Method and device for determining descending height of steel ladle, method and device for controlling descending height of steel ladle, medium and equipment

Abstract

The invention discloses a method and device for determining and controlling the descending height of a steel ladle, a medium and equipment. The method comprises the steps that the first actual distance between the bottom end of a sleeve and the top of a tundish is obtained; the actual molten steel weight in the tundish is detected, a second actual distance corresponding to the actual molten steel weight is determined according to a preset mapping relation, and the preset mapping relation comprises multiple molten steel weights and the second distance corresponding to each molten steel weight; the second distance is the distance between the surface of molten steel in the tundish and the top of the tundish; and according to the first actual distance, the second actual distance and a preset sleeve insertion depth, the target descending height of the steel ladle is determined, and the sleeve insertion depth is the depth of the sleeve inserted into the molten steel in the tundish. The accuracy of determining the descending height of the steel ladle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of ladles, and in particular, to a method, device, medium, and equipment for determining and controlling the descent height of a ladle. Background Art

[0002] The ladle turret of a slab continuous casting machine is a key piece of equipment. It comprises two rotating arms, each mounted with a ladle. During continuous casting, it connects the two processes of receiving and pouring molten steel. To operate the ladle turret, the operator rotates it to the pouring position, positioning the ladle's casing outlet above the tundish. The operator then lowers the rotating arms, driving the ladle downward. The casing is inserted below the molten steel level in the tundish. A hydraulic cylinder then opens the sprue gate slide, allowing molten steel to flow through the sprue gate and casing into the tundish.

[0003] At present, operators determine the liquid level of the molten steel in the tundish by electromagnetic, laser and image recognition methods. However, the above methods are easily affected by the environment and have low accuracy. The accuracy of determining the ladle's descent height based on the liquid level of the molten steel in the tundish is low, and it is difficult to determine whether the sleeve is inserted below the liquid level of the molten steel in the tundish. When the sleeve is immersed too deeply, the bowl of the nozzle is prone to steel flipping. When the sleeve is immersed too shallowly, on the one hand, the interface between the molten steel in the ladle and the slag in the tundish will react violently, causing a large amount of non-metallic debris to be drawn into the molten steel in the tundish. As the molten steel in the ladle enters the interior of the molten steel in the tundish, the molten steel in the tundish is contaminated. On the other hand, the surface area of ​​the molten steel in the ladle and the interface between the molten steel in the ladle and the slag in the tundish increases, causing the molten steel in the ladle to come into direct contact with the air, which can easily cause secondary oxidation of the molten steel and seriously affect the quality of the molten steel. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, medium, equipment and descent method for determining the descent height of a ladle, which are used to solve the technical problem of low accuracy in determining the descent height of a ladle.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] According to a first aspect of the present application, a method for determining the descending height of a ladle is provided, wherein the ladle is used to inject molten steel into a tundish below the ladle, and a sleeve is provided at the bottom of the ladle. The method comprises:

[0007] obtaining a first actual distance between the bottom end of the casing and the top of the tundish;

[0008] detecting the actual weight of the molten steel in the tundish, and determining a second actual distance corresponding to the actual weight of the molten steel according to a preset mapping relationship, wherein the preset mapping relationship includes: a plurality of molten steel weights and a second distance corresponding to each of the molten steel weights, the second distance being the distance between the surface of the molten steel in the tundish and the top of the tundish;

[0009] The target lowering height of the ladle is determined according to the first actual distance, the second actual distance and a preset sleeve insertion depth, wherein the sleeve insertion depth is the depth of the sleeve inserted into the molten steel in the tundish.

[0010] In some embodiments, based on the above solution, obtaining a first actual distance between the bottom end of the casing and the top of the tundish includes:

[0011] obtaining a first set distance between the bottom end of the casing and the top of the tundish;

[0012] Obtaining a third actual distance of the top of the tundish relative to the datum reference plane, and a distance difference between the third actual distance and a second set distance, wherein the second set distance is a set distance of the top of the tundish relative to the datum reference plane;

[0013] The first set distance is compensated based on the distance difference to obtain the first actual distance.

