Hot blast furnace installation space precision positioning method, device and electronic equipment

Abstract

The present invention discloses a method, device, and electronic device for accurately locating the installation space of a hot blast furnace. The method comprises: determining whether each of the ring belts meets a preset in-band accuracy condition based on the coordinate data of the upper and lower belt openings of each ring belt of the hot blast furnace; if so, dividing the first and second belt openings into equal angles along the circumferential direction, using the lower belt opening of the upper ring belt as the first belt opening and the upper belt opening of the lower ring belt as the second belt opening, and obtaining a first point sequence and a second point sequence by performing matching processing on the first and second point sequences. This method can effectively improve the matching degree between adjacent ring belts, thereby facilitating precise positioning of the hot blast furnace installation space.

Description

Technical Field

[0001] The present invention relates to the field of smelting technology, and in particular to a method, device and electronic equipment for accurately positioning the installation space of a hot blast furnace. Background Art

[0002] Hot blast furnaces are one of the main supporting equipment for blast furnaces in iron and steel plants. Generally, one blast furnace is equipped with 3 to 4 hot blast furnaces. The function of the hot blast furnace is to continuously provide the blast furnace with high-temperature hot air over 1000 degrees. The air temperature of advanced modern hot blast furnaces can reach 1300 degrees.

[0003] Ironmaking hot blast furnaces are typically over a hundred meters tall. During installation, the entire furnace is divided from bottom to top into multiple rings. After offline fabrication, assembly, and welding, a ring-shaped steel plate is formed. The individual rings are then stacked one after another to form a hundred-meter-high hot blast furnace. Therefore, achieving precise positioning within the hot blast furnace's installation space becomes a critical issue affecting its commissioning. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, device and electronic equipment for accurately positioning the installation space of a hot blast stove, which can effectively improve the matching degree between adjacent ring belts, thereby facilitating the precise positioning of the installation space of the hot blast stove.

[0005] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a method for accurately positioning a hot blast furnace installation space, wherein the hot blast furnace includes a plurality of annular belts stacked in sequence, and the method includes:

[0007] Obtaining coordinate data of the upper and lower belt openings of each annular belt of the hot blast stove;

[0008] Based on the coordinate data, determine whether each ring band meets the preset intra-band accuracy conditions. If so, use the lower band opening of the upper ring band as the first band opening and the upper band opening of the lower ring band as the second band opening in each adjacent two ring bands, and perform the following ring band matching steps:

[0009] The first belt opening and the second belt opening are divided into equal angles along the circumferential direction, and the coordinate data of the first belt opening are interpolated to obtain the coordinates of each division point in the first belt opening to form a first point sequence. The coordinate data of the second belt opening are interpolated to obtain the coordinates of each division point in the second belt opening to form a second point sequence.

[0010] The first point sequence and the second point sequence are matched to determine an assembly angle between the first belt opening and the second belt opening, where the assembly angle is used to control the installation space precision positioning between the multiple endless belts.

[0011] Furthermore, after performing the annular zone matching step, the method further includes:

[0012] Based on the assembly angle, pre-assembly processing is performed on the plurality of endless belts to obtain a pre-assembled hot blast stove model;

[0013] The lower belt opening of the lowest ring belt in the pre-assembled hot blast furnace model is used as the reference belt opening, and the center point of the reference belt opening is used as the reference point to establish a vertical line to the earth;

[0014] Obtain the distances between the center points of the other belt openings, except the reference belt opening, and the vertical line of the earth to obtain the center offsets of the other belt openings. If the cumulative sum of the center offsets of the other belt openings is less than a preset offset threshold, it is determined that the posture of the pre-assembled hot blast furnace model meets the preset upright posture condition.

[0015] Furthermore, matching the first point sequence with the second point sequence to determine the assembly angle between the first belt opening and the second belt opening includes:

[0016] Sequentially pairing the i-th point in the first point sequence with the i+k-th point in the second point sequence as reference matching points, and after each pairing, obtaining the cumulative deviation of all reference matching points, where i is an integer from 1 to n, and k is an integer from 0 to n-1;

[0017] The accumulated deviations obtained from each pairing are compared, and the pairing relationship with the smallest accumulated deviation is taken as a target pairing relationship. Based on the target pairing relationship and the segmentation angle, the assembly angle between the first belt opening and the second belt opening is obtained.

[0018] Furthermore, before taking the pairing relationship with the smallest cumulative deviation as the target pairing relationship, the method further includes:

[0019] Determine whether the minimum cumulative deviation exceeds a preset deviation threshold. If so, determine that the corresponding two adjacent ring belts do not meet the preset inter-belt matching conditions. If not, execute the step of taking the pairing relationship with the minimum cumulative deviation as the target pairing relationship, and based on the target pairing relationship and the segmentation angle, obtain the assembly angle of the first belt opening and the second belt opening.

[0020] Furthermore, the in-band accuracy condition includes a first accuracy sub-condition, and judging whether each ring zone satisfies a preset in-band accuracy condition based on the coordinate data includes:

[0021] For each annular belt, plane fitting processing is performed on the upper and lower belt openings based on the coordinate data of the upper and lower belt openings to obtain the flatness of the upper and lower belt openings. If the flatness does not exceed a preset flatness threshold, it is determined that the flatness of the annular belt meets the first precision sub-condition.

