A method, controller and system for cleaning kiln slag in a water quenching pool

Abstract

The present application relates to the field of iron and steel metallurgy, and provides a method, controller and system for cleaning slag in a water quenching pool. According to the stockpiling area model, the stockpiling area is divided into several rectangular partitions of equal size; the weight of each partition is obtained according to the slag volume of the stockpiling area and the slag volume of each partition; the remaining grabbing times of each partition are obtained according to the weight of each partition and the total remaining grabbing times of the stockpiling area; according to the remaining grabbing times of each partition, the remaining grabbing times of each partition are sorted according to the size of the times to obtain the grabbing priority order of each partition; according to the three-dimensional coordinates of the grab bucket and the priority order of each partition, the grab bucket is continuously controlled to approach the center point of the partition with a large priority, and the slag in the partition with a large priority is grabbed preferentially. This method can realize automatic cleaning of slag in the water quenching pool, and avoid over-grabbing and missed grabbing, so as to ensure that the discharge of the rotary kiln is cleaned at one time.

Description

Technical Field

[0001] The present application relates to the field of iron and steel metallurgy, and in particular to a method, controller and system for cleaning kiln slag in a water quenching pool. Background Art

[0002] In order to recycle iron dust during steel production, a disposal production line will be built in the steel plant. In the process of returning the iron-containing dust to production and utilization, the iron element will form solid iron-containing kiln slag, which will be discharged from the kiln head and enter the iron kiln slag treatment system. After treatment, it will be used as sintering raw material and sent to sintering for batching.

[0003] like Figure 1 As shown in FIG. 1 , it is a top view of the existing iron kiln slag treatment system, including a water quenching pool 01, a slag flushing channel 02, a bridge crane 03, a bridge crane operating room 04 and an intermediate slag yard 05; Figure 2 As shown, it also includes a rotary kiln 06 and a discharge port 061. The arrow in the figure indicates the direction of slag flushing. The slag treatment process is as follows: the slag is continuously discharged from the discharge port 061 of the rotary kiln 06, and after being granulated by water in the slag flushing chute, it enters the water quenching pool 01 for immersion and cooling. After cooling, the slag is grabbed by the grab bucket 031 controlled by the bridge crane 03 and transported to the intermediate slag yard 05 for natural drainage and drying. The slag discharged from the rotary kiln 06 is in a high-temperature molten state, and is discharged into the water quenching pool 01 for immersion, cooling and solidification into particles. The slag is mostly accumulated in the water quenching pool 01 near the slag flushing channel 02, so the operator needs to operate the bridge crane 03 to clean the slag.

[0004] In actual production, during the slag treatment process, the bridge crane 03 needs to be manually operated by the operator in the bridge crane operation room 04. During the on-site operation, the high-temperature slag discharged from the kiln head of the rotary kiln 06 is discharged into the water quenching pool 01, causing water evaporation, thereby generating a large amount of water vapor. In addition, the slag is located at the bottom of the water quenching pool 01, and there will be impurities in the pool. These factors will interfere with the operator's line of sight, and it is difficult for the operator to estimate whether there is slag in the grasping area. Therefore, there will be wrong grasping of the area without slag and missing grasping of the area with slag. Even if the slag accumulation area is grasped, in order to ensure that the slag in the area directly below the grab 031 is completely grasped, the operator ends the grasping of the area with an empty grasp at the last time, resulting in unnecessary grasping. These unnecessary grasping affect the production process and damage related equipment of the steel plant. Summary of the invention

[0005] In order to automatically clean the kiln slag in the water quenching tank and avoid over-catching or missing, and ensure that the discharge of the rotary kiln is cleaned once; the application provides a method, controller and system for cleaning the kiln slag in the water quenching tank.

[0006] In a first aspect, the present application provides a method for cleaning kiln slag in a water quenching pool, the method being applied to a cleaning system for kiln slag in a water quenching pool, the system comprising: a grab bucket coordinate detection device, a laser scanning device, a grab bucket weight detection device and a controller, the grab bucket coordinate detection device being arranged on the surface of a bridge crane, for obtaining the three-dimensional coordinates of the grab bucket; the laser scanning device being located above the side of a stockpiling area, for emitting a laser line to obtain the position parameters of each reflection point on the surface of the kiln slag pile in the stockpiling area, the grab bucket weight detection device being arranged above the grab bucket, for obtaining the actual grabbing weight of the grab bucket, the controller being connected to the grab bucket coordinate detection device, the laser scanning device and the grab bucket weight detection device, for controlling the grab bucket to move horizontally or vertically above the water quenching pool, so as to grab the kiln slag in the stockpiling area to an intermediate slag yard, the grab bucket being opened into a rectangle, and the stockpiling area being located at the bottom of the water quenching pool and close to a slag flushing channel.

[0007] The method comprises the following steps:

[0008] The controller obtains the stockpile area model according to the position parameters of each reflection point sent by the laser scanning device. The stockpile area is approximately circular, and the slag pile is approximately cone-shaped.

[0009] According to the stockpile area model, the stockpile area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket.

[0010] The slag volume of each partition and the slag volume of the stockpiling area are obtained, and the weight of each partition is obtained according to the slag volume of the stockpiling area and the slag volume of each partition.

[0011] The weight of the slag in the stockpiling area is obtained, and the total number of remaining grabs in the stockpiling area is obtained according to the weight of the slag in the stockpiling area.

[0012] According to the weight of each partition and the total number of remaining grabs in the stockpile area, the remaining number of grabs for each partition is obtained.

[0013] According to the remaining crawl times of each partition, the remaining crawl times of each partition are sorted according to the number of times to obtain the crawl priority order of each partition.

[0014] According to the three-dimensional coordinates of the grab and the priority order of each partition, the grab continues to be controlled to approach the center point of the partition with a large priority, and the kiln slag in the partition with a large priority is grabbed first.