[0014] In some embodiments, based on the above solution, the preset mapping relationship is obtained through the following steps:

[0015] Obtaining the density of molten steel, the initial weight of molten steel in the tundish, and the second initial distance;

[0016] determining a weight difference between the molten steel weight and the initial molten steel weight;

[0017] determining a liquid level change value according to the weight difference;

[0018] The second initial distance is compensated based on the liquid level change value to obtain a second target distance, and the preset mapping relationship is that the second distance is equal to the second target distance.

[0019] In some embodiments, based on the above solution, determining the liquid level change value according to the weight difference includes:

[0020] Obtaining the density of molten steel and the initial molten steel surface area of ​​the tundish, wherein the initial molten steel surface area is the molten steel surface area when the weight of the molten steel in the tundish is the initial molten steel weight;

[0021] The product of the density of the molten steel and the initial surface area of ​​the molten steel is used as a coefficient of variation;

[0022] The ratio of the weight difference to the variation coefficient is used as the liquid level variation value.

[0023] In some embodiments, based on the above solution, when the shape of the tundish is a trapezoid with a top parallel to a bottom, a front side parallel to a rear side, and a front side surface shaped as an isosceles trapezoid, determining the liquid level change value according to the weight difference includes:

[0024] Obtaining the density of molten steel, the initial molten steel surface area of ​​the tundish, the front-to-back distance between the front side and the rear side, a first length from the left side to the right side of the top, a second length from the left side to the right side of the bottom, and the total distance from the top to the inner bottom, wherein the initial molten steel surface area is the molten steel surface area when the weight of the molten steel in the tundish is the initial molten steel weight;

[0025] taking half of the difference between the first length and the second length as a first ratio;

[0026] using a ratio of the first ratio to the total distance as a second ratio;

[0027] The liquid level change value is determined according to the molten steel density, the initial molten steel surface area, the front-to-back distance, the second ratio and the weight difference.

[0028] In some embodiments, based on the above solution, determining the liquid level change value according to the molten steel density, the initial molten steel surface area, the front-to-back distance, the second ratio, and the weight difference includes:

[0029] Weighting the initial molten steel surface area based on the molten steel density to obtain a first value;

[0030] Taking the square of the first value as the second value;

[0031] 4 times the product of the second ratio, the front-to-back distance, the density of the molten steel, and the absolute value of the weight difference is used as a third value;

[0032] twice the product of the second ratio, the front-to-back distance, and the density of the molten steel is used as a fourth value;

[0033] When the weight difference is greater than or equal to 0, taking the square root of the sum of the second value and the third value to obtain a fifth value, and taking the difference between the fifth value and the first value as the liquid level change value;

[0034] When the weight difference is less than 0, a sixth value is obtained by taking the square root of the difference between the second value and the third value, and the sum of the sixth value and the first value is used as the liquid level change value.

[0035] According to a second aspect of the present application, a ladle descent control method is provided, which is applied to a ladle turret, wherein the ladle turret comprises: a clamping arm and a ladle, wherein the clamping arm is used to clamp the ladle, and the ladle is used to inject molten steel into a tundish below the ladle, wherein a nozzle and a sleeve are sequentially provided at the bottom of the ladle, and the method comprises:

[0036] Obtaining a target descent height of the ladle determined according to the method for determining the descent height of the ladle described in any embodiment of the first aspect of the present application;

[0037] Controlling the clamping arm to lower the ladle to a target position according to the target lowering height;

[0038] The water inlet is controlled to open so that the ladle injects molten steel into the tundish.