[0022] Furthermore, the in-band accuracy condition further includes a second accuracy sub-condition, and the determining, based on the coordinate data, whether each ring zone satisfies the preset in-band accuracy condition further includes:

[0023] For each annular belt, a circle fitting analysis is performed on the upper and lower belt openings based on the coordinate data of the upper and lower belt openings to obtain the diameters and roundness results of the upper and lower belt openings. Based on the diameters and roundness results, it is determined whether the roundness deviation of the annular belt exceeds a first preset deviation threshold. If not, it is determined that the roundness of the annular belt meets the second precision sub-condition.

[0024] Furthermore, the in-band accuracy condition further includes a third accuracy sub-condition, and the determining, based on the coordinate data, whether each ring zone satisfies the preset in-band accuracy condition further includes:

[0025] For each annular belt, a line connecting the centers of the upper and lower belt openings is obtained as an annular belt attitude reference. Based on the annular belt attitude reference, a verticality analysis is performed on the fitting planes of the upper and lower belt openings. Based on the verticality analysis result, it is determined whether the verticality deviation of the annular belt exceeds a second preset deviation threshold. If not, it is determined that the verticality of the annular belt meets the third accuracy sub-condition.

[0026] Furthermore, the obtaining of the coordinate data of the upper and lower belt openings of each annular belt of the hot blast stove includes:

[0027] The coordinate data of the upper and lower belt openings of each ring belt are collected by a laser tracker, wherein the laser tracker is set at the center position of the ring belt, and the target ball matched with the laser tracker is set at the coordinate sampling position of the belt opening of each ring belt through a right-angle magnetic seat.

[0028] In a second aspect, an embodiment of the present application provides a device for accurately positioning the installation space of a hot blast furnace, wherein the hot blast furnace includes a plurality of annular belts stacked in sequence, and the device includes:

[0029] A data acquisition module is used to obtain the coordinate data of the upper and lower belt openings of each annular belt of the hot blast stove;

[0030] A judgment module, configured to judge whether each ring zone meets a preset in-zone accuracy condition based on the coordinate data;

[0031] The inter-band matching module is configured to, if each band satisfies the intra-band accuracy condition, use the lower band opening of the upper band as the first band opening and the upper band opening of the lower band as the second band opening in each of two adjacent bands, and perform the following band matching steps:

[0032] The first belt opening and the second belt opening are divided into equal angles along the circumferential direction, and the coordinate data of the first belt opening are interpolated to obtain the coordinates of each division point in the first belt opening to form a first point sequence. The coordinate data of the second belt opening are interpolated to obtain the coordinates of each division point in the second belt opening to form a second point sequence.

[0033] The first point sequence and the second point sequence are matched to determine an assembly angle between the first belt opening and the second belt opening, where the assembly angle is used to control the installation space precision positioning between the multiple endless belts.

[0034] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method for precise positioning of the hot blast furnace installation space described in the first aspect are implemented.

[0035] The hot blast furnace installation space precision positioning method, device and electronic equipment provided in the embodiments of the present application obtain the coordinate data of the upper and lower belt openings of each ring belt of the hot blast furnace, predict whether each ring belt of the hot blast furnace meets the intra-band precision conditions, and if so, perform inter-band matching on each group of adjacent ring belts and determine the inter-band assembly angle. Compared with simply using the roundness of the upper and lower belt openings of the ring belt, the concentricity of the upper and lower belt openings of the ring belt, and the average diameter of the upper and lower belt openings of the ring belt as spatial precision control indicators to perform installation space precision positioning, it can effectively improve the matching degree between adjacent ring belts, that is, improve the assembly precision between adjacent ring belts, make the adjacent ring belts more "harmonious", which is conducive to reducing the difficulty of welding and realizing precise positioning of the hot blast furnace installation space precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 A flowchart of a method for accurately positioning the installation space of a hot blast stove provided in the first aspect of the embodiment of the present application;

[0038] Figure 2 This is a schematic diagram of the station setting of the laser tracker in the embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of the target ball position setting in the embodiment of the present application;

[0040] Figure 4 This is a schematic diagram of the pre-assembly of the hot blast furnace in the embodiment of the present application;

[0041] Figure 5 A module block diagram of a hot blast furnace installation space precision positioning device provided in the second aspect of the embodiment of the present application;

[0042] Figure 6 A schematic structural diagram of an electronic device provided in the third aspect of an embodiment of the present application. DETAILED DESCRIPTION

[0043] The inventors encountered a challenge in their research: spatial precision positioning of the hot blast furnace installation. The inventors initially employed the following method for spatial precision positioning: ① Place shims evenly around the ground within the approximate target diameter range; ② Use a level to adjust the elevation of each shim to a uniform height; ③ Drop the belt; ④ Use a level to check the elevation of the upper belt opening to verify that it is at the same height; ⑤ Use a tape measure to measure the maximum diameter of the fixed-angle belt opening at 45° intervals, ultimately obtaining eight diameters. Compare the deviations to determine the belt opening roundness; ⑥ Measure the roundness of the lower belt opening using the same method; ⑦ Locate the center point of the lower opening (a point roughly the same distance from the belt opening edge) and the center point of the upper opening, attach a plumb bob, and compare the deviations of the lower opening center point to determine the concentricity of the upper and lower openings.