[0015] Optionally, the step of obtaining the total number of remaining grabbing times in the stockpile area according to the weight of the slag in the stockpile area includes:

[0016] When the grab grabs the kiln slag and is in the water quenching pool, the grab stays in the water for 2 seconds to obtain the full grab rate;

[0017] Get the volume V of the grab bucket d , the density of water in the water quenching tank ρ 1 、The density of slag ρ 2 , the real-time grab weight m obtained by the grab weighing detection device and the weight m of the empty grab d .

[0018] According to the volume of the grab bucket, the density of water in the water quenching tank, the density of the kiln slag, the pulling force value obtained by the grab bucket weighing detection device and the weight of the empty grab bucket, a grab rate calculation model is used to obtain the grab rate. The grab rate calculation model is as follows:

[0019]

[0020] η 0 For the full catch rate.

[0021] According to the full grab rate and the slag weight in the stockpile area, the remaining total grab times in the stockpile area are obtained.

[0022] The total number of remaining grabs for the stockpile area is calculated according to the following formula:

[0023]

[0024] Q is the weight of slag in the stockpile area, n 1 The total number of remaining grabs in the stockpile area.

[0025] Optionally, the step of dividing the stockpile area into a plurality of rectangular partitions of equal size according to the stockpile area model comprises:

[0026] The area whose vertical center line is consistent with the center line of the slag flushing channel and is closest to the slag flushing channel is taken as the starting partition, and then divided into surrounding areas starting from the starting partition; the area that is not in the stockpiling area and the area with an edge area less than 1 / 2 of the partition area will be discarded.

[0027] Optionally, the step of obtaining the slag volume of each partition includes:

[0028] Get the slag pile height at the center point of the partition, including:

[0029] Obtain the initial height of the slag in the stockpiling area and the projection rectangle of the slag flushing channel on the plane of the water quenching pool.

[0030] A coordinate system is established with the midline of the width of the projection rectangle as the Y axis, the midline of the width of the partition closest to the slag flushing channel as the X axis, and the intersection of the X axis and the Y axis as the origin.

[0031] Get the horizontal coordinate of the partition center point.

[0032] Calculate the slag pile height at the center point according to the following formula:

[0033] H x =H-xtanA

[0034] H x is the height of the slag pile at the center point of the partition, H is the initial height of the slag in the stockpiling area, x is the horizontal coordinate of the center point of the partition, and A is the repose angle of the slag in the stockpiling area.

[0035] The initial height H of the slag in the stockpile area is calculated according to the following model:

[0036] H=H 1 -H 2 -H 3 -H 4

[0037] H 1 H is the distance between the grab bucket’s rotation axis and the water surface. 2 H is the distance between the lowest plane of the grab bucket and the fixed slag grab point. 3 is the water depth in the water quenching tank, H 4 is the height of the grab bucket itself.

[0038] Get the length and width of the partition.

[0039] The volume of the partition is calculated according to the following formula:

[0040]

[0041] V xy is the volume of the partition, a is the length of the partition, and b is the width of the partition.

[0042] Optionally, the step of obtaining the slag volume in the stockpiling area includes:

[0043] Obtain the slag volume calculation coefficient k in the stockpile area.

[0044] The calculation model of the slag volume in the stockpiling area is used to obtain the slag volume in the stockpiling area.

[0045] The calculation model of volume is:

[0046]

[0047] V is the slag volume in the stockpiling area, k is the slag volume calculation coefficient in the stockpiling area, A is the repose angle of the slag in the stockpiling area, and H is the initial height of the slag in the stockpiling area.

[0048] Optionally, the step of obtaining the weight of each partition according to the slag volume of the stockpiling area and the slag volume of each partition includes:

[0049] The weight of a partition is calculated according to the following formula:

[0050] P xy =V xy / V

[0051] P xy is the weight of the partition, V xy is the volume of the partition, and V is the slag volume in the stockpiling area.

[0052] Optionally, the step of obtaining the remaining grabbing times of each partition according to the weight of each partition and the total remaining grabbing times of the stockpile area includes:

[0053] The remaining number of fetches for a partition is calculated according to the following formula:

[0054] n xy =n 1 P xy

[0055] n xy is the remaining number of fetches for the partition, P xy is the weight of the partition, n 1 The total number of remaining grabs in the stockpile area.

[0056] Optionally, in the step of continuing to control the grab to approach the center point of the partition with a higher priority according to the three-dimensional coordinates of the grab and the priority order of each partition, and preferentially grabbing the slag in the partition with a higher priority, if there are two partitions with equal priority orders, the partition that is closer to the grab will be preferentially grabbed.

[0057] In a second aspect, the present application further provides a controller for cleaning slag in a quenching pool, wherein the controller is a controller in a system for cleaning slag in a water quenching pool; the controller comprises:

[0058] The stockpile area module is used to obtain the stockpile area model according to the position parameters of each reflection point sent by the laser scanning device. The stockpile area is approximately circular, and the slag pile is approximately cone-shaped.

[0059] The partition module is used to divide the stockpile area into a plurality of rectangular partitions of equal size according to the stockpile area model, wherein the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket.

[0060] The weight module is used to obtain the slag volume of each partition and the slag volume of the stockpiling area, and obtain the weight of each partition according to the slag volume of the stockpiling area and the slag volume of each partition.

[0061] The total number acquisition module is used to obtain the weight of the slag in the stockpiling area, and obtain the remaining total number of grabbing times in the stockpiling area according to the weight of the slag in the stockpiling area.

[0062] The partition number acquisition module is used to obtain the remaining grabbing times of each partition according to the weight of each partition and the total remaining grabbing times of the stockpile area.