[0039] According to a third aspect of the present application, a device for determining the descent height of a ladle is provided, wherein the ladle is used to inject molten steel into a tundish below the ladle, and a sleeve is provided at the bottom of the ladle. The device comprises:

[0040] a first acquiring unit, configured to acquire a first actual distance between the bottom end of the casing and the top of the tundish;

[0041] a first determining unit, configured to detect an actual weight of the molten steel in the tundish and determine a second actual distance corresponding to the actual weight of the molten steel based on a preset mapping relationship, wherein the preset mapping relationship includes: a plurality of molten steel weights and a second distance corresponding to each of the molten steel weights, the second distance being the distance between the surface of the molten steel in the tundish and the top of the tundish;

[0042] The second determining unit determines the target lowering height of the ladle according to the first actual distance, the second actual distance and a preset sleeve insertion depth, wherein the sleeve insertion depth is the depth of the sleeve inserted into the molten steel in the tundish.

[0043] According to the fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program includes executable instructions, and when the executable instructions are executed by a processor, the method described in any embodiment of the first aspect of the present application is implemented.

[0044] According to the fifth aspect of the present application, it includes: one or more processors; a memory for storing executable instructions of the processors, when the executable instructions are executed by the one or more processors, the one or more processors implement the method described in any embodiment of the first aspect of the present application.

[0045] The beneficial effects of this application are as follows:

[0046] First, the second actual distance is determined according to the actual weight of the molten steel. Second, the target descent height required for the ladle is determined according to the first actual distance, the second actual distance and the insertion depth of the casing. The second actual distance is related to the actual weight of the molten steel and has high accuracy. Therefore, the target descent height determined based on this distance is also highly accurate.

[0047] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A flow chart of a method for determining the descent height of a ladle in an embodiment of the present application is shown;

[0049] Figure 2 A block diagram of a device for determining the descent height of a ladle in an embodiment of the present application is shown;

[0050] Figure 3 A schematic diagram showing a computer-readable storage medium in an embodiment of the present application is shown;

[0051] Figure 4 A schematic diagram showing the system structure of an electronic device in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, other embodiments obtained by ordinary technicians in this field without making creative efforts are all within the scope of protection of this application.

[0053] In order to better understand the embodiments of the present application, the liquid level detection method of the tundish is described as follows:

[0054] When using the electromagnetic method to detect the tundish liquid level, it is limited by the interference of the magnetic field. The strong magnetic field environment in the steel plant is more likely to interfere with the electromagnetic detection system, affecting the accuracy of the measurement.

[0055] When using the laser method to detect the tundish liquid level, the liquid level stability of the tundish is required to be high. On the one hand, as the liquid level rises, it will produce large shaking, which will make the reflected light signal unstable, and the stability and accuracy of the measurement results will deteriorate. On the other hand, it is easily affected by factors such as dust and smoke, resulting in large measurement errors.

[0056] When image recognition technology is used to detect the liquid level in the tundish, the molten steel in the tundish is in a high-temperature molten state, which emits strong light and interferes with image acquisition. That is, the collected image is too bright, making it difficult to accurately identify the liquid level boundaries and features.

[0057] The above three methods all require the investment of new detection systems, which are relatively costly.

[0058] Figure 1 A flow chart showing a method for determining the ladle descent height in an embodiment of the present application is shown. Figure 1 A method for determining the descending height of a ladle is provided. The ladle is used to inject molten steel into a tundish below the ladle. A sleeve is provided at the bottom of the ladle. The method includes at least S1 to S3, which are described in detail as follows:

[0059] In step S1, a first actual distance between the bottom end of the casing and the top of the tundish is obtained. The bottom end of the casing is the location of the casing outlet, and the top of the tundish is the location of the top of the tundish cover.

[0060] In step S2, the actual weight of the molten steel in the tundish is detected, and a second actual distance corresponding to the actual molten steel weight is determined based on a preset mapping relationship. The preset mapping relationship includes: multiple molten steel weights and a second distance corresponding to each molten steel weight, wherein the second distance is the distance between the surface of the molten steel in the tundish and the top of the tundish. The actual molten steel weight can be understood as the molten steel weight in the preset mapping relationship, and the second actual distance can be understood as the second distance in the preset mapping relationship.