[0044] However, the inventors found in actual applications that the horizontal positioning accuracy of the level depends on the horizontal positioning accuracy of the instrument itself, the verticality of the staff grip posture and the earth, and the accuracy of the staff scale visually observed by the surveyor, that is, the instrument measurement system has a large error; the data analysis is a single dimension analysis and cannot achieve a global analysis. For example, the upper and lower center of the circle depends on multiple single-dimension radii, the estimated mean, and the implemented positioning result is an estimated value, which is not unique; the matching degree of adjacent ring bands is poor, which makes welding difficult; the plumb bob equipment has a problem of concentricity of the upper and lower ring mouths, and the error is large.

[0045] In this regard, the embodiments of the present application provide a method, device and electronic equipment for accurately positioning the installation space of a hot blast furnace, which can solve or partially solve the above-mentioned problems, and can effectively improve the matching degree between adjacent ring belts, thereby facilitating the precise positioning of the installation space of the hot blast furnace.

[0046] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] In this document, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. The spatial accuracy described herein refers to general concepts such as the assembly accuracy, geometric dimensions, running trajectory, and other three-dimensional distances and lengths of the equipment.

[0048] First, as Figure 1 As described above, the embodiment of the present application provides a method for accurately positioning the installation space of a hot blast stove, which method may at least include the following steps S101 to S104.

[0049] Step S101, obtaining coordinate data of the upper and lower belt openings of each annular belt of the hot blast stove.

[0050] During the installation process of the ironmaking hot blast furnace, the entire hot blast furnace is divided from bottom to top into multiple ring belts (referred to as ring belts in this article). After offline production, installation and welding, a ring-shaped steel plate is formed. The ring belts are then stacked one by one to form a hot blast furnace as high as 100 meters.

[0051] In an optional embodiment, a laser tracker can be used to collect coordinate data for the upper and lower edges of each annular belt, achieving micron-level positioning accuracy. The laser tracker is positioned at the center of the annular belt, and a target ball coupled with the laser tracker is positioned at the coordinate sampling position of each annular belt edge via a right-angle magnetic mount. Leveraging the laser tracker's built-in electronic level's ability to precisely measure the earth's level, a unified reference is established for any plane, eliminating the need for strict restrictions on the placement of the measured object during measurement.

[0052] It's understood that a laser tracker is a precision detection instrument that uses laser interferometry to accurately locate objects in space. The target sphere is a prism-shaped fixture that uses light reflection to reflect the laser light back to the laser tracker.

[0053] Specifically, if Figure 2 As shown, the hot blast furnace belt 100 can be placed on any plane. To ensure the integrity of all data, the center of the belt is located and the laser tracker 200 has a clear view of both the upper belt opening 101 and the lower belt opening 102 of the belt 100. Figure 3 As shown, the target ball 201 is set at the axial equal radius point of the belt mouth (taking the upper belt mouth 101 as an example) through a right-angle point-taking tool 202 such as a right-angle magnetic seat, and then the coordinates of these points are collected by the laser tracker 200, so as to obtain the coordinate data of the upper belt mouth 101 and the coordinate data of the lower belt mouth 102 in each ring belt 100 respectively.

[0054] Step S102 : Based on the coordinate data, it is determined whether each ring zone meets the preset in-zone accuracy condition.

[0055] In order to make the adjacent ring belts "fit" as closely as possible and maintain the overall upright posture of the hot blast furnace, for a single ring belt, the control indicators of the inner space accuracy of the belt may include: the flatness and roundness of the upper and lower belt openings of the single ring belt, and one or more combinations of the verticality of the upper and lower belt opening planes relative to the ring belt posture reference line.

[0056] Determining whether each ring zone meets the preset in-band accuracy condition is to determine whether the in-band spatial accuracy control index of the ring zone meets the preset in-band accuracy condition.

[0057] Specifically, in one optional embodiment, the intra-band spatial accuracy control indicator includes the flatness of the upper and lower belt edges of a single annular belt. Accordingly, the intra-band accuracy condition includes a first accuracy sub-condition for monitoring whether the flatness meets the required conditions. In this case, step S102 may include a belt edge flatness analysis process, specifically, for each annular belt, performing plane fitting processing on the upper and lower belt edges based on the coordinate data of the upper and lower belt edges, respectively, to obtain the flatness of the upper and lower belt edges. If the flatness does not exceed a preset flatness threshold, then the annular belt flatness is determined to meet the first accuracy sub-condition.

[0058] For example, the least squares method can be used to perform optimal plane fitting processing on the coordinates of all points on the upper belt mouth of the ring belt, and then the deviation analysis of the single point coordinates relative to the fitting plane is performed to obtain the maximum positive and negative deviations, thereby determining the flatness data of the upper belt mouth. The specific flatness analysis process can be found in the relevant technology and will not be described in detail here. Similarly, the flatness data of the lower belt mouth of the ring belt can be determined. According to the maximum tolerance of welding capacity, the flatness of the upper and lower belt mouths shall not be higher than 1mm. In other words, the above-mentioned preset flatness threshold can be set to 1mm. If the flatness is greater than or equal to 1mm, it is necessary to perform local processing on the position greater than or equal to 1mm, such as polishing. If the flatness is less than 1mm, it means that the flatness of the upper and lower belt mouths of the ring belt meets the accuracy requirements, that is, it meets the first accuracy sub-condition.