[0063] The partition priority acquisition module sorts the remaining crawl times of each partition according to the number of remaining crawl times of each partition, and obtains the crawl priority order of each partition.

[0064] The grabbing module is used to continue to control the grabbing bucket to approach the center point of the partition with a high priority according to the three-dimensional coordinates of the grabbing bucket and the priority order of each partition, and give priority to grabbing the kiln slag in the partition with a high priority.

[0065] In the third aspect, the present application also provides a system for cleaning slag in a water quenching pool, comprising: a grab bucket coordinate detection device, a laser scanning device, a grab bucket weight detection device and the controller described in the second aspect, wherein the grab bucket coordinate detection device is arranged on the surface of the bridge crane, and is used to obtain the three-dimensional coordinates of the grab bucket; the laser scanning device is located above the side of the stockpiling area, and is used to emit a laser line to obtain the position parameters of each reflection point on the surface of the slag pile in the stockpiling area; the grab bucket weight detection device is arranged above the grab bucket, and is used to obtain the actual grabbing weight of the grab bucket; the controller is connected to the grab bucket coordinate detection device, the laser scanning device and the grab bucket weight detection device, and controls the grab bucket to move horizontally or vertically above the water quenching pool to grab the slag in the stockpiling area to the intermediate slag yard, and the grab bucket is opened into a rectangle, and the stockpiling area is located at the bottom of the water quenching pool and close to the slag flushing channel.

[0066] The controller is configured to:

[0067] According to the position parameters of each reflection point sent by the laser scanning device, the stockpile area model is obtained. The stockpile area is approximately circular, and the slag pile is approximately cone-shaped.

[0068] According to the stockpile area model, the stockpile area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket.

[0069] The slag volume of each partition and the slag volume of the stockpiling area are obtained, and the weight of each partition is obtained according to the slag volume of the stockpiling area and the slag volume of each partition.

[0070] The weight of the slag in the stockpiling area is obtained, and the total number of remaining grabs in the stockpiling area is obtained according to the weight of the slag in the stockpiling area.

[0071] According to the weight of each partition and the total number of remaining grabs in the stockpile area, the remaining number of grabs for each partition is obtained.

[0072] According to the remaining crawl times of each partition, the remaining crawl times of each partition are sorted according to the number of times to obtain the crawl priority order of each partition.

[0073] According to the three-dimensional coordinates of the grab and the priority order of each partition, the grab continues to be controlled to approach the center point of the partition with a large priority, and the kiln slag in the partition with a large priority is grabbed first.

[0074] It can be seen from the above technical scheme that the present application provides a method, controller and system for cleaning kiln slag in a water quenching pool, wherein the controller obtains a stockpile area model according to the position parameters of each reflection point sent by a laser scanning device; according to the stockpile area model, the stockpile area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab; the kiln slag volume of each partition and the kiln slag volume of the stockpile area are obtained, and the weight of each partition is obtained according to the kiln slag volume of the stockpile area and the kiln slag volume of each partition; the kiln slag weight of the stockpile area is obtained, and the total number of remaining grabs of the stockpile area is obtained according to the kiln slag weight of the stockpile area; the remaining number of grabs of each partition is obtained according to the weight of each partition and the total number of remaining grabs of the stockpile area; according to the remaining number of grabs of each partition, the remaining number of grabs of each partition is sorted according to the number of times, and the grabbing priority order of each partition is obtained; according to the three-dimensional coordinates of the grab and the priority order of each partition, the grab continues to be controlled to approach the center point of the partition with a large priority, and the kiln slag in the partition with a large priority is preferentially grabbed. The method can realize automatic cleaning of kiln slag in the water quenching tank and avoid over-catching and missed catching, thereby ensuring that the discharge of the rotary kiln is cleaned at one time. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0076] Figure 1 This is a top view of the existing iron kiln slag treatment system;

[0077] Figure 2 This is a front view of the existing iron kiln slag treatment system;

[0078] Figure 3 A schematic diagram of the structure of a system for cleaning kiln slag in a water quenching pool provided in an embodiment of the present application;

[0079] Figure 4 A schematic diagram of the partitioning;

[0080] Figure 5 It is a schematic diagram of the coordinate system within the partition;

[0081] Figure 6 It is a schematic diagram of the stockpiling area and partition height;

[0082] Figure 7 It is a local schematic diagram of the partition height;

[0083] Figure 8 A schematic flow chart of a method for cleaning kiln slag in a water quenching pool provided in an embodiment of the present application;

[0084] Fig. 9 A structural block diagram of a controller provided in an embodiment of the present application;

[0085] Fig.10 Schematic diagram of the position of the grab bucket's rotation axis and the grab bucket's lowest plane.

[0086] in:

[0087] 01-water quenching tank, 02-slag flushing channel, 03-bridge crane, 031-grab bucket, 04-bridge crane operation room, 05-intermediate slag yard, 06-rotary kiln, 061-discharge port, 1-grab bucket coordinate detection device, 2-laser scanning device, 3-grab bucket weight detection device, 4-controller. DETAILED DESCRIPTION

[0088] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0089] Figure 8 A schematic flow chart of a method for cleaning kiln slag in a water quenching pool provided in an embodiment of the present application. Figure 3 A schematic diagram of the structure of a system for cleaning kiln slag in a water quenching pool provided in an embodiment of the present application.