[0061] In step S3, a target lowering height of the ladle is determined based on the first actual distance, the second actual distance, and a preset sleeve insertion depth, wherein the sleeve insertion depth is the depth to which the sleeve is inserted into the molten steel in the tundish. The sleeve insertion depth is 100 mm.

[0062] In some embodiments, determining the target descent height of the ladle based on the first actual distance, the second actual distance, and a preset casing insertion depth includes: summing the first actual distance, the second actual distance, and the casing insertion depth to obtain the target descent height.

[0063] In some embodiments, obtaining the first actual distance between the bottom end of the sleeve and the top of the tundish includes: obtaining a first set distance between the bottom end of the sleeve and the top of the tundish; obtaining a third actual distance between the top of the tundish and a reference plane, and a distance difference between the third actual distance and a second set distance, wherein the second set distance is the set distance between the top of the tundish and the reference plane; and compensating the first set distance based on the distance difference to obtain the first actual distance. The first set distance is the distance before the ladle is lowered.

[0064] In some embodiments, when the second set distance is a set distance that the top of the tundish is higher than the base reference plane, compensating the first set distance based on the distance difference to obtain the first actual distance includes: taking the difference between the first set distance and the distance difference as the first actual distance.

[0065] In the present application, the third actual distance being greater than 0 indicates that the top of the tundish is higher than the datum reference plane, the third actual distance being equal to 0 indicates that the top of the tundish is located at the datum reference plane, and the third actual distance being less than 0 indicates that the top of the tundish is lower than the datum reference plane. When the distance difference is greater than or equal to 0, that is, the third actual distance is greater than the second set distance, the first actual distance is the difference between the first set distance and the distance difference. When the distance difference is less than 0, that is, the third actual distance is less than the second set distance, the first actual distance is the sum of the absolute values ​​of the first set distance and the distance difference.

[0066] In some embodiments, when the second set distance is a set distance that the top of the tundish is lower than the datum reference surface, compensating the first set distance based on the distance difference to obtain the first actual distance includes: taking the sum of the first set distance and the distance difference as the first actual distance.

[0067] In the present application, the third actual distance less than 0 indicates that the top of the tundish is higher than the datum reference plane, the third actual distance equal to 0 indicates that the top of the tundish is located at the datum reference plane, and the third actual distance greater than 0 indicates that the top of the tundish is lower than the datum reference plane. When the distance difference is greater than or equal to 0, that is, the third actual distance is greater than the second set distance, the first actual distance is the sum of the first set distance and the distance difference. When the distance difference is less than 0, that is, the third actual distance is less than the second set distance, the first actual distance is the difference between the first set distance and the absolute value of the distance difference.

[0068] In some embodiments, the preset mapping relationship is obtained by the following steps: obtaining the density of molten steel, the initial molten steel weight of the ladle and the second initial distance; determining the weight difference between the molten steel weight and the initial molten steel weight; determining the liquid level change value based on the weight difference; compensating the second initial distance based on the liquid level change value to obtain a second target distance, and the preset mapping relationship is that the second distance is equal to the second target distance.

[0069] In some embodiments, when the weight difference is a positive value, if the liquid level change value is a positive value, compensating the second initial distance based on the liquid level change value to obtain the second target distance includes: taking the difference between the second initial distance and the liquid level change value as the second target distance.

[0070] In some embodiments, when the weight difference is positive, if the liquid level change value is negative, compensating the second initial distance based on the liquid level change value to obtain the second target distance includes: taking the sum of the second initial distance and the liquid level change value as the second target distance.

[0071] In some embodiments, determining the liquid level change value based on the weight difference includes: obtaining the density of the molten steel and the initial molten steel surface area of ​​the ladle, the initial molten steel surface area being the surface area of ​​the molten steel when the weight of the molten steel in the ladle is the initial molten steel weight; taking the product of the molten steel density and the initial molten steel surface area as a variation coefficient; and taking the ratio of the weight difference to the variation coefficient as the liquid level change value.