[0059] In an optional embodiment, the intra-band spatial accuracy control index also includes the roundness of the upper and lower belt openings of a single ring belt. Accordingly, the intra-band accuracy condition also includes a second accuracy sub-condition for monitoring whether the roundness meets the requirements. At this time, the above-mentioned step S102 can also include: a belt opening roundness analysis process, specifically, for each ring belt, based on the coordinate data of the upper and lower belt openings, a circle fitting analysis is performed on the upper and lower belt openings, to obtain the diameter and roundness results of the upper and lower belt openings, and based on the diameter and roundness results, it is judged whether the roundness deviation of the ring belt exceeds the first preset deviation threshold. If not, it is determined that the roundness of the ring belt meets the second accuracy sub-condition.

[0060] During specific implementation, the roundness analysis of the belt mouth can be performed after the flatness meets the precision requirements. The first preset tolerance threshold can be set based on actual experience and multiple tests, for example, it can be set to 1mm. For example, a circle fitting analysis can be performed on all the coordinates of the upper belt mouth of the annular belt to obtain the diameter and roundness results of the upper belt mouth. The specific roundness analysis process can be found in the relevant technology and will not be described in detail here. Similarly, the diameter and roundness results of the lower belt mouth of the annular belt can also be obtained. If the roundness tolerance is greater than or equal to 1mm, it is necessary to make local adjustments to the position greater than or equal to 1mm; if the roundness tolerance is less than 1mm, it means that the roundness of the belt mouth meets the precision requirements, that is, it meets the second precision sub-condition.

[0061] In an optional embodiment, the intra-band spatial accuracy control index further includes: the perpendicularity of the upper and lower belt opening planes relative to the annular belt attitude reference line. Accordingly, the intra-band accuracy condition further includes a third accuracy sub-condition for monitoring whether the perpendicularity meets the requirements. In this case, the above-mentioned step S102 may also include: an annular belt verticality analysis process, specifically, for each annular belt, obtaining a line connecting the centers of the upper and lower belt openings as the annular belt attitude reference, performing a verticality analysis on the fitting planes of the upper and lower belt openings based on the annular belt attitude reference, and judging based on the verticality analysis results whether the verticality deviation of the annular belt exceeds a second preset deviation threshold. If not, then judging that the verticality of the annular belt meets the third accuracy sub-condition.

[0062] During specific implementation, the verticality analysis of the annular belt can be performed after the roundness and flatness meet the accuracy requirements. For example, the verticality analysis results may include: the angle between the line connecting the centers of the upper and lower belt openings and the plane of the lower belt opening, and the angle between the line connecting the centers of the upper and lower belt openings and the plane of the upper belt opening. The second preset tolerance threshold can be set based on actual experience and multiple tests. For example, it can be set to 0.5mm / m. At this time, if the tolerance of the angle between the line connecting the centers of the upper and lower belt openings and the plane of the lower belt opening does not exceed 0.5mm / m, and the tolerance of the angle between the line connecting the centers of the upper and lower belt openings and the plane of the upper belt opening does not exceed 0.5mm / m, it means that the verticality of the annular belt meets the accuracy requirements, that is, it meets the third accuracy sub-condition. If the tolerance exceeds 0.5mm / m, it means that the annular belt still needs to adjust the belt opening posture.

[0063] It should be noted that the in-band accuracy condition may include any one of the first, second, and third accuracy sub-conditions, or a combination of multiple sub-conditions. When the in-band accuracy condition includes a combination of multiple sub-conditions, the band is considered to meet the in-band accuracy condition only if all of these sub-conditions are met. If any of these sub-conditions are not met, the band is considered to not meet the in-band accuracy condition.

[0064] If any band fails to meet the aforementioned in-band accuracy requirements, the process stops and an abnormality indication message is output. This abnormality indication message may include the band number and abnormality indicator, instructing relevant personnel to reprocess the abnormal band to eliminate the abnormality.

[0065] If each ring band meets the preset intra-band accuracy conditions, the single ring band has met the accuracy requirements, and the inter-band assembly angle positioning can be further performed to improve the matching degree between adjacent ring bands during the hot blast furnace installation process, thereby improving the installation accuracy and reducing the difficulty of welding. Specifically, the lower band opening of the upper ring band in each of the two adjacent ring bands can be used as the first band opening, and the upper band opening of the lower ring band can be used as the second band opening, and the ring band matching step can be performed to position the assembly angle between the ring bands. Among them, the upper ring band and the lower ring band are defined according to the positional relationship between the two adjacent ring bands after assembly. Among the two adjacent ring bands, the ring band relatively located above is the upper ring band, and the ring band located below is the lower ring band. It should be noted that if the lower ring band in the current two adjacent ring bands is not the ring band at the bottom layer, then the lower ring band will also be used as the upper ring band in the next group of adjacent ring bands for matching analysis between the group of adjacent ring bands.

[0066] The ring zone matching step may specifically include the following steps S103 and S104.