[0090] The first aspect of the present application provides a method for cleaning kiln slag in a water quenching pool, wherein the method is applied to a cleaning system for kiln slag in a water quenching pool, see Figure 3 The system includes: a grab bucket coordinate detection device, a laser scanning device, a grab bucket weight detection device and a controller. The grab bucket coordinate detection device is arranged on the surface of the bridge crane, and is used to obtain the three-dimensional coordinates of the grab bucket; the laser scanning device is located above the side of the stockpiling area, and is used to emit a laser line to obtain the position parameters of each reflection point on the surface of the slag pile in the stockpiling area. The grab bucket weight detection device is arranged above the grab bucket, and is used to obtain the actual grab weight of the grab bucket. The controller is connected with the grab bucket coordinate detection device, the laser scanning device and the grab bucket weight detection device, and controls the grab bucket to move horizontally or vertically above the water quenching pool to grab the slag in the stockpiling area to the intermediate slag yard. The grab bucket is opened into a rectangle, and the stockpiling area is located at the bottom of the water quenching pool and close to the slag flushing channel.

[0091] See also Figure 8 , the method comprises the following steps:

[0092] S101, the controller obtains a stockpile area model according to the position parameters of each reflection point sent by the laser scanning device. The stockpile area is approximately circular, and the slag pile is approximately cone-shaped.

[0093] It should be noted that the laser scanning device can be conventionally selected and obtained by those skilled in the art. The laser scanning device is arranged above the side of the stockpile area, one in each of the four directions of southeast, northwest, and northeast to ensure that each surface of the slag pile can be scanned, and the model parameters of the entire slag pile can be located by laser scanning.

[0094] Figure 4 Schematic diagram of the partition division.

[0095] S102, see Figure 4 According to the stockpile area model, the stockpile area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket.

[0096] After the slag accumulates, the rotary kiln stops discharging slag and starts to grab the slag. Before implementing the method of cleaning the slag in the water quenching pool, a debugging stage is required. According to the slag grabbing process, the grab bucket is controlled to grab the slag in each partition, and the weight of the slag picked up in each partition is recorded to obtain the amount of slag accumulated in each partition.

[0097] It should be noted that the data obtained during the debugging phase can be used in the actual slag grabbing operation. Due to the fixed on-site environment of the steel plant, fixed time and fixed rotary kiln slag discharge volume, the stockpile area model formed in the water quenching pool is approximately equal, and the various parameters of the slag pile are almost equal. Therefore, in the actual entire slag grabbing process, the slag grabbing rate above the center point of each partition is equal to the full grabbing rate of the debugging process. The slag pile parameters include: slag pile volume, slag pile repose angle, volume of each partition after partitioning, slag pile height and the height of each partition.

[0098] The more slag is picked up, the more piles there are. The remaining times for picking up slag in each zone are calculated, and the grab is controlled to complete the specified number of slag picking operations in each zone.

[0099] The step of dividing the stockpile area into a plurality of rectangular partitions of equal size according to the stockpile area model comprises:

[0100] The area whose vertical center line is consistent with the center line of the slag flushing channel and is closest to the slag flushing channel is taken as the starting partition, and then divided into surrounding areas starting from the starting partition; the area that is not in the stockpiling area and the area with an edge area less than 1 / 2 of the partition area will be discarded.

[0101] S103, obtaining the slag volume of each partition and the slag volume of the stockpiling area, and obtaining the weight of each partition according to the slag volume of the stockpiling area and the slag volume of each partition.

[0102] The slag volume in the stockpiling area is equal to the discharge volume of the rotary kiln. When the slag in the water quenching pool accumulates to a preset volume, the slag will be automatically cleaned. Therefore, the slag volume can be directly obtained from the design data of the rotary kiln.

[0103] The steps for obtaining the slag volume of each zone include:

[0104] Figure 6 This is a schematic diagram of the stockpiling area and partition height.

[0105] S1031, see Figure 6 , get the slag pile height at the center point of the partition, including:

[0106] Obtain the initial height of the slag in the stockpiling area and the projection rectangle of the slag flushing channel on the plane of the water quenching pool.

[0107] Figure 5 This is a schematic diagram of the coordinate system within the partition.

[0108] See also Figure 5 , a coordinate system is established with the midline of the width of the projection rectangle as the Y axis, the midline of the width of the partition closest to the slag flushing channel as the X axis, and the intersection of the X axis and the Y axis as the origin.

[0109] Among them, A 00 (0,0) is the origin of the coordinate system; point A xy The center point of each partition, x represents the xth column, and y represents the yth row.

[0110] The horizontal coordinate value of the xth column is x=xa (x=0, ±1, ±2…±n); the vertical coordinate value of the yth row is y=yb (y=0, 1, 2…n); the partition A corresponding to the xth column and the yth row xy The center point coordinates are A xy (xa,yb).

[0111] Figure 7 This is a local schematic diagram of the partition height.

[0112] S1032, see Figure 7 , get the horizontal coordinate of the partition center point.

[0113] Calculate the slag pile height at the center point according to the following formula:

[0114] H x =H-xtanA

[0115] H xis the height of the slag pile at the center point of the partition, H is the initial height of the slag in the stockpiling area, x is the horizontal coordinate of the center point of the partition, and A is the repose angle of the slag in the stockpiling area.

[0116] The initial height H of the slag in the stockpile area is calculated according to the following model:

[0117] H=H 1 -H 2 -H 3 -H 4

[0118] H 1 H is the distance between the grab bucket’s rotation axis and the water surface. 2 H is the distance between the lowest plane of the grab bucket and the fixed slag grab point. 3 is the water depth in the water quenching tank, H 4 is the height of the grab bucket itself.

[0119] See also Fig.10 , is a schematic diagram of the grab bucket’s highest position and lowest position. It should be noted that H 1 , H 2 , H 3 , H 4 .H 1 In the embodiment of the present application, 0.5 m is taken, H 2 In the embodiment of this application, 1 meter is used. Since the opening and closing of the grab bucket is a process of rotation along the axis, the calculation of H 2 The lowest plane of the grab is the lowest rectangular plane when the grab is closed, and the spacing is the vertical distance between the fixed slag grab point and the rectangular plane.