[0072] Exemplarily, the initial molten steel weight is 60t, the second initial distance is 210mm, the actual molten steel weight is 50t, the variation coefficient is 30mm / t, the liquid level change value is 30mm / t×(50t-60t)=-300mm, and the second actual distance is 210mm-(-300mm)=510mm.

[0073] In some embodiments, when the shape of the tundish is a trapezoid with the top parallel to the bottom, the front side parallel to the rear side, and the shape of the front side being an isosceles trapezoid, the determining of the liquid level change value based on the weight difference includes: obtaining the density of the molten steel, the initial molten steel surface area of ​​the tundish, the front-to-back distance between the front side and the rear side, the first length from the left side to the right side of the top, the second length from the left side to the right side of the bottom, and the total distance from the top to the inner bottom, the initial molten steel surface area being the surface area of ​​the molten steel when the weight of the molten steel in the tundish is the initial molten steel weight; taking half of the difference between the first length and the second length as the first ratio; taking the ratio of the first ratio to the total distance as the second ratio; determining the liquid level change value based on the molten steel density, the initial molten steel surface area, the front-to-back distance, the second ratio, and the weight difference.

[0074] In the present application, when the shape of the tundish is a trapezoid, the areas of the left side and the right side are the same and the left side is not parallel to the right side.

[0075] In some embodiments, the liquid level change value is determined based on the molten steel density, the initial molten steel surface area, the front-to-back distance, the second ratio and the weight difference, including: weighting the initial molten steel surface area based on the molten steel density to obtain a first value; taking the square of the first value as the second value; taking 4 times the product of the second ratio, the front-to-back distance, the molten steel density and the absolute value of the weight difference as the third value; taking 2 times the product of the second ratio, the front-to-back distance and the molten steel density as the fourth value; when the weight difference is greater than or equal to 0, taking the square root of the sum of the second value and the third value to obtain a fifth value, and taking the difference between the fifth value and the first value as the liquid level change value; when the weight difference is less than 0, taking the square root of the difference between the second value and the third value to obtain a sixth value, and taking the sum of the sixth value and the first value as the liquid level change value.

[0076] In this application, first, the second actual distance is determined according to the actual weight of the molten steel. Secondly, the target descent height required for the ladle is determined according to the first actual distance, the second actual distance and the insertion depth of the casing. The second actual distance is related to the actual weight of the molten steel and has high accuracy. The accuracy of the target descent height determined based on this is also high, and is not affected by external magnetic fields, environment, molten steel brightness, etc., while greatly reducing the investment cost.

[0077] According to the second aspect of the present application, a ladle descent control method is provided, which is applied to a ladle turret. The ladle turret includes: a clamping arm and a ladle, the clamping arm is used to clamp the ladle, and the ladle is used to inject molten steel into a tundish below the ladle. The bottom of the ladle is sequentially provided with a nozzle and a sleeve. The method includes: obtaining the target descent height of the ladle determined according to the ladle descent height determination method described in any embodiment of the first aspect of the present application; controlling the clamping arm to lower the ladle to a target position according to the target descent height; and controlling the nozzle to open so that the ladle injects molten steel into the tundish. When the ladle descends to the target position, the depth of the sleeve inserted into the molten steel is the sleeve insertion depth. The clamping arm can be understood as a rotating arm or a fork arm. The nozzle can be a sliding nozzle.

[0078] In some embodiments, the ladle turret includes two clamping arms, i.e., there are two ladles. If the distance between the top of one clamping arm and the top of the tundish is equal to the distance between the top of the other clamping arm and the top of the tundish, the first set distance of one ladle is equal to the first set distance of the other ladle; if the distance between the top of one clamping arm and the top of the tundish is not equal to the distance between the top of the other clamping arm and the top of the tundish, the first set distance of one ladle is not equal to the first set distance of the other ladle.