[0067] Step S103: Divide the first belt opening and the second belt opening at equal angles along the circumferential direction, and interpolate the coordinate data of the first belt opening to obtain the coordinates of each dividing point in the first belt opening to form a first point sequence; interpolate the coordinate data of the second belt opening to obtain the coordinates of each dividing point in the second belt opening to form a second point sequence.

[0068] In specific implementation, the number of divisions can be set according to the accuracy requirements of the actual application scenario. For example, the first belt opening can be divided into 1000 equal-angle divisions along the circumferential direction for each adjacent two ring belts. The coordinate data obtained in step S101 is interpolated using the interpolation method to obtain the coordinates of each division point, which are marked in turn to form the first point sequence S1: a1~a 1000 Similarly, obtain the coordinates of the 1000 equally divided points of the second belt opening and mark them in sequence to form the second point sequence S2: b1~b 1000 Then execute the following step S104.

[0069] Step S104 : matching the first point sequence with the second point sequence to determine the assembly angle between the first belt opening and the second belt opening. The assembly angle is used to control the installation space precision positioning between the multiple endless belts.

[0070] Specifically, the i-th point in the first point sequence and the i+k-th point in the second point sequence can be paired in sequence as reference matching points, and after each pairing, the cumulative deviation of all reference matching points can be obtained, where i is an integer from 1 to n, and k is an integer from 0 to n-1; then, the cumulative deviations obtained from each pairing are compared, and the pairing relationship with the smallest cumulative deviation is taken as the target pairing relationship, and based on the target pairing relationship and the segmentation angle, the assembly angle of the first belt opening and the second belt opening is obtained.

[0071] Still taking 1000 equal angle divisions as an example, that is, n = 1000, first take k = 0, and connect the a1 point and b1 point, a2 point and b2 point, a3 point and b3 point, ..., a1 point and b2 point, ..., a2 point and b3 point, ..., a2 point and b3 point, ..., a2 point and b2 ... 1000 Point and b 1000 The point pairs are reference matching points. Calculate the distance between each pair of reference matching points, that is, the deviation Δl between a single pair of points i , Δl i is an integer greater than or equal to 0. The deviations of all reference matching points are accumulated, that is, The cumulative deviation L1 for this pairing can be obtained. It should be noted that before calculating the distance between each pair of reference matching points, it is necessary to perform a spatial coordinate transformation on the coordinates of the points of the first belt opening, i.e., the coordinates of each point in the first point sequence, according to a preset rotation and translation matrix in order to pre-assemble the upper belt onto the lower belt. The preset rotation and translation matrix can be predetermined based on the initial coordinate system of the coordinates of the points of the first belt opening, the initial coordinate system of the coordinates of the points of the second belt opening, and the belt height.

[0072] Similarly, let k = 1, and connect the a1 point in the first point sequence S1 with the b2 point, a2 point with the b3 point, a3 point with the b4 point, ..., a 1000 The point is paired with the b1 point as the reference matching point, and the cumulative deviation L2 of this pairing is obtained. This is deduced in this way until k=999, and the a1 point in the first point sequence S1 is paired with the b1 point. 1000 point, a2 point and b1 point, a3 point and b2 point, ..., a 1000 Point and b 999 The point pairing is the reference matching point, and the cumulative deviation L of this pairing is obtained 1000 .

[0073] Compare L1 to L 1000 The size of L 1000 is the minimum value, then it can be considered that point a1 is at the same level as point b. 1000 point, a2 point and b1 point, a3 point and b2 point, ..., a 1000 Point and b999 When the points are paired, if the matching degree between the two rings is good, point a1 is matched with point b. 1000 The angle that needs to be rotated between the points is determined as the assembly angle of the group of adjacent endless belts. In other words, when the lower belt opening of the upper endless belt of the group of adjacent endless belts is installed on the upper belt opening of the lower endless belt, the upper endless belt needs to be rotated by the assembly angle.

[0074] By obtaining the assembly angle to provide guidance for the installation of the ring belt after it is put into operation, the matching degree between adjacent ring belts can be effectively improved, making the adjacent ring belts more "harmonious", which is conducive to reducing the difficulty of welding and achieving precise positioning of the installation space accuracy.

[0075] Furthermore, to ensure that the matching degree between the belts meets the requirements, before the pairing relationship with the smallest cumulative distance sum is used as the target pairing relationship, a matching degree pre-judgment step can be performed first. Specifically, it includes: determining whether the minimum cumulative deviation exceeds a preset deviation threshold. If it exceeds the preset deviation threshold, it is determined that the corresponding two adjacent belts do not meet the preset inter-belt matching conditions. At this time, the assembly angle calculation is no longer continued, the online process is stopped, and the belts that do not meet the inter-belt matching conditions are adjusted offline. If it does not exceed the preset deviation threshold, it means that the matching degree meets the requirements, and the above-mentioned step of using the pairing relationship with the smallest cumulative deviation as the target pairing relationship is performed again, and based on the target pairing relationship and the segmentation angle, the assembly angle of the first belt opening and the second belt opening is obtained. Among them, the preset deviation threshold can be set based on actual experience and multiple tests. For example, it can be set to 1mm.