[0120] The angle of repose of slag is the minimum angle between the free surface and the horizontal plane when the free surface of the powder accumulation body is in the limit state of equilibrium (that is, as the inclination angle increases, the object on the inclined plane will slide down more easily; when the object reaches the state of starting to slide down, the angle of the critical state is called the angle of repose). It is obtained through actual sampling and measurement on site.

[0121] S1033, obtain the length and width of the partition.

[0122] S1034, calculate the volume of the partition according to the following formula:

[0123]

[0124] V xy is the volume of the partition, a is the length of the partition, and b is the width of the partition.

[0125] The step of obtaining the slag volume in the stockpiling area comprises:

[0126] Obtain the slag volume calculation coefficient k in the stockpile area.

[0127] The calculation model of the slag volume in the stockpiling area is used to obtain the slag volume in the stockpiling area. The calculation model of the slag volume in the stockpiling area is:

[0128]

[0129] V is the slag volume in the stockpiling area, and k is the slag volume calculation coefficient in the stockpiling area.

[0130] The step of obtaining the weight of each partition according to the slag volume of the stockpiling area and the slag volume of each partition comprises:

[0131] The weight of a partition is calculated according to the following formula:

[0132] P xy =V xy / V

[0133] P xy is the weight of the partition.

[0134] S104, obtaining the weight of the slag in the stockpiling area, and obtaining the remaining total number of grabbing times in the stockpiling area according to the weight of the slag in the stockpiling area.

[0135] The step of obtaining the remaining total number of grabbing times in the stockpiling area according to the weight of the slag in the stockpiling area comprises:

[0136] S1041, when the grab grabs the kiln slag and the grab grab is in the water of the water quenching pool, the grab grab stays in the water for 2 seconds to obtain the full grab rate.

[0137] S1042, obtain the volume V of the grab bucket d , the density of water in the water quenching tank ρ 1 、The density of slag ρ 2 , the real-time grab weight m obtained by the grab weighing detection device and the weight m of the empty grab d .

[0138] S1043, according to the volume of the grab bucket, the density of water in the water quenching tank, the density of the kiln slag, the tension value obtained by the grab bucket weighing detection device, and the weight of the empty grab bucket, a grab bucket full rate calculation model is used to obtain the grab bucket full rate, and the grab bucket full rate calculation model is as follows:

[0139]

[0140] η 0 For the full catch rate.

[0141] The specific model acquisition principle is as follows:

[0142] F 1Indicates the grab wire rope tension, F 1 =mg, m is the weight value obtained by the grab bucket weighing detection device, and g is the acceleration of gravity. 2 Indicates the buoyancy of the captured slag under water, F 2 =ρ 1 V z , ρ 1 is the density of water, V z G is the volume of the slag grabbed. d Represents the gravity of the empty grab, G d =m d g,m d Indicates the weight of the empty grab bucket, which can be obtained from the grab bucket parameters. z Indicates the gravity of the captured slag, G z =m z g=ρ 2 V z , m z Indicates the mass of kiln slag, ρ 2 is the density of kiln slag.

[0143] The force is as follows: F 1 +F 2 =G d +G z (Ignore the buoyancy of the grab bucket underwater), that is: mg+ρ 1 V z =m d g+m z g=m d g+ρ 2 V z , we can get:

[0144]

[0145]

[0146] S1044, obtaining the remaining total grabbing times of the stockpiling area according to the full grabbing rate and the weight of the slag in the stockpiling area.

[0147] S1045, calculating the remaining total number of grabs in the stockpile area according to the following formula:

[0148]

[0149] Q is the weight of slag in the stockpile area, n 1 The total number of remaining grabs in the stockpile area.

[0150] S105, obtaining the remaining grabbing times of each partition according to the weight of each partition and the total remaining grabbing times of the stockpile area.

[0151] The step of obtaining the remaining grabbing times of each partition according to the weight of each partition and the total remaining grabbing times of the stockpiling area comprises:

[0152] The remaining number of fetches for a partition is calculated according to the following formula:

[0153] n xy =n 1 P xy

[0154] n xy The remaining number of fetches for the partition.

[0155] S106, according to the remaining crawling times of each partition, sort the remaining crawling times of each partition according to the number of times, and obtain the crawling priority order of each partition.

[0156] S107, according to the three-dimensional coordinates of the grab bucket and the priority order of each partition, continue to control the grab bucket to approach the center point of the partition with a large priority, and give priority to grabbing the kiln slag in the partition with a large priority.

[0157] In the step of continuing to control the grab to approach the center point of the partition with a higher priority according to the three-dimensional coordinates of the grab and the priority order of each partition, and preferentially grabbing the slag in the partition with a higher priority, if there are two partitions with equal priorities, the partition that is closer to the grab will be preferentially grabbed.

[0158] After the number of slag grabbing times for each partition is confirmed, the slag is grabbed according to the remaining number of slag grabbing times in each partition, which can directly avoid the situation of over-grabbing, and the division of partitions can avoid the situation of missing slag.

[0159] It should be noted that: since the existing technology cannot determine whether the capture is complete, each area will be judged as having been captured based on the last empty capture. In the embodiment of the present application, the number of captures for each partition has been calculated, and each partition will be captured once less than the existing technology.

[0160] In addition, the embodiment of the present application actually grabs the slag from the top downwards, because the higher the slag is, the more times the remaining slag needs to be grabbed.

[0161] During the grabbing process, the remaining grabbing times of each partition will gradually decrease, so the priority of each partition will change. The partitions with more remaining grabbing times will be grabbed first. If the remaining grabbing times are the same, the partitions closer to the grab bucket will be chosen for grabbing.

[0162] The steps of starting slag removal from the priority slag removal zone include:

[0163] S1071, the bridge crane operates above the priority slag grabbing area.