[0079] In some embodiments, the regulating valve is controlled in the following manner: when the actual molten steel weight is equal to the initial molten steel weight, the opening of the regulating valve is controlled so that the flow rate of the casing is equal to the discharge flow rate of the ladle, that is, the actual molten steel weight of the ladle is maintained at the initial molten steel weight.

[0080] According to a third aspect of the present application, a device 100 for determining the descending height of a ladle is provided. The ladle is used to inject molten steel into a tundish below the ladle. A sleeve is provided at the bottom of the ladle. The device comprises:

[0081] A first obtaining unit 101 obtains a first actual distance between the bottom end of the casing and the top of the tundish;

[0082] The first determining unit 102 detects the actual weight of the molten steel in the tundish and determines a second actual distance corresponding to the actual weight of the molten steel according to a preset mapping relationship, wherein the preset mapping relationship includes: a plurality of molten steel weights and a second distance corresponding to each of the molten steel weights, and the second distance is the distance between the surface of the molten steel in the tundish and the top of the tundish;

[0083] The second determining unit 103 determines the target lowering height of the ladle according to the first actual distance, the second actual distance and a preset casing insertion depth, wherein the casing insertion depth is the depth of the casing inserted into the molten steel in the tundish.

[0084] Based on the same inventive concept, as a fourth aspect, the present application also provides a computer-readable storage medium storing a program product capable of implementing the above-mentioned method for determining the descent height of a ladle in this specification.

[0085] Various aspects of the present application can also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of various exemplary embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0086] refer to Figure 3 As shown, a program product 200 for implementing the above method according to an embodiment of the present application is described. The program product 200 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0087] As another aspect, the present application also provides an electronic device capable of implementing the above method.

[0088] Electronic device 300 is a general-purpose computing device whose key components include a processing unit 310, a storage unit 320, and a bus 330 connecting them. Storage unit 320 stores program code, which can be executed by processing unit 310 to implement the method steps described herein. Storage unit 320 includes volatile storage (such as RAM 321 and cache 322) and read-only storage (ROM 323), and may contain program modules such as an operating system and application programs.

[0089] The electronic device 300 can communicate with the external device 400 via the I / O interface 350, and can also communicate with a network (e.g., a LAN, a WAN, the Internet) via the network adapter 360. In addition, the electronic device 300 may also include other hardware and software modules, such as microcode, device drivers, etc., although these are not explicitly shown in the figure.

[0090] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for determining the descent height of a ladle, characterized in that: The ladle is used to inject molten steel into a tundish below the ladle, and a sleeve is provided at the bottom of the ladle. The method includes: obtaining a first actual distance between the bottom end of the casing and the top of the tundish; detecting the actual weight of the molten steel in the tundish, and determining a second actual distance corresponding to the actual weight of the molten steel according to a preset mapping relationship, wherein the preset mapping relationship includes: a plurality of molten steel weights and a second distance corresponding to each of the molten steel weights, the second distance being the distance between the surface of the molten steel in the tundish and the top of the tundish; The target lowering height of the ladle is determined according to the first actual distance, the second actual distance and a preset sleeve insertion depth, wherein the sleeve insertion depth is the depth of the sleeve inserted into the molten steel in the tundish.

2. The method for determining the descending height of a ladle according to claim 1, wherein: The obtaining of a first actual distance between the bottom end of the casing and the top of the tundish includes: obtaining a first set distance between the bottom end of the casing and the top of the tundish; Obtaining a third actual distance of the top of the tundish relative to the datum reference plane, and a distance difference between the third actual distance and a second set distance, wherein the second set distance is a set distance of the top of the tundish relative to the datum reference plane; The first set distance is compensated based on the distance difference to obtain the first actual distance.

3. The method for determining the descending height of a ladle according to claim 1, wherein: The preset mapping relationship is obtained through the following steps: Obtaining the density of molten steel, the initial weight of molten steel in the tundish, and the second initial distance; determining a weight difference between the molten steel weight and the initial molten steel weight; determining a liquid level change value according to the weight difference; The second initial distance is compensated based on the liquid level change value to obtain a second target distance, and the preset mapping relationship is that the second distance is equal to the second target distance.