[0076] In order to further detect whether the installation posture of the endless belt meets the requirements, after the endless belt matching step is completed, that is, the assembly angle is determined, a posture determination step may be further included, specifically including: pre-assembling multiple endless belts based on the assembly angle to obtain a pre-assembled hot air furnace model 400, such as Figure 4 As shown; in the pre-assembled hot blast furnace model 400, the lower belt opening of the lowest ring belt is used as the reference belt opening, and the center point of the reference belt opening is used as the reference point to establish a geodesic vertical line 401; the distances between the center points of the belt openings other than the reference belt opening and the geodesic vertical line 401 are obtained to obtain the center offsets of the other belt openings. If the cumulative sum of the center offsets of the other belt openings is less than the preset offset threshold, it is determined that the pre-assembled hot blast furnace model 400 meets the preset upright posture condition.

[0077] It can be understood that the above pre-assembly process is to use the lowest ring belt as a reference, and according to the preset rotation and translation matrix and the assembly angle between each two adjacent ring belts, the upper ring belts are sequentially transformed into spatial coordinates to obtain a pre-assembled hot air furnace model 400. The model effect diagram is shown in FIG. Figure 4 shown.

[0078] For example, the hot blast furnace includes m ring belts in total, and there are 2m belt openings in total. Excluding the reference belt opening, there are 2m-1 other belt openings. Accordingly, 2m-1 center offsets can be obtained respectively, such as Figure 4 Δd shown in j , j = 1, 2, ..., 2m-1. Calculate the cumulative sum of these 2m-1 circle center offsets. The size of this cumulative sum can represent the vertical posture of the pre-assembled hot blast furnace model. The preset offset threshold can be determined based on the vertical accuracy requirements of the hot blast furnace. For example, it can be set to 5mm. If the cumulative sum of the circle center offsets is less than 5mm, it means that the pre-assembled hot blast furnace model meets the preset vertical posture condition and can be put online. If the cumulative sum of the circle center offsets is greater than or equal to 5mm, it means that the pre-assembled hot blast furnace model does not meet the preset vertical posture condition. Stop going online and re-adjust the offline posture of each ring belt.

[0079] This can ensure that the hot air furnace assembled by the on-line ring belt is in an upright position as a whole, which is conducive to achieving precise positioning of the installation space accuracy and avoiding the waste of time and human resources caused by rework due to unqualified products after going online.

[0080] To sum up, the hot blast furnace installation space precision positioning method provided in the embodiment of the present application pre-judges the intra-band precision conditions of each ring belt of the hot blast furnace, and when the pre-judgement is passed, performs inter-band matching on each group of adjacent ring belts, and determines the inter-band assembly angle. Compared with simply using the roundness of the upper and lower belt openings of the ring belt, the concentricity of the upper and lower belt openings of the ring belt, and the average diameter of the upper and lower belt openings of the ring belt as spatial precision control indicators to perform installation space precision positioning, it can effectively improve the matching degree between adjacent ring belts, that is, improve the assembly precision between adjacent ring belts, make the adjacent ring belts more "harmonious", which is conducive to reducing the difficulty of welding and realizing precise positioning of the hot blast furnace installation space precision.

[0081] In a second aspect, the embodiment of the present application further provides a hot blast furnace installation space precision positioning device, wherein the hot blast furnace includes a plurality of ring belts stacked in sequence, such as Figure 5 As shown, the device 50 includes:

[0082] The data acquisition module 501 is used to obtain the coordinate data of the upper and lower belt openings of each annular belt of the hot blast stove;

[0083] A judgment module 502 is configured to judge whether each ring zone meets a preset in-zone accuracy condition based on the coordinate data;

[0084] The inter-band matching module 503 is configured to, if each band satisfies the intra-band accuracy condition, perform the following band matching steps, using the lower band opening of the upper band as the first band opening and the upper band opening of the lower band as the second band opening in each of two adjacent bands:

[0085] The first belt opening and the second belt opening are divided into equal angles along the circumferential direction, and the coordinate data of the first belt opening are interpolated to obtain the coordinates of each division point in the first belt opening to form a first point sequence. The coordinate data of the second belt opening are interpolated to obtain the coordinates of each division point in the second belt opening to form a second point sequence.

[0086] The first point sequence and the second point sequence are matched to determine an assembly angle between the first belt opening and the second belt opening, where the assembly angle is used to control the installation space precision positioning between the multiple endless belts.

[0087] In an optional embodiment, the above-mentioned device 50 also includes: a posture determination module 504, which is used to pre-assemble the multiple ring belts based on the assembly angle to obtain a pre-assembled hot blast furnace model; the lower belt opening of the lowest ring belt in the pre-assembled hot blast furnace model is used as the reference belt opening, and the center point of the reference belt opening is used as the reference point to establish a geodetic vertical line; the distance between the center points of other belt openings except the reference belt opening and the geodetic vertical line is obtained to obtain the center offset of the other belt openings. If the cumulative sum of the center offsets of the other belt openings is less than the preset offset threshold, it is determined that the posture of the pre-assembled hot blast furnace model meets the preset upright posture condition.