[0164] S1072, the bridge crane lowers the grab bucket.

[0165] S1073, determining whether the grab bucket touches the kiln slag.

[0166] S1074, grab bucket to grab slag.

[0167] S1075, overhead crane lifting grab bucket.

[0168] S1076, pile the kiln slag in the intermediate slag yard.

[0169] S1077, whether the number of times the slag has been grabbed reaches the remaining number of grabs in the partition.

[0170] S1078, if the number of times the slag has been grabbed reaches the number of times the partition has been grabbed, the slag grabbing ends; if the number of times the slag has been grabbed does not reach the number of times the partition has been grabbed, continue to execute step S1071.

[0171] It can be seen from the above technical scheme that a method for cleaning slag in a water quenching pool provided in an embodiment of the present application comprises the following steps: a controller obtains a stockpiling area model according to the position parameters of each reflection point sent by a laser scanning device; according to the stockpiling area model, the stockpiling area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab; the slag volume of each partition and the slag volume of the stockpiling area are obtained, and the weight of each partition is obtained according to the slag volume of the stockpiling area and the slag volume of each partition; the slag weight of the stockpiling area is obtained, and the total number of remaining grabs of the stockpiling area is obtained according to the slag weight of the stockpiling area; the remaining number of grabs of each partition is obtained according to the weight of each partition and the total number of remaining grabs of the stockpiling area; according to the remaining number of grabs of each partition, the remaining number of grabs of each partition is sorted according to the number of times, and the grabbing priority order of each partition is obtained; according to the three-dimensional coordinates of the grab and the priority order of each partition, the grab is continuously controlled to approach the center point of the partition with a large priority, and the slag in the partition with a large priority is preferentially grabbed. The method can realize automatic cleaning of kiln slag in the water quenching tank and avoid over-catching and missed catching, thereby ensuring that the discharge of the rotary kiln is cleaned at one time.

[0172] It should be noted that in actual production, the kiln slag is not absolutely cleaned up. Instead, a small amount of kiln slag will remain when each partition is grabbed for the last time. This is an inevitable error in production.

[0173] Fig. 9 This is a structural block diagram of the controller provided in an embodiment of the present application.

[0174] See also Fig. 9 The present application also provides a controller for cleaning slag in a quenching tank, see Figure 3 , the controller is a controller in a water quenching pool kiln slag cleaning system; the controller includes:

[0175] S1, a stockpiling area module, is used to obtain a stockpiling area model according to the position parameters of each reflection point sent by the laser scanning device. The stockpiling area is approximately circular, and the slag pile is approximately cone-shaped.

[0176] S2, a partitioning module, is used to divide the stockpile area into a number of rectangular partitions of equal size according to the stockpile area model, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket.

[0177] S3, a weight module, is used to obtain the slag volume of each partition and the slag volume of the stockpiling area, and obtain the weight of each partition according to the slag volume of the stockpiling area and the slag volume of each partition.

[0178] S4, a total number acquisition module is used to acquire the weight of the slag in the stockpiling area, and obtain the remaining total number of grabbing times in the stockpiling area according to the weight of the slag in the stockpiling area.

[0179] S5, a partition number acquisition module, is used to obtain the remaining grabbing times of each partition according to the weight of each partition and the total remaining grabbing times of the stockpile area.

[0180] S6, a partition priority acquisition module, sorts the remaining crawling times of each partition according to the remaining crawling times of each partition, and obtains the crawling priority order of each partition.

[0181] S7, grabbing module, is used to continue to control the grab to approach the center point of the partition with a higher priority according to the three-dimensional coordinates of the grab and the priority order of each partition, and give priority to grabbing the kiln slag in the partition with a higher priority. If there are two partitions with equal priorities, the partition close to the grab will be given priority.

[0182] Figure 3 A schematic diagram of the structure of a system for cleaning kiln slag in a water quenching pool provided in an embodiment of the present application.

[0183] See also Figure 3, an embodiment of the present application provides a system for cleaning slag in a water quenching pool, comprising: a grab bucket coordinate detection device, a laser scanning device, a grab bucket weight detection device and the controller, wherein the grab bucket coordinate detection device is arranged on the surface of the bridge crane, and is used to obtain the three-dimensional coordinates of the grab bucket; the laser scanning device is located above the side of the stockpiling area, and is used to emit a laser line to obtain the position parameters of each reflection point on the surface of the slag pile in the stockpiling area; the grab bucket weight detection device is arranged above the grab bucket, and is used to obtain the actual grab weight of the grab bucket; the controller is connected to the grab bucket coordinate detection device, the laser scanning device and the grab bucket weight detection device, and controls the grab bucket to move horizontally or vertically above the water quenching pool to grab the slag in the stockpiling area to the intermediate slag yard, and the grab bucket is opened into a rectangle, and the stockpiling area is located at the bottom of the water quenching pool and close to the slag flushing channel.

[0184] The controller is configured to:

[0185] According to the position parameters of each reflection point sent by the laser scanning device, the stockpile area model is obtained. The stockpile area is approximately circular, and the slag pile is approximately cone-shaped.

[0186] According to the stockpile area model, the stockpile area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket.

[0187] The slag volume of each partition and the slag volume of the stockpiling area are obtained, and the weight of each partition is obtained according to the slag volume of the stockpiling area and the slag volume of each partition.

[0188] The weight of the slag in the stockpiling area is obtained, and the total number of remaining grabs in the stockpiling area is obtained according to the weight of the slag in the stockpiling area.

[0189] According to the weight of each partition and the total number of remaining grabs in the stockpile area, the remaining number of grabs for each partition is obtained.

[0190] According to the remaining crawl times of each partition, the remaining crawl times of each partition are sorted according to the number of times to obtain the crawl priority order of each partition.