4. The method for determining the descending height of a ladle according to claim 3, wherein: Determining the liquid level change value according to the weight difference includes: Obtaining the density of molten steel and the initial molten steel surface area of ​​the tundish, wherein the initial molten steel surface area is the molten steel surface area when the weight of the molten steel in the tundish is the initial molten steel weight; The product of the density of the molten steel and the initial surface area of ​​the molten steel is used as a coefficient of variation; The ratio of the weight difference to the variation coefficient is used as the liquid level variation value.

5. The method for determining the descending height of a ladle according to claim 3, wherein: When the shape of the tundish is a trapezoidal body with a top parallel to a bottom, a front side parallel to a rear side, and a front side surface shaped as an isosceles trapezoid, determining the liquid level change value according to the weight difference includes: Obtaining the density of molten steel, the initial molten steel surface area of ​​the tundish, the front-to-back distance between the front side and the rear side, a first length from the left side to the right side of the top, a second length from the left side to the right side of the bottom, and the total distance from the top to the inner bottom, wherein the initial molten steel surface area is the molten steel surface area when the weight of the molten steel in the tundish is the initial molten steel weight; Taking half of the difference between the first length and the second length as a first ratio; using a ratio of the first ratio to the total distance as a second ratio; The liquid level change value is determined according to the molten steel density, the initial molten steel surface area, the front-to-back distance, the second ratio and the weight difference.

6. A method for determining the descending height of a ladle according to claim 5, characterized in that: The determining of the liquid level change value according to the molten steel density, the initial molten steel surface area, the front-to-back distance, the second ratio, and the weight difference comprises: Weighting the initial molten steel surface area based on the molten steel density to obtain a first value; Taking the square of the first value as the second value; 4 times the product of the second ratio, the front-to-back distance, the density of the molten steel, and the absolute value of the weight difference is used as a third value; twice the product of the second ratio, the front-to-back distance, and the density of the molten steel is used as a fourth value; When the weight difference is greater than or equal to 0, taking the square root of the sum of the second value and the third value to obtain a fifth value, and taking the difference between the fifth value and the first value as the liquid level change value; When the weight difference is less than 0, a sixth value is obtained by taking the square root of the difference between the second value and the third value, and the sum of the sixth value and the first value is used as the liquid level change value.

7. A ladle descent control method, characterized in that: Applied to a ladle turret, the ladle turret comprises: a clamping arm and a ladle, the clamping arm is used to clamp the ladle, the ladle is used to inject molten steel into a tundish below the ladle, and the bottom of the ladle is sequentially provided with a nozzle and a sleeve, the method comprising: Obtaining a target descent height of the ladle determined by the method for determining the descent height of the ladle according to any one of claims 1 to 6; Controlling the clamping arm to lower the ladle to a target position according to the target lowering height; The water inlet is controlled to open so that the ladle injects molten steel into the tundish.

8. A device for determining the descent height of a ladle, characterized in that: The ladle is used to inject molten steel into the tundish below the ladle. A sleeve is provided at the bottom of the ladle. The device comprises: a first obtaining unit, for obtaining a first actual distance between the bottom end of the casing and the top of the tundish; a first determining unit, configured to detect an actual weight of the molten steel in the tundish and determine a second actual distance corresponding to the actual weight of the molten steel based on a preset mapping relationship, wherein the preset mapping relationship includes: a plurality of molten steel weights and a second distance corresponding to each of the molten steel weights, the second distance being the distance between the surface of the molten steel in the tundish and the top of the tundish; The second determining unit determines the target lowering height of the ladle according to the first actual distance, the second actual distance and a preset sleeve insertion depth, wherein the sleeve insertion depth is the depth of the sleeve inserted into the molten steel in the tundish.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program includes executable instructions, and when the executable instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: include: one or more processors; A memory for storing executable instructions of the processor, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

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