[0088] In an optional embodiment, the inter-band matching module 503 is configured to: sequentially pair the i-th point in the first point sequence with the i+k-th point in the second point sequence as reference matching points, and after each pairing, obtain a cumulative deviation of all reference matching points, where i is an integer from 1 to n, and k is an integer from 0 to n-1;

[0089] The accumulated deviations obtained from each pairing are compared, and the pairing relationship with the smallest accumulated deviation is taken as a target pairing relationship. Based on the target pairing relationship and the segmentation angle, the assembly angle between the first belt opening and the second belt opening is obtained.

[0090] In an optional embodiment, the above-mentioned inter-belt matching module 503 is also used to: before taking the pairing relationship with the smallest cumulative deviation as the target pairing relationship, determine whether the minimum cumulative deviation exceeds a preset deviation threshold; if so, determine that the corresponding two adjacent ring belts do not meet the preset inter-belt matching conditions; if not, execute the step of taking the pairing relationship with the smallest cumulative deviation as the target pairing relationship, and based on the target pairing relationship and the segmentation angle, obtain the assembly angle of the first belt mouth and the second belt mouth.

[0091] In an optional implementation, the in-band accuracy condition includes a first accuracy sub-condition, and the judgment module 502 is configured to:

[0092] For each annular belt, plane fitting processing is performed on the upper and lower belt openings based on the coordinate data of the upper and lower belt openings to obtain the flatness of the upper and lower belt openings. If the flatness does not exceed a preset flatness threshold, it is determined that the flatness of the annular belt meets the first precision sub-condition.

[0093] In an optional implementation, the in-band accuracy condition further includes a second accuracy sub-condition, and the judgment module 502 is further configured to:

[0094] For each annular belt, a circle fitting analysis is performed on the upper and lower belt openings based on the coordinate data of the upper and lower belt openings to obtain the diameters and roundness results of the upper and lower belt openings. Based on the diameters and roundness results, it is determined whether the roundness deviation of the annular belt exceeds a first preset deviation threshold. If not, it is determined that the roundness of the annular belt meets the second precision sub-condition.

[0095] In an optional implementation, the in-band accuracy condition further includes a third accuracy sub-condition, and the judgment module 502 is further configured to:

[0096] For each annular belt, a line connecting the centers of the upper and lower belt openings is obtained as an annular belt attitude reference. Based on the annular belt attitude reference, a verticality analysis is performed on the fitting planes of the upper and lower belt openings. Based on the verticality analysis result, it is determined whether the verticality deviation of the annular belt exceeds a second preset deviation threshold. If not, it is determined that the verticality of the annular belt meets the third accuracy sub-condition.

[0097] In an optional implementation, the data acquisition module 501 is used to:

[0098] The coordinate data of the upper and lower belt openings of each ring belt are collected by a laser tracker, wherein the laser tracker is set at the center position of the ring belt, and the target ball matched with the laser tracker is set at the coordinate sampling position of the belt opening of each ring belt through a right-angle magnetic seat.

[0099] It should be noted that the device 50 provided in the embodiment of the present application, wherein the specific manner in which each module performs operations has been described in detail in the method embodiment provided in the above-mentioned first aspect. The specific implementation process can refer to the method embodiment provided in the above-mentioned first aspect, and will not be elaborated here.

[0100] In a third aspect, the present application also provides an electronic device, such as Figure 6As shown, the electronic device 60 includes a memory 602, a processor 601, and a computer program stored in the memory 602 and executable on the processor 601. When the processor 601 executes the program, the steps of the method for accurately locating the hot blast stove installation space provided in any of the embodiments of the first aspect are implemented. The specific implementation process can refer to the method embodiments provided in the first aspect above and will not be elaborated on here.

[0101] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0103] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0105] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0106] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for precise positioning of hot blast furnace installation space, characterized in that: The hot blast furnace includes a plurality of ring belts stacked in sequence, and the method includes: Obtaining coordinate data of the upper and lower belt openings of each annular belt of the hot blast stove; Based on the coordinate data, determine whether each ring band meets the preset intra-band accuracy conditions. If so, use the lower band opening of the upper ring band as the first band opening and the upper band opening of the lower ring band as the second band opening in each adjacent two ring bands, and perform the following ring band matching steps: The first belt opening and the second belt opening are divided into equal angles along the circumferential direction, and the coordinate data of the first belt opening are interpolated to obtain the coordinates of each division point in the first belt opening to form a first point sequence. The coordinate data of the second belt opening are interpolated to obtain the coordinates of each division point in the second belt opening to form a second point sequence. Matching the first point sequence with the second point sequence to determine an assembly angle between the first belt opening and the second belt opening, wherein the assembly angle is used to control the installation space precision positioning between the multiple endless belts; The in-band precision condition includes a first precision sub-condition, a second precision sub-condition, and a third precision sub-condition. The determining, based on the coordinate data, whether each ring zone satisfies the preset in-band precision condition includes: For each annular zone, performing plane fitting processing on the upper and lower belt openings based on the coordinate data of the upper and lower belt openings to obtain the flatness of the upper and lower belt openings. If the flatness does not exceed a preset flatness threshold, it is determined that the flatness of the annular zone meets the first precision sub-condition; For each annular zone, performing a circle fitting analysis on the upper and lower belt openings based on the coordinate data of the upper and lower belt openings, respectively, to obtain diameters and roundness results of the upper and lower belt openings, and determining, based on the diameters and roundness results, whether a roundness deviation of the annular zone exceeds a first preset deviation threshold; if not, determining that the roundness of the annular zone meets the second precision sub-condition; For each annular belt, a line connecting the centers of the upper and lower belt openings is obtained as an annular belt attitude reference. Based on the annular belt attitude reference, a verticality analysis is performed on the fitting planes of the upper and lower belt openings. Based on the verticality analysis result, it is determined whether the verticality deviation of the annular belt exceeds a second preset deviation threshold. If not, it is determined that the verticality of the annular belt meets the third accuracy sub-condition.