[0191] According to the three-dimensional coordinates of the grab and the priority order of each partition, the grab continues to be controlled to approach the center point of the partition with a large priority, and the kiln slag in the partition with a large priority is grabbed first.

[0192] It can be seen from the above technical solutions that the method, controller and system for cleaning slag in a water quenching pool provided by the embodiment of the present application, wherein the controller obtains a stockpile area model according to the position parameters of each reflection point sent by a laser scanning device; according to the stockpile area model, the stockpile area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab; the slag volume of each partition and the slag volume of the stockpile area are obtained, and the weight of each partition is obtained according to the slag volume of the stockpile area and the slag volume of each partition; the slag weight of the stockpile area is obtained, and the total number of remaining grabs of the stockpile area is obtained according to the slag weight of the stockpile area; the remaining number of grabs of each partition is obtained according to the weight of each partition and the total number of remaining grabs of the stockpile area; according to the remaining number of grabs of each partition, the remaining number of grabs of each partition is sorted according to the number of times, and the grabbing priority order of each partition is obtained; according to the three-dimensional coordinates of the grab and the priority order of each partition, the grab continues to be controlled to approach the center point of the partition with a large priority, and the slag in the partition with a large priority is preferentially grabbed. The method can realize automatic cleaning of kiln slag in the water quenching tank and avoid over-catching and missed catching, thereby ensuring that the discharge of the rotary kiln is cleaned at one time.

[0193] Those skilled in the art can clearly understand that the technology in the embodiments of the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention or certain parts of the embodiments.

[0194] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. A method for cleaning kiln slag in a water quenching pool, characterized in that: The method is applied to a cleaning system for kiln slag in a water quenching pool, and the system comprises: a grab bucket coordinate detection device, a laser scanning device, a grab bucket weight detection device and a controller, wherein the grab bucket coordinate detection device is arranged on the surface of the bridge crane, and is used to obtain the three-dimensional coordinates of the grab bucket; the laser scanning device is located above the stockpiling area, and is used to emit a laser line to obtain the position parameters of each reflection point on the surface of the kiln slag pile in the stockpiling area; the grab bucket weight detection device is arranged above the grab bucket, and is used to obtain the actual grab weight of the grab bucket; the controller is connected with the grab bucket coordinate detection device, the laser scanning device and the grab bucket weight detection device, and controls the grab bucket to move horizontally or vertically above the water quenching pool, so as to grab the kiln slag in the stockpiling area to the intermediate slag yard, and the grab bucket is opened into a rectangle, and the stockpiling area is located at the bottom of the water quenching pool and close to the slag flushing channel; The method comprises the following steps: The controller obtains the stockpile area model according to the position parameters of each reflection point sent by the laser scanning device. The stockpile area is approximately circular, and the slag pile is approximately cone-shaped. According to the stockpile area model, the stockpile area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket; The slag volume of each partition and the slag volume of the stockpiling area are obtained, and the weight of each partition is obtained according to the slag volume of the stockpiling area and the slag volume of each partition; Obtain the weight of the slag in the stockpile area, and obtain the remaining total number of grabs in the stockpile area according to the weight of the slag in the stockpile area; According to the weight of each partition and the total number of remaining grabs in the stockpile area, the remaining number of grabs for each partition is obtained; According to the remaining crawl times of each partition, sort the remaining crawl times of each partition by the number of times to obtain the crawl priority order of each partition; According to the three-dimensional coordinates of the grab and the priority order of each partition, the grab continues to be controlled to approach the center point of the partition with a large priority, and the kiln slag in the partition with a large priority is grabbed first.

2. The method for cleaning water quenching pool kiln slag according to claim 1, characterized in that: The step of obtaining the remaining total number of grabbing times in the stockpiling area according to the weight of the slag in the stockpiling area comprises: When the grab grabs the kiln slag and is in the water quenching pool, the grab stays in the water for 2 seconds to obtain the full grab rate; Get the volume V of the grab bucket d , the density of water in the water quenching tank ρ1, the density of kiln slag ρ2, the real-time grab weight m obtained by the grab weighing detection device and the weight m of the empty grab d ; According to the volume of the grab bucket, the density of water in the water quenching tank, the density of the kiln slag, the tension value obtained by the grab bucket weighing detection device and the weight of the empty grab bucket, a grab rate calculation model is used to obtain the grab rate. The grab rate calculation model is as follows: η0 is the catch rate; According to the full grab rate and the slag weight in the stockpile area, the remaining total grab times in the stockpile area are obtained; The total number of remaining grabs for the stockpile area is calculated according to the following formula: Q is the weight of slag in the stockpile area, and n1 is the total number of remaining grabs in the stockpile area.

3. The method for cleaning slag in a water quenching pool according to claim 1, characterized in that: The step of dividing the stockpile area into a plurality of rectangular partitions of equal size according to the stockpile area model comprises: The area whose vertical center line is consistent with the center line of the slag flushing channel and is closest to the slag flushing channel is taken as the starting partition, and then divided into surrounding areas starting from the starting partition; the area that is not in the stockpiling area and the area with an edge area less than 1 / 2 of the partition area will be discarded.

