real-time detection of slag line during automatic steel tapping of a converter, characterized in that: The method comprises the following steps: Step 1: Preparation; Step 2: Determine whether the position of the second camera has changed; that is, determine the coordinates and position of the point when the converter is 0 degrees; Step 3: Determine whether the converter angle has reached an observable angle: Step 4: Locate the inner furnace mouth position. It is necessary to combine the converter model and manually calibrate Line 1. Step 5: Dynamically detect the outer furnace mouth position Line2, Step 6: Locate the slag line position Line3 and dynamically detect the position of the slag line. Step 7: Calculate the relative position P between the slag line and the inner furnace mouth, 5 scales, including outer Line 1 and Line 3; Step 8: Through this position P, combined with our tilting model, determine the tilting angle of the converter: Qangle=G(P,Angle), Formula 3 In formula three: Qangle: converter tilting angle P: The relative position of the slag line and the inner furnace mouth Angle: Current converter angle G: Function.

2. The method for real-time detection of slag line during automatic steel tapping of converter according to claim 1, characterized in that: Step 1: Preparation, as follows 11) Prepare two cameras, one of which is installed on the platform behind the furnace, namely Camera 1, and the other is installed on the side of the fire wall, namely Camera 2; 12) Converter control angle range: -80°~-103°.

3. The method for real-time detection of slag line during automatic steel tapping of converter according to claim 2, characterized in that: The step 3: judging whether the converter angle has reached an observable angle is as follows: StartAngle: = [Angle1 ~ Angle2] Formula 1 In formula 1: Angle1: Enter the starting area with a lower slope of the tilt curve; Angle1: = -82° Angle2: The end angle of steel tapping (the currently observable angle is -103°).

4. The method for real-time detection of slag line during automatic steel tapping of converter according to claim 3, characterized in that: The step 4: locating the inner furnace mouth position needs to be manually calibrated in combination with the converter model, Line 1, as follows: The position of Line 1 is calibrated after the first furnace repair, and then adjusted according to the furnace age F (Angle); set up :First furnace repair position L0, maximum furnace age Amax, current furnace age A0, offset distance D_L, current converter angle Angle, Maximum offset distance Lmax: D_L=A0 / Amax*Lmax*F(Angle); Formula 2 In formula 2: D_L: A0: current furnace age; Amax: maximum furnace age; Lmax: maximum offset distance; Angle: Current converter angle.

5. The method for real-time detection of slag line during automatic steel tapping of converter according to claim 3 or 4, characterized in that: Step 5: Dynamically detect the outer furnace mouth position Line 2, as follows: 51) Each furnace is based on the outer contour of the furnace opening of camera 1 at -80°; 52) Find the outer furnace mouth line near the furnace mouth platform camera 1-80°; map the corresponding furnace mouth line line2 to the side camera 2 through affine transformation to provide data for the subsequent calculation of the relative position P.

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