2. The method according to claim 1, characterized in that After performing the annular zone matching step, the method further includes: Based on the assembly angle, pre-assembly processing is performed on the plurality of endless belts to obtain a pre-assembled hot blast stove model; The lower belt opening of the lowest ring belt in the pre-assembled hot blast furnace model is used as the reference belt opening, and the center point of the reference belt opening is used as the reference point to establish a vertical line to the earth; Obtain the distances between the center points of the other belt openings, except the reference belt opening, and the vertical line of the earth to obtain the center offsets of the other belt openings. If the cumulative sum of the center offsets of the other belt openings is less than a preset offset threshold, it is determined that the posture of the pre-assembled hot blast furnace model meets the preset upright posture condition.

3. The method according to claim 1, characterized in that The matching process of the first point sequence and the second point sequence to determine the assembly angle between the first belt opening and the second belt opening includes: Sequentially pairing the i-th point in the first point sequence with the i+k-th point in the second point sequence as reference matching points, and after each pairing, obtaining the cumulative deviation of all reference matching points, where i is an integer from 1 to n, and k is an integer from 0 to n-1; The accumulated deviations obtained from each pairing are compared, and the pairing relationship with the smallest accumulated deviation is taken as a target pairing relationship. Based on the target pairing relationship and the segmentation angle, the assembly angle between the first belt opening and the second belt opening is obtained.

4. The method according to claim 3, characterized in that Before taking the pairing relationship with the smallest cumulative deviation as the target pairing relationship, the method further includes: Determine whether the minimum cumulative deviation exceeds a preset deviation threshold. If so, determine that the corresponding two adjacent ring belts do not meet the preset inter-belt matching conditions. If not, execute the step of taking the pairing relationship with the minimum cumulative deviation as the target pairing relationship, and based on the target pairing relationship and the segmentation angle, obtain the assembly angle of the first belt opening and the second belt opening.

5. The method according to claim 1, characterized in that The step of obtaining the coordinate data of the upper and lower belt openings of each annular belt of the hot blast stove includes: The coordinate data of the upper and lower belt openings of each ring belt are collected by a laser tracker, wherein the laser tracker is set at the center position of the ring belt, and the target ball matched with the laser tracker is set at the coordinate sampling position of the belt opening of each ring belt through a right-angle magnetic seat.

6. A hot blast furnace installation space precision positioning device, characterized in that: The hot blast furnace comprises a plurality of ring belts stacked in sequence, and the device comprises: A data acquisition module is used to obtain the coordinate data of the upper and lower belt openings of each annular belt of the hot blast stove; A judgment module, configured to judge whether each ring zone meets a preset in-zone accuracy condition based on the coordinate data; The inter-band matching module is configured to, if each band satisfies the intra-band accuracy condition, use the lower band opening of the upper band as the first band opening and the upper band opening of the lower band as the second band opening in each of two adjacent bands, and perform the following band matching steps: The first belt opening and the second belt opening are divided into equal angles along the circumferential direction, and the coordinate data of the first belt opening are interpolated to obtain the coordinates of each division point in the first belt opening to form a first point sequence. The coordinate data of the second belt opening are interpolated to obtain the coordinates of each division point in the second belt opening to form a second point sequence. Matching the first point sequence with the second point sequence to determine an assembly angle between the first belt opening and the second belt opening, wherein the assembly angle is used to control the installation space precision positioning between the multiple endless belts; The in-band precision condition includes a first precision sub-condition, a second precision sub-condition, and a third precision sub-condition, and the judgment module is configured to: For each annular zone, performing plane fitting processing on the upper and lower belt openings based on the coordinate data of the upper and lower belt openings to obtain the flatness of the upper and lower belt openings. If the flatness does not exceed a preset flatness threshold, it is determined that the flatness of the annular zone meets the first precision sub-condition; For each annular zone, performing a circle fitting analysis on the upper and lower belt openings based on the coordinate data of the upper and lower belt openings, respectively, to obtain diameters and roundness results of the upper and lower belt openings, and determining, based on the diameters and roundness results, whether a roundness deviation of the annular zone exceeds a first preset deviation threshold; if not, determining that the roundness of the annular zone meets the second precision sub-condition; For each annular belt, a line connecting the centers of the upper and lower belt openings is obtained as an annular belt attitude reference. Based on the annular belt attitude reference, a verticality analysis is performed on the fitting planes of the upper and lower belt openings. Based on the verticality analysis result, it is determined whether the verticality deviation of the annular belt exceeds a second preset deviation threshold. If not, it is determined that the verticality of the annular belt meets the third accuracy sub-condition.

7. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the method according to any one of claims 1 to 5 are implemented when the processor executes the program.

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