4. The method for cleaning water quenching tank kiln slag according to claim 1, characterized in that: The steps for obtaining the slag volume of each zone include: Get the slag pile height at the center point of the partition, including: Obtain the initial height of the slag in the stockpiling area and the projection rectangle of the slag flushing channel on the plane of the water quenching pool; A coordinate system is established with the midline of the width of the projection rectangle as the Y axis, the midline of the width of the partition closest to the slag flushing channel as the X axis, and the intersection of the X axis and the Y axis as the origin; Get the horizontal coordinate of the partition center point; Calculate the slag pile height at the center point according to the following formula: H x =H-xtanA H x is the height of the slag pile at the center of the partition, H is the initial height of the slag in the stockpiling area, x is the horizontal coordinate of the center of the partition, and A is the repose angle of the slag in the stockpiling area; The initial height H of the slag in the stockpile area is calculated according to the following model: H=H1-H2-H3-H4 H1 is the distance between the grab bucket’s rotating axis and the water surface, H2 is the distance between the grab bucket’s lowest plane and the fixed slag grab point, H3 is the water depth in the water quenching pool, and H4 is the height of the grab bucket itself; Get the length and width of the partition; The volume of the partition is calculated according to the following formula: V xy is the volume of the partition, a is the length of the partition, and b is the width of the partition.

5. The method for cleaning slag in a water quenching pool according to claim 1, characterized in that: The step of obtaining the slag volume in the stockpiling area comprises: Obtain the slag volume calculation coefficient k in the stockpile area; The calculation model of the slag volume in the stockpiling area is used to obtain the slag volume in the stockpiling area. The calculation model of the slag volume in the stockpiling area is: V is the slag volume in the stockpiling area, k is the slag volume calculation coefficient in the stockpiling area, A is the repose angle of the slag in the stockpiling area, and H is the initial height of the slag in the stockpiling area.

6. The method for cleaning slag in a water quenching pool according to claim 1, characterized in that: The step of obtaining the weight of each partition according to the slag volume of the stockpiling area and the slag volume of each partition comprises: The weight of a partition is calculated according to the following formula: P xy =V xy / V P xy is the weight of the partition, V xy is the volume of the partition, and V is the slag volume in the stockpiling area.

7. The method for cleaning slag in a water quenching pool according to claim 1, characterized in that: The step of obtaining the remaining grabbing times of each partition according to the weight of each partition and the total remaining grabbing times of the stockpiling area comprises: The remaining number of fetches for a partition is calculated according to the following formula: n xy =n1P xy n xy is the remaining number of fetches for the partition, P xy is the weight of the partition, and n1 is the total number of remaining grabs in the stockpile area.

8. The method for cleaning water quenching pool kiln slag according to claim 1, characterized in that: In the step of continuing to control the grab to approach the center point of the partition with a higher priority according to the three-dimensional coordinates of the grab and the priority order of each partition, and preferentially grabbing the slag in the partition with a higher priority, if there are two partitions with equal priority orders, the partition that is closer to the grab will be preferentially grabbed.

9. A controller for cleaning slag in a quench tank, characterized in that: The controller is a controller in a water quenching pool kiln slag cleaning system; the controller includes: The stockpile area module is used to obtain a stockpile area model according to the position parameters of each reflection point sent by the laser scanning device. The stockpile area is approximately circular, and the slag pile is approximately cone-shaped. A partitioning module is used to divide the stockpile area into a plurality of rectangular partitions of equal size according to the stockpile area model, wherein the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket; A weight module is used to obtain the slag volume of each partition and the slag volume of the stockpiling area, and obtain the weight of each partition according to the slag volume of the stockpiling area and the slag volume of each partition; The total number acquisition module is used to obtain the weight of the slag in the stockpile area, and obtain the remaining total number of grabs in the stockpile area according to the weight of the slag in the stockpile area; A partition number acquisition module is used to obtain the remaining grabbing times of each partition according to the weight of each partition and the total remaining grabbing times of the stockpile area; The partition priority acquisition module sorts the remaining crawl times of each partition according to the number of remaining crawl times of each partition, and obtains the crawl priority order of each partition; The grabbing module is used to continue to control the grabbing bucket to approach the center point of the partition with a high priority according to the three-dimensional coordinates of the grabbing bucket and the priority order of each partition, and give priority to grabbing the kiln slag in the partition with a high priority.

10. A system for cleaning kiln slag in a water quenching tank, characterized in that: include: A grab bucket coordinate detection device, a laser scanning device, a grab bucket weight detection device and a controller as claimed in claim 9, wherein the grab bucket coordinate detection device is arranged on the surface of the bridge crane and is used to obtain the three-dimensional coordinates of the grab bucket; the laser scanning device is located above the stockpiling area and is used to emit a laser line to obtain the position parameters of each reflection point on the surface of the slag pile in the stockpiling area; the grab bucket weight detection device is arranged above the grab bucket and is used to obtain the actual grab weight of the grab bucket; the controller is connected to the grab bucket coordinate detection device, the laser scanning device and the grab bucket weight detection device to control the grab bucket to move horizontally or vertically above the water quenching tank to grab the slag in the stockpiling area to the intermediate slag yard; the grab bucket is opened into a rectangle, and the stockpiling area is located at the bottom of the water quenching tank and close to the slag flushing channel; The controller is configured to: According to the position parameters of each reflection point sent by the laser scanning device, a stockpile area model is obtained. The stockpile area is approximately circular, and the slag pile is approximately cone-shaped. According to the stockpile area model, the stockpile area is divided into a number of rectangular partitions of equal size, and the size of the rectangular partition is equal to the size of the rectangular surface opened by the grab bucket; The slag volume of each partition and the slag volume of the stockpiling area are obtained, and the weight of each partition is obtained according to the slag volume of the stockpiling area and the slag volume of each partition; Obtain the weight of the slag in the stockpile area, and obtain the remaining total number of grabs in the stockpile area according to the weight of the slag in the stockpile area; According to the weight of each partition and the total number of remaining grabs in the stockpile area, the remaining number of grabs for each partition is obtained; According to the remaining crawl times of each partition, sort the remaining crawl times of each partition by the number of times to obtain the crawl priority order of each partition; According to the three-dimensional coordinates of the grab and the priority order of each partition, the grab continues to be controlled to approach the center point of the partition with a large priority, and the kiln slag in the partition with a large priority is grabbed first